JP7630342B2 - Emergency medical system, emergency medical robot, emergency medical system control method, and program - Google Patents

Description

The present invention relates to a life-saving emergency system, a life-saving emergency robot, a method for controlling a life-saving emergency system, and a program.

A life-saving emergency support system has been proposed that assists in emergency rescue by determining and notifying the degree of abnormality in the user's physical condition based on the user's biometric information acquired from a mobile terminal carried by the user (see, for example, Patent Document 1). The technology described in Patent Document 1 uses a mobile phone carried by the user.

There is also a method for emergency teams to communicate with bystanders (people who are present at the scene of an emergency) via video calls during emergency rescue. For example, in the technology described in Patent Document 1, if the third-party terminal has a video call function, the emergency rescue support device can make a video call to the third-party terminal.

Patent No. 5705621

However, it is difficult to give instructions on what actions to take over a video call. Also, video calls require the cooperation of multiple people, and are not suitable for cases where a large number of people are in a panic. Also, depending on the procedure, it may be necessary to remove the clothing of the suddenly ill person, which means that the privacy of the suddenly ill person cannot always be respected.

The present invention has been made in consideration of the above problems, and aims to provide a life-saving emergency system, a life-saving emergency robot, a method for controlling the life-saving emergency system, and a program that can ensure safety at the scene and protect privacy.

(1) In order to achieve the above object, a life-saving and emergency system according to one aspect of the present invention includes a life-saving and emergency device having a remote control function, an imaging device that acquires environmental information around a patient, and a plurality of notification units, a terminal that acquires the environmental information and transmits selection information indicating a bystander selected using the acquired environmental information, and a directivity control means that controls the directivity of at least one of the plurality of notification units to the bystander based on the selection information acquired from the terminal, in order to align the directivity with the identified bystander.

(2) In addition, in the emergency rescue system according to one aspect of the present invention, the notification unit may be at least one of a speaker and an image display unit.

(3) In addition, in the emergency rescue system according to one aspect of the present invention, the number of speakers may be two, and the directivity control means may control the directivity by controlling the left and right phases of the audio signal to be notified.

(4) In addition, the emergency rescue system according to one embodiment of the present invention may further include a support determination unit that determines whether a support request is necessary from another emergency rescue device and, when it is determined that a support request is necessary, makes a support request to the other emergency rescue device.

(5) In addition, in the emergency rescue system according to one aspect of the present invention, the other emergency rescue device may be equipped with a transportation means, the request for assistance may include route information and navigation information from the other emergency rescue device to the other emergency rescue device, and the other emergency rescue device may notify people around the other emergency rescue device of the route information and the navigation information included in the request for assistance acquired from the directional operation means.

(6) In order to achieve the above object, a life-saving emergency robot according to one embodiment of the present invention includes a remote control function, a camera device that acquires environmental information about the patient's surroundings, a plurality of notification units, and a directionality control means that controls the directionality of at least one of the plurality of notification units to match the directionality to the identified bystander based on the selection information acquired from a terminal that acquires the environmental information and transmits selection information indicating a bystander selected using the acquired environmental information.

(7) To achieve the above object, a method for controlling a life-saving emergency system according to one aspect of the present invention includes an image capturing device that captures an image to acquire environmental information about the patient's surroundings, a terminal that transmits selection information indicating a bystander selected using the acquired environmental information, and a directivity control means that adjusts the directivity to the identified bystander based on the selection information acquired from the terminal to control the directivity of at least one of a plurality of notification units to the bystander.

(8) In order to achieve the above object, a program according to one aspect of the present invention causes a computer to acquire environmental information about the patient's surroundings by having an imaging device capture an image, and causes the bystander to control the directionality of at least one of a plurality of notification units by aligning the directionality with the identified bystander based on selection information indicating the bystander selected using the environmental information.

(1) to (8) make it possible to ensure safety at the site and protect privacy.
According to (3), by performing phase control on the audio signal output from the speaker, it is possible to notify the target person.
According to (4) and (5), treatment can be performed using multiple emergency rescue robots depending on the patient's condition and state, as well as the surrounding environment.
According to (5), the time required for a rescue robot to be used for support to be transported to the patient can be shortened.

