WO2021100169A1

WO2021100169A1 - Diagnostic system

Info

Publication number: WO2021100169A1
Application number: PCT/JP2019/045615
Authority: WO
Inventors: 直史吉田; 佐藤　武; 泰弘山下
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2021-05-27
Also published as: JP7465889B2; JPWO2021100169A1

Abstract

This diagnostic system acquires biological information about a subject who is in the process of undergoing diagnosis with a diagnostic probe pressed against said subject, and calculates change over time of the biological information. Subsequently, a first diagnostic system determines whether or not an abnormality has occurred in the subject's biological state on the basis of the change over time of the biological information. Then, if it has been determined that an abnormality has occurred in the subject's biological state, the first diagnostic system reports this.

Description

Diagnostic system

This specification discloses the diagnostic system.

Conventionally, a doctor master manipulator holding a pseudo probe operated by a doctor, a master manipulator control computer controlling a doctor master manipulator, and a diagnostic slave manipulator holding an ultrasonic diagnostic probe. A diagnostic system including a slave manipulator control computer that controls a diagnostic slave manipulator has been proposed (see, for example, Patent Document 1). This diagnostic system is equipped with a force detecting means for detecting a force in three axial directions over an ultrasonic diagnostic probe, displays a force information waveform based on the force information from the force detecting means, and sounds the force information by voice. Or something.

Japanese Unexamined Patent Publication No. 2002-085353

However, the above-mentioned diagnostic system merely provides power information to the diagnostician (doctor). For this reason, it is difficult for the diagnostician to accurately read the subject (patient) when he / she feels pain or discomfort during the diagnosis.

The main purpose of the present disclosure is to provide a diagnostic system capable of reducing the burden on a subject undergoing diagnosis in a case where a diagnostic probe is pressed against a subject to make a diagnosis.

This disclosure has taken the following measures to achieve the above-mentioned main purpose.

The first diagnostic system of the present disclosure is
Diagnostic probe and
The biological information of the subject during the execution of diagnosis by pressing the diagnostic probe against the subject is acquired, the time change of the biological information is calculated, and the subject's biological information is calculated based on the time change of the biological information. A control device that determines whether or not an abnormality has occurred in the biological condition and notifies that fact when it is determined that an abnormality has occurred in the biological condition of the subject.
The gist is to prepare.

The first diagnostic system of the present disclosure acquires the biological information of the subject during the execution of the diagnosis by pressing the diagnostic probe against the subject, and calculates the time change of the biological information. Subsequently, the first diagnostic system determines whether or not an abnormality has occurred in the biological state of the subject based on the time change of the biological information. Then, the first diagnostic system notifies that when it is determined that an abnormality has occurred in the biological state of the subject. As a result, the examiner can immediately deal with the pain or discomfort of the subject being diagnosed, and can further reduce the burden on the subject.

The second diagnostic system of the present disclosure includes an ultrasonic probe, a moving device for moving the ultrasonic probe, and the subject who is performing ultrasonic diagnosis by pressing the ultrasonic probe against the subject. The biological information is acquired, the time change of the biological information is calculated, and the ultrasonic probe is pushed into the body surface of the subject with a pushing amount such that the time change of the biological information does not reach a predetermined predetermined value. It is a gist to include a control device for controlling the mobile device as described above.

The second diagnostic system of the present disclosure acquires the biological information of the subject who is performing the ultrasonic diagnosis by pressing the ultrasonic probe against the subject and calculates the time change of the biological information. Then, the second diagnostic system controls the moving device so that the ultrasonic probe is pushed into the body surface of the subject with a pushing amount such that the time change of the biological information does not reach a predetermined predetermined value. This makes it possible to reduce the burden on the subject when pushing the ultrasonic probe into the body surface of the subject.

The third diagnostic system of the present disclosure is in the process of performing ultrasonic diagnosis by moving the ultrasonic probe, a moving device for moving the ultrasonic probe, and the subject while pressing the ultrasonic probe against the subject. The biological information of the subject is acquired, the time change of the biological information is calculated, and the ultrasonic probe moves along the body surface of the subject at a moving speed such that the time change of the biological information does not reach a predetermined value. It is a gist to include a control device for controlling the mobile device so as to perform the above.

The third diagnostic system of the present disclosure acquires the biological information of the subject who is performing the ultrasonic diagnosis by pressing the ultrasonic probe against the subject and calculates the time change of the biological information. Then, the third diagnostic system controls the moving device so that the ultrasonic probe moves along the body surface of the subject at a moving speed such that the time change of the biological information does not reach a predetermined value. This makes it possible to reduce the burden on the subject when moving the ultrasonic probe while pushing it against the body surface of the subject.

It is an external perspective view of the ultrasonic diagnostic system 10. It is a side view of the robot 20. It is a block diagram which shows the electrical connection relationship between a robot 20, a control device 70, and an ultrasonic diagnostic apparatus 100. It is a flowchart which shows an example of ultrasonic diagnostic processing. It is a flowchart which shows an example of the diagnosis preparation process. It is explanatory drawing which shows an example of a warning screen.

Next, a mode for carrying out the present disclosure will be described with reference to the drawings. FIG. 1 is an external perspective view of the ultrasonic diagnostic system 10. FIG. 2 is a side view of the robot 20. FIG. 3 is a block diagram showing an electrical connection relationship between the robot 20, the control device 70, and the ultrasonic diagnostic device 100. In FIG. 1, the left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

The ultrasonic diagnostic system 10 holds the ultrasonic probe 101 on the robot 20 and drives the robot 20 so that the ultrasonic probe 101 is pressed against the skin of the subject to perform ultrasonic diagnosis. In the present embodiment, the ultrasonic diagnostic system 10 applies ultrasonic waves to the carotid artery of the subject, acquires a cross-sectional image in the minor axis direction and a cross-sectional image in the major axis direction of the carotid artery, and obtains a cross-sectional image of the blood vessel from the acquired image. Used for carotid echography to check the condition. As shown in FIGS. 1 and 2, the ultrasonic diagnostic system 10 acquires the robot 20, the control device 70 (see FIG. 3) that controls the robot 20, the ultrasonic diagnostic device 100, and the biological information of the subject. It is equipped with a biological information acquisition device 200 (see FIG. 3).

The ultrasonic diagnostic apparatus 100 includes an ultrasonic probe 101 and an ultrasonic diagnostic apparatus main body 102 to which the ultrasonic probe 101 is connected via a cable 101a. The ultrasonic diagnostic apparatus main body 102 processes the reception signals from the control unit 103 that controls the entire apparatus, the instruction input unit 104 that inputs instructions such as the start of diagnosis, and the ultrasonic probe 101 to generate an ultrasonic image. It includes an image processing unit 105 for displaying the generated ultrasonic image and a display unit 106 for displaying the generated ultrasonic image.

The robot 20 includes a first arm 21, a second arm 22, a base 25, a base 26, a first arm drive device 35, a second arm drive device 36, a posture holding device 37, and an elevating device 40. , A rotating 3-axis mechanism 50, and a holder 60. The first arm 21, the second arm 22, and the rotating three-axis mechanism 50 may be simply referred to as arms.

The base end portion of the first arm 21 is connected to the base 25 via a first joint shaft 31 extending in the vertical direction (Z-axis direction). The first arm driving device 35 includes a motor 35a and an encoder 35b. The rotation shaft of the motor 35a is connected to the first joint shaft 31 via a speed reducer (not shown). The first arm driving device 35 rotates (turns) the first arm 21 along the horizontal plane (XY plane) with the first joint shaft 31 as a fulcrum by rotationally driving the first joint shaft 31 by the motor 35a. .. The encoder 35b is attached to the rotation shaft of the motor 35a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 35a.