FIG. 1 is a diagram illustrating a configuration example of a life-saving emergency robot according to an embodiment. 1 is a diagram showing an example of an external shape of a life-saving emergency robot according to an embodiment; 1 is a diagram illustrating a configuration example of a lifesaving system according to an embodiment. FIG. 4 is a diagram illustrating an example of data stored in a database according to the embodiment. FIG. 1 is a diagram illustrating a configuration example of a life-saving emergency robot according to an embodiment. FIG. 2 is a diagram illustrating an example of a configuration of a server according to the embodiment. FIG. 2 is a diagram illustrating a configuration example of a terminal according to an embodiment. 11A and 11B are diagrams illustrating an example of notification using a directional notification unit according to an embodiment. 11A and 11B are diagrams illustrating an example of protecting a patient's privacy using a directional notification unit according to an embodiment. 13 is a flowchart of a procedure for controlling the directivity of a notification unit according to the embodiment and a procedure for requesting assistance from other rescue robots. FIG. 2 is a diagram showing a processing example of the emergency rescue system according to the embodiment;

The following describes an embodiment of the present invention with reference to the drawings. Note that in the drawings used in the following description, the scale of each component has been appropriately altered so that each component is of a recognizable size.

[Example of the configuration of a life-saving emergency robot]
An example of a life-saving emergency robot will be described with reference to FIGS.
FIG. 1 is a diagram showing an example of the configuration of a life-saving emergency robot according to an embodiment. As shown in FIG. 1, the life-saving emergency robot 2 (life-saving emergency device) includes, for example, a housing 200, an arm 211a (arm, end effector), an arm 211b (arm, end effector), a first display device 2071, a second display device 2072, a first speaker 2073, a second speaker 2074, a first image capture device 2091, a second image capture device 2092, a moving means 212a, a moving means 212b, a life-saving instrument storage section 213, an arm storage section 214a, an arm storage section 214b, and the like. The arm 211a includes a hand 2112a. The arm 211b includes a hand 2112b. In addition, the life-saving emergency robot 2 includes, for example, a pointer 2113 attached to the hand 2112 (2112a, 2112b) (end effector). In addition, the rescue robot 2 may be configured to hold the pointer 2113 with the hand 2112.

Figure 2 is a diagram showing an example of the external shape of the life-saving emergency robot according to the embodiment. The first external shape g11 is in a state where the arm 211 (211a, 211b) is removed from the arm storage section 214 (214a, 214b), the first display device 2071 is in a state where it can present information, and the life-saving instrument storage section 213 is (or has been opened) in a state where the life-saving emergency instrument (not shown) can be removed. The life-saving emergency instrument is, for example, a blood pressure monitor, a pulse measuring device, a body temperature measuring device, a respiration measuring device, an AED, a mask, a sling, a stethoscope, airway securing equipment, etc.

The second external shape g12 is the state when placed in a specified position or location, in which the arm 211 is stored in the arm storage section 214, the first display device 2071 is closed, and the life-saving equipment storage section 213 is closed so that the life-saving emergency equipment (not shown) cannot be removed.

The third outer shape g13 is a state in which the life-saving emergency robot 2 is moving or a state in which the life-saving emergency robot 2 is being moved. Note that the life-saving emergency robot 2 may be movable in a self-propelled manner or may be movable by a person.
The external shape of the life-saving emergency robot 2 shown in Figures 1 and 2 is merely an example, and is not limited thereto.

[Example of emergency rescue system configuration]
Next, a configuration example of the emergency rescue system will be described. FIG. 3 is a diagram showing a configuration example of the emergency rescue system according to the embodiment. As shown in FIG. 2, the emergency rescue system 1 includes, for example, an emergency rescue robot 2, a server 3, a database 4, a patient's mobile phone 5-1, a caller's mobile phone 5-2, a terminal 6-1 used by a doctor 101 or the like in a hospital 100, a terminal 6-2 used by an ambulance team 111 rushing to the scene, a terminal 6-3 used by a remote-operated emergency rescue technician 121, a terminal 6-4 used by an auxiliary emergency rescue technician 123, and a terminal 6-5 used by a coordinator 131. The terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) are, for example, at least one of a smartphone, a tablet terminal, a notebook computer with a communication function, and a dedicated device. The caller's mobile phone 5-2 includes, for example, a GPS receiver 51.

In the following explanation, "the patient's mobile phone 5-1" will be referred to as "mobile phone 5-1", "the caller's mobile phone 5-2" will be referred to as "mobile phone 5-2", "the terminal 6-1 used by the doctor 101 etc. in the hospital 100" will be referred to as "terminal 6-1", "the terminal 6-2 used by the ambulance team 111 rushing to the scene" will be referred to as "terminal 6-2", "the terminal 6-3 used by the remotely operating paramedic 121" will be referred to as "terminal 6-3", "the terminal 6-4 used by the assistant paramedic 123" will be referred to as "terminal 6-4", and "the terminal 6-5 used by the coordinator 131" will be referred to as "terminal 6-5".
In the following description, the "emergency team 111 rushing to the scene" will also be referred to as the "emergency team 111," and the "remote-operating paramedic 121" will also be referred to as the "paramedic 121."