The base end portion of the second arm 22 is connected to the tip end portion of the first arm 21 via a second joint shaft 32 extending in the vertical direction. The second arm driving device 36 includes a motor 36a and an encoder 36b. The rotation shaft of the motor 36a is connected to the second joint shaft 32 via a speed reducer (not shown). The second arm driving device 36 rotates (turns) the second arm 22 along the horizontal plane with the second joint shaft 32 as a fulcrum by rotationally driving the second joint shaft 32 by the motor 36a. The encoder 36b is attached to the rotation shaft of the motor 36a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 36a.

The base 25 is provided so as to be able to move up and down with respect to the base 26 by an elevating device 40 installed on the base 26. As shown in FIGS. 1 and 2, the elevating device 40 includes a slider 41 fixed to the base 25 and a guide member 42 fixed to the base 26 and extending in the vertical direction to guide the movement of the slider 41. , A ball screw shaft 43 (elevating shaft) that extends in the vertical direction and is screwed into a ball screw nut (not shown) fixed to the slider 41, a motor 44 that rotationally drives the ball screw shaft 43, and an encoder. 45 (see FIG. 3). The lifting device 40 rotationally drives the ball screw shaft 43 by the motor 44 to move the base 25 fixed to the slider 41 up and down along the guide member 42. The encoder 45 is configured as a linear encoder that detects a position (elevating position) of the slider 41 (base 25) in the vertical direction.

The rotating 3-axis mechanism 50 is connected to the tip of the second arm 22 via a posture holding shaft 33 extending in the vertical direction. The rotating three-axis mechanism 50 includes a first rotating shaft 51, a second rotating shaft 52, and a third rotating shaft 53 that are orthogonal to each other, a first rotating device 55 that rotates the first rotating shaft 51, and a second rotating shaft 52. A second rotating device 56 for rotating and a third rotating device 57 for rotating the third rotating shaft 53 are provided. The first rotation shaft 51 is supported in a posture orthogonal to the posture holding shaft 33. The second rotating shaft 52 is supported in an orthogonal posture with respect to the first rotating shaft 51. The third rotation shaft 53 is supported in an orthogonal posture with respect to the second rotation shaft 52. The first rotating device 55 includes a motor 55a that rotationally drives the first rotating shaft 51, and an encoder 55b that is attached to the rotating shaft of the motor 55a and detects the amount of rotational displacement of the motor 55a. The second rotating device 56 includes a motor 56a that rotationally drives the second rotating shaft 52, and an encoder 56b that is attached to the rotating shaft of the motor 56a and detects the amount of rotational displacement of the motor 56a. The third rotating device 57 includes a motor 57a that rotationally drives the third rotating shaft 53, and an encoder 57b that is attached to the rotating shaft of the motor 57a and detects the amount of rotational displacement of the motor 57a. A holder 60 is attached to the third rotating shaft 53. In the present embodiment, the holder 60 is fixed at a position radially separated from the third rotation shaft 53. The ultrasonic probe 101 held by the holder 60 moves with an arc-shaped locus centered on the third rotation axis 53 due to the rotation of the third rotation axis 53. The holder 60 may be attached so that the ultrasonic probe 101 is located coaxially with the third rotation shaft 53.

The robot 20 of the present embodiment has a translational motion in three directions of the X-axis direction, the Y-axis direction, and the Z-axis direction by the first arm drive device 35, the second arm drive device 36, and the elevating device 40, and a rotation three-axis mechanism. The ultrasonic probe 101 can be moved to an arbitrary position in an arbitrary posture by combining with a rotational motion in three directions of X-axis (pitching), Y-axis (rolling), and Z-axis (yowing) according to 50. it can.

The posture holding device 37 holds the posture of the rotating 3-axis mechanism 50 (the direction of the first rotating shaft 51) in a constant direction regardless of the postures of the first arm 21 and the second arm 22. The posture holding device 37 includes a motor 37a and an encoder 37b. The rotating shaft of the motor 37a is connected to the posture holding shaft 33 via a speed reducer (not shown). The posture holding device 37 has a posture based on the rotation angle of the first joint shaft 31 and the rotation angle of the second joint shaft 32 so that the axial direction of the first rotation shaft 51 is always in the left-right direction (X-axis direction). The target rotation angle of the holding shaft 33 is set, and the motor 37a is driven and controlled so that the posture holding shaft 33 has the target rotation angle. This makes it possible to independently control the translational motion in the three directions and the rotational motion in the three directions, which facilitates control.

The force sensor 28 is attached to the tip of the arm and detects a force component acting in each of the X-axis, Y-axis, and Z-axis directions and a torque component acting around each axis as an external force acting on the arm.

As shown in FIG. 3, the control device 70 is configured as a microprocessor centered on the CPU 71, and includes a ROM 72, a RAM 73, an input / output port, and a communication port (not shown) in addition to the CPU 71. In the control device 70, a detection signal from the force sensor 28, a detection signal from each encoder 35b, 36b, 37b, 45, 55b, 56b, 57b, a detection signal from the biological information acquisition device 200, and the like are transmitted via an input port. Has been entered. Further, the control device 70 outputs drive signals to the

motors

35a, 36a, 37a, 44, 55a, 56a, 57a via the output port. Further, the control device 70 communicates with the control unit 103 of the ultrasonic diagnostic device 100 via the communication port, and exchanges data.

In the present embodiment, the biological information acquisition device 200 includes a pulse wave sensor 201 for detecting a pulse wave, a body temperature sensor 202 for detecting a body temperature, a blood pressure sensor 203 for detecting a blood pressure, and the like as sensors for detecting the biological information of a subject. ..

Next, the operation of the ultrasonic diagnostic system 10 of the present embodiment configured in this way will be described. FIG. 4 is a flowchart showing an example of ultrasonic diagnostic processing executed by the CPU 71 of the control device 70.

When the ultrasonic diagnostic processing is executed, the CPU 71 first drives and controls the corresponding motor of the robot 20 to start moving the ultrasonic probe 101 toward the subject (step S100). The ultrasonic probe 101 is performed as follows. That is, the CPU 71 determines the target position and the target posture of the arm holding the ultrasonic probe 101 according to the task program created in advance. Subsequently, the CPU 71 determines the target rotation angle of the first joint shaft 31, the target rotation angle of the second joint shaft 32, the target rotation angle of the posture holding shaft 33, and the base 25 for moving the arm to the target position in the target posture. The target elevating position, the target rotation angle of the first rotation shaft 51, the target rotation angle of the second rotation shaft 52, and the target rotation angle of the third rotation shaft 53 are set, respectively. Then, the CPU 71 controls the corresponding motor so that the rotation angle or the elevating position detected by each

encoder

35b, 36b, 37b, 45, 55b, 56b, 57b matches the corresponding target rotation angle or the target elevating position. ..

When the CPU 71 starts moving the ultrasonic probe 101, each axis (first joint axis 31, second joint axis 32, first to 1) detected by each

encoder

35b, 36b, 37b, 45, 55b, 56b, 57b. The rotation angle and the elevating position of the third rotating shafts 51 to 53 and the elevating shaft) are input (step S110). Subsequently, the CPU 71 calculates the tip position (probe position) of the ultrasonic probe 101 by forward kinematics based on the input rotation angle and elevating position of each axis (step S120). Then, the CPU 71 calculates the pushing amount δ of the ultrasonic probe 101 with respect to the subject based on the difference between the calculated probe position and the body surface position of the subject (step S130), and the probe position calculated this time and the probe position calculated last time. The moving speed V of the ultrasonic probe 101 in the direction along the body surface of the subject is calculated from the displacement amount of (step S140). Here, as the body surface position of the subject, the one measured by the diagnostic preparation process of FIG. 5 performed prior to the ultrasonic diagnostic process is used.