Each mobile phone, each terminal, the emergency rescue robot 2, the server 3, and the database 4 are connected to the network NW, for example, via a communication line or an internet line.

The life-saving emergency robot 2 is installed in places where people gather, such as shopping centers, stations, public halls, and museums.
The configurations and functions of the life-saving emergency robot 2 and the server 3, the data acquired and transmitted by the life-saving emergency robot 2, the people assisting in the life-saving emergency, etc. will be described in the embodiment.

FIG. 4 is a diagram showing an example of data stored in a database according to the embodiment.
As shown in Fig. 4, the database 4 stores, for example, information such as a mobile phone number, a name, a medical history, an emergency contact, and a family doctor's address, in association with the mobile phone number. The database 4 stores at least a medical history and a contact in association with the mobile phone number. The data stored in the database 4 in Fig. 4 is an example, and is not limited to this. The database 4 may store other information in association with the mobile phone number.

[Example of the configuration of a life-saving emergency robot]
First, a configuration example of the life-saving emergency robot 2 will be described.
FIG. 5 is a diagram showing an example of the configuration of the life-saving emergency robot according to the embodiment. As shown in FIG. 5, the life-saving emergency robot 2 includes, for example, a housing 200, a control unit 201 (remote control function), a memory unit 202, a drive unit 203 (remote control function), a power source 204, a communication unit 205, a lighting device 206, a notification unit 207, a notification drive unit 208 (directional operation means), a photographing device 209, a photographing device drive unit 210, an arm 211, a moving means 212 (remote control function), a life-saving instrument storage unit 213, an arm storage unit 214, a sound collection unit 215, and a support determination unit 218. The life-saving emergency robot 2 may include a path generation unit 216. The configuration shown in FIG. 5 is an example, and is not limited thereto. The life-saving emergency robot 2 may include, for example, other functional units. The life-saving emergency robot 2 may include one or more arms 211 that can be pointed by a pointer 2113 or the like.

The control unit 201 controls the operation of the life-saving emergency robot 2 in response to a remote operation instruction received by the communication unit 205. Alternatively, the control unit 201 controls the operation of the life-saving emergency robot 2 based on a program stored in the memory unit 202. The control unit 201 transmits an image (e.g., surrounding information D2) captured by the imaging device 209 to the server 3, the doctor 101, the ambulance team 111, and the coordinator 131 via the communication unit 205. The control unit 201 also transmits medical information such as a vital sign check acquired by the caller or people at the scene operating the life-saving emergency tool to the server 3, the doctor 101, the ambulance team 111, and the coordinator 131 via the communication unit 205. The control unit 201 controls the arm 211 by removing it from the arm storage unit 214 based on, for example, remote operation information. The control unit 201 stores the arm 211 in the arm storage unit 214 based on, for example, remote operation information. As a result, according to this embodiment, it can be installed compactly when not being used for emergency life-saving. The control unit 201 controls the opening and closing of the life-saving equipment storage unit 213 based on, for example, remote operation information. The control unit 201 controls the moving means 212 based on, for example, remote operation information. The control unit 201 switches the lighting of the lighting device 206 between an on state and an off state based on the remote operation information and an image captured by the imaging device 209. The control unit 201 controls the operation of the arm 211 by driving the driving unit 203 based on, for example, remote operation information. The control unit 201 outputs information included in the remote operation information to the notification unit 207. Note that the remote operation information may include text information, image information, audio information, and the like. The control unit 201 controls the operation of the arm 211 of the life-saving emergency robot 2 in response to a remote operation instruction received by the communication unit 205 from the server 3. The multiple arms 211 may be remotely operated by different operators (for example, a paramedic and an auxiliary paramedic). The control unit 201 obtains the usage status (whether it is in use or not) of other emergency rescue robots around the device via the network NW, and updates the usage status information stored in the memory unit 202.

The memory unit 202 stores programs and predetermined values used for the control of the control unit 201. The memory unit 202 temporarily stores acquired information. The memory unit 202 stores position information of other life-saving emergency robots installed around the device. The configuration of the other life-saving emergency robot may be the same as or different from the life-saving emergency robot 2. If the configuration is different, the memory unit 202 may store the position information in association with the function of the life-saving emergency robot. The memory unit 202 stores usage status information of other life-saving emergency robots around the device.