In the diagnosis preparation process, the CPU 71 first starts moving the ultrasonic probe 101 toward the subject (step S300). Subsequently, the CPU 71 inputs the reaction force F applied to the ultrasonic probe 101 from the body surface when the ultrasonic probe 101 comes into contact with the body surface of the subject from the force sensor 28 (step S310), and the input reaction force F Waits until becomes a predetermined value slightly larger than the value 0 (step S320). The process of step S320 determines whether or not the ultrasonic probe 101 is in contact with the subject with almost no pushing. When the CPU 71 determines that the reaction force F has reached a predetermined value, the movement of the ultrasonic probe 101 is stopped (step S330), and each encoder 35b, 36b, 37b, 45, 55b, 56b, 57b is detected. The rotation angle and elevating position of the shafts are input (step S340), and the probe position is calculated based on the input rotation angle and elevating position of each axis (step S350). Then, the CPU 71 sets the calculated probe position as the body surface position of the subject, registers the set body surface position in the RAM 73 (step S360), and ends the diagnosis preparation process.

Returning to the ultrasonic diagnostic processing, the CPU 71 determines whether or not the calculated push-in amount δ is larger than the value 0 (step S150). This process determines whether or not the ultrasonic probe 101 is in contact with the body surface of the subject. When the CPU 71 determines that the pushing amount δ is not larger than the value 0, the CPU 71 continues to move the ultrasonic probe 101 (step S200), returns to step S110, and repeats the process.

On the other hand, when the CPU 71 determines that the pushing amount δ is larger than the value 0, it inputs the biometric information of the subject (step S160) and calculates the time change amount Q of the input biometric information (step S170). In this process, in the present embodiment, the pulse wave detected by the pulse wave sensor 201 is input to calculate the time change amount of the pulse rate, or the body temperature detected by the body temperature sensor 202 is input to change the body temperature with time. It is performed by calculating the amount or inputting the blood pressure detected by the blood pressure sensor 203 to calculate the amount of time change of the blood pressure. Then, the CPU 71 determines whether or not the calculated time change amount Q of the biological information is larger than the first threshold value α (step S180). The first threshold value α is set to a value slightly smaller than the second threshold value β, which will be described later, for determining that the subject may feel pain or discomfort. When it is determined that the time change amount Q of the biological information is equal to or less than the first threshold value α, it is determined whether or not the diagnosis is completed (step S190). If it is determined that the diagnosis is not completed, the movement of the ultrasonic probe 101 is continued (step S200), the process returns to step S110, and the process is repeated. When the CPU 71 determines that the time change amount Q of the biological information is larger than the first threshold value α in the process of repeating the processes of steps S110 to S200, is the time change amount Q of the biological information smaller than the second threshold value β? It is determined whether or not (step S210). When it is determined that the time change amount Q of the biological information is smaller than the second threshold value β, the pushing amount of the ultrasonic probe 101 is not caused to the subject to feel pain or discomfort due to the excessive pushing of the ultrasonic probe 101. Limiting δ and the moving speed V (step S220), the process proceeds to step S190. This process is performed, for example, by driving and controlling the corresponding motor so that the pushing amount δ is reduced by a predetermined amount and the moving speed V is reduced by a predetermined speed. In step S220, the CPU 71 may limit only one of the pushing amount δ and the moving speed V.

When the CPU 71 determines in step S190 that the diagnosis is completed, the CPU 71 stops the movement of the ultrasonic probe 101 (step S230) and ends the ultrasonic diagnosis process.

When the CPU 71 determines in step S210 that the time change amount Q of the biological information is larger than the second threshold value β, it determines that the subject may feel pain or discomfort, and outputs a warning (step). S240), the movement of the ultrasonic probe 101 is stopped (step S230), and the ultrasonic diagnostic process is completed. The process of step S230 is performed by transmitting a warning signal to the control unit 103 of the ultrasonic diagnostic apparatus 100, and the control unit 103 receiving the warning signal displays a warning screen on the display unit 106. FIG. 6 is an explanatory diagram showing an example of a warning screen. As shown in the figure, the warning screen includes a warning message to call the attention of the diagnostician and the current pushing amount of the ultrasonic probe 101. As a result, it is possible to notify the examiner that the ultrasonic probe 101 may be pushed by an excessive force to the subject. The CPU 71 may output a warning sound in step S240.

Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the ultrasonic probe 101 of the present embodiment corresponds to the diagnostic probe of the present disclosure, and the control device 70 corresponds to the control device. Further, the robot 20 corresponds to a mobile device.

It should be noted that the present disclosure is not limited to the above-described embodiment, and it goes without saying that the present disclosure can be carried out in various embodiments as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, the robot 20 is configured as a 7-axis articulated robot capable of translational motion in three directions and rotational motion in three directions. However, the number of axes can be any number. Further, the robot 20 may be composed of a so-called vertical articulated robot, a horizontal articulated robot, or the like.

Further, in the above-described embodiment, the biological information acquisition device 200 includes a pulse wave sensor 201, a body temperature sensor 202, and a blood pressure sensor 203 as sensors for detecting the biological information of the subject under diagnosis. However, the present invention is not limited to this, and the biological information acquisition device 200 includes, for example, a force sensor attached to a lever that can be gripped by the subject to detect the gripping force of the subject, and an image of the facial expression of the subject. A camera for this purpose and a sweating sensor for detecting the amount of sweating of the subject may be included. Further, the biological information acquisition device 200 includes a body surface temperature sensor that detects the subject's body surface temperature (skin surface temperature), an electroencephalograph that detects the subject's brain waves, and a blood flow sensor that detects the subject's blood flow. An electroencephalograph that detects the blood oxygen concentration of the subject may be included. That is, any kind of sensor may be used as long as it can acquire the time change of the biological information for determining whether or not the subject feels pain or discomfort during the diagnosis.

Further, in the above-described embodiment, the ultrasonic diagnostic system 10 includes a robot 20 that automatically operates according to a task program. However, the ultrasonic diagnostic system is a master device that is installed in a remote location and can be operated by an operator (diagnosis performer), and is connected to the master device via a communication line and holds an ultrasonic probe in an arm. It may be provided with a remote-controlled robot that operates the arm in response to the operation of the above. In this case, when the time change amount Q of the biological information of the subject is larger than the first threshold value α and smaller than the second threshold value β, the control device of the remote control robot pushes the ultrasonic probe regardless of the operation of the master device. And the movement speed may be limited. Further, the control device of the remote control robot warns the operator (outputs a warning sound and a warning display) from the master device side when the time change amount Q of the biological information of the subject is equal to or higher than the second threshold value β. A warning signal may be transmitted to the master device.

Further, in the above-described embodiment, the ultrasonic diagnostic system 10 holds the ultrasonic probe 101 on the robot 20 and drives the robot 20 to press the ultrasonic probe 101 against the subject to perform diagnosis. .. However, the diagnostician himself may press the ultrasonic probe 101 against the subject by grasping and operating the ultrasonic probe 101. Even in this case, the ultrasonic diagnostic system 10 calculates the time change of the biological information of the subject acquired by the biological information acquisition device 200, and when the time change of the calculated biological information reaches a predetermined value, the diagnosis performer. Can be warned against. As a result, the examiner can immediately deal with the pain or discomfort of the subject being diagnosed, and can further reduce the burden on the subject.

As described above, the first diagnostic system of the present disclosure acquires the diagnostic probe and the biological information of the subject during the execution of the diagnosis by pressing the diagnostic probe against the subject, and obtains the biometric information of the subject. When the time change of the biological information is calculated, it is determined whether or not an abnormality has occurred in the biological state of the subject based on the time change of the biological information, and it is determined that an abnormality has occurred in the biological state of the subject. The gist is to provide a control device for notifying the fact.

The first diagnostic system of the present disclosure acquires the biological information of the subject during the execution of the diagnosis by pressing the diagnostic probe against the subject, and calculates the time change of the biological information. Subsequently, the first diagnostic system determines whether or not an abnormality has occurred in the biological state of the subject based on the time change of the biological information. Then, the first diagnostic system notifies that when it is determined that an abnormality has occurred in the biological state of the subject. As a result, it is possible to appropriately notify the examiner that the subject being diagnosed is feeling pain or discomfort. Therefore, it is possible to further reduce the burden on the subject by performing the diagnosis by the diagnostician based on such information.

In the first diagnostic system of the present disclosure, the moving device for moving the diagnostic probe is provided, the diagnostic probe is an ultrasonic probe, and the control device is such that the ultrasonic probe is used for ultrasonic diagnosis. The moving device is controlled so as to be pushed into the body surface of the subject, and when it is determined that an abnormality has occurred in the biological state of the subject, the pushing of the ultrasonic probe into the body surface of the subject is stopped. May be good. In this way, it is possible to prevent the diagnostic probe from being pushed into the body surface of the subject with excessive force.

In the first to third diagnostic systems of the present disclosure, the moving device may be an articulated robot, and the ultrasonic probe may be attached to the arm tip of the articulated robot.

This disclosure can be used in the manufacturing industry of an ultrasonic probe misalignment measuring device.

10 ultrasonic diagnostic system, 20 robot, 21 1st arm, 22 2nd arm, 25 base, 26 base, 28 force sensor, 31 1st joint axis, 32 2nd joint axis, 33 posture holding axis, 35 1st arm drive device, 35a motor, 35b encoder, 36 2nd arm drive device, 36a motor, 36b encoder, 37 posture holding device, 37a motor, 37b encoder, 40 lifting device, 41 slider, 42 guide member, 43 ball screw Shaft, 44 motor, 45 encoder, 50 rotating 3-axis mechanism, 51 1st rotating shaft, 52 2nd rotating shaft, 53 3rd rotating shaft, 55 1st rotating device, 55a motor, 55b encoder, 56 2nd rotating device, 56a motor, 56b encoder, 57 third rotation device, 57a motor, 57b encoder, 60 holder, 100 ultrasonic diagnostic device, 101 ultrasonic probe, 101a cable, 102 ultrasonic diagnostic device main body, 103 control unit, 104 instruction input Unit, 105 image processing unit, 106 display unit, 200 biometric information acquisition device, 201 pulse wave sensor, 202 body temperature sensor, 203 blood pressure sensor.

Claims

Diagnostic probe and
The biological information of the subject during the execution of diagnosis by pressing the diagnostic probe against the subject is acquired, the time change of the biological information is calculated, and the subject's biological information is calculated based on the time change of the biological information. A control device that determines whether or not an abnormality has occurred in the biological condition and notifies that fact when it is determined that an abnormality has occurred in the biological condition of the subject.
Diagnostic system with.
The diagnostic system according to claim 1.
A moving device for moving the diagnostic probe is provided.
The diagnostic probe is an ultrasonic probe.
The control device controls the moving device so that the ultrasonic probe is pushed into the body surface of the subject at the time of ultrasonic diagnosis, and when it is determined that an abnormality has occurred in the biological state of the subject, the ultrasonic wave. Stop pushing the probe into the subject's body surface,
Diagnostic system.
With ultrasonic probe,
A moving device for moving the ultrasonic probe and
The biological information of the subject during the execution of ultrasonic diagnosis by pressing the ultrasonic probe against the subject is acquired, the time change of the biological information is calculated, and the time change of the biological information is predetermined. A control device that controls the moving device so that the ultrasonic probe is pushed into the body surface of the subject with a pushing amount that does not reach a predetermined value.
Diagnostic system with.
With ultrasonic probe,
A moving device for moving the ultrasonic probe and
The biological information of the subject during the execution of ultrasonic diagnosis is acquired by moving the ultrasonic probe while pressing it against the subject, the time change of the biological information is calculated, and the time change of the biological information is calculated. A control device that controls the moving device so that the ultrasonic probe moves along the body surface of the subject at a moving speed that does not reach a predetermined value.
Diagnostic system with.
The diagnostic system according to any one of claims 2 to 4.
The moving device is an articulated robot.
The ultrasonic probe is attached to the arm tip of the articulated robot.
Diagnostic system.