The drive unit 203 includes, for example, an actuator, a gear, etc. The drive unit 203 controls the operation of the arm 211 under the control of the control unit 201.

The power source 204 supplies power to each part of the rescue robot 2. The power source 204 may include a rechargeable secondary battery, a replaceable battery, a solar cell, etc.

The communication unit 205 transmits and receives information via the network NW. The communication unit 205 includes, for example, a communication circuit that can be connected to a communication line and a communication circuit that can be connected to the Internet. The communication unit 205 may include a GPS (Global Positioning System) receiver.

The lighting device 206 switches between an on state and an off state in response to control by the control unit 21. Note that there may be multiple lighting devices 206.

The notification unit 207 includes, for example, a first display device 2071, a second display device 2072, a first speaker 2073, and a second speaker 2074. Note that the number of display devices and speakers included in the notification unit 207 is not limited to two. Note that the first display device 2071 or the second display device 2072 may include a touch panel sensor on the screen.

The first display device 2071 notifies the information contained in the remote control information to the reporter at the scene or people in the vicinity.
The second display device 2072 presents, for example, information input by the operator 122 who, for example, calms the bystander or issues instructions to the bystander. The operator 122 inputs the information to be presented to the bystander by operating a touch panel (not shown) or a keyboard (not shown).

The first speaker 2073 notifies the information included in the remote control information to the reporter at the scene or people in the vicinity. The notification unit 207 may convert the text information included in the remote control information into an audio signal by a well-known method and output it from the first speaker 2073.
The second speaker 2074 outputs information input by the operator 122, who may, for example, calm the bystander or give instructions to the bystander. The operator 122 inputs information to be presented to the bystander using a microphone (not shown) or by operating a keyboard (not shown).

The notification drive unit 208 controls the opening and closing of the first display device 2071, the removal and storage of the second display device 2072 from the housing 200, the direction and angle of the second display device 2072, the removal and storage of the first speaker 2073 from the housing 200, and the direction and angle of the second speaker 2074 from the housing 200, in accordance with the control of the control unit 201. The notification unit 207 in the embodiment is capable of controlling the height, the vertical direction and angle, and the horizontal direction and angle, that is, the directivity. In the embodiment, the notification drive unit 208 controls the directivity of the notification unit 207 in accordance with a remote operation instruction from at least one of the paramedic 121, the operator 122, and the auxiliary paramedic 123, so that information can be provided to the person who provided the information or the person to whom it is to be conveyed. The notification drive unit 208 may control the directivity according to the control of the control unit 201 by controlling the phase of the audio signal output from the two speakers, rather than controlling the direction or angle of the speaker. The control of the directivity is used, for example, to ensure safety at the site or to calm excited people around the patient. Alternatively, the control of the directivity is used to instruct a person of the same sex as the patient to put on or take off clothes, or to instruct people around the patient to turn their back to the patient when putting on or taking off clothes.

The image capturing device 209 includes a first image capturing device 2091 and a second image capturing device 2092. The number of image capturing devices is not limited to two.
The first image capturing device 2091 captures images based on an image capturing instruction, for example, remotely operated by the paramedic 121. The captured image is, for example, an image of the patient, an image of the surroundings around the patient, and the like.
The second image capturing device 2092 captures images based on an image capturing instruction, for example, remotely operated by the doctor 101. The captured images are, for example, images of the patient, images of the affected area of the patient, and the like.

The image capture device drive unit 210 controls the removal and storage of the first image capture device 2091 from the housing 200, as well as the direction and angle of the first image capture device 2091, and the removal and storage of the second image capture device 2092 from the housing 200, as well as the direction and angle of the second image capture device 2092, in accordance with the control of the control unit 201.

The arm 211 includes, for example, an arm 2111, a hand 2112 (end effector), a pointer 2113, and a sensor 2114. As shown in FIG. 1, the lifesaving emergency robot 2 includes, for example, two arms 211 (211a, 211b). The arm 211 can be stored in the arm storage section 214. The arm 211 is controlled by remote control. The arm 211 can handle the lifesaving emergency tools stored in the lifesaving tool storage section 213. The arm 211 includes an actuator (motor, artificial muscle, etc.) (not shown) driven by the drive section 203.

The arm 2111 corresponds to a human arm, and has sensors 2114 attached to its joints.
The hand 2112 (gripping portion) corresponds to a human hand and has, for example, two or more fingers, with sensors 2114 attached to the joints of the fingers.
The pointer 2113 is, for example, a laser pointer. The pointer 2113 may be attached to, for example, the hand 2112, or may be capable of being held by the hand 2112. The pointer 2113 is switched between an on state and an off state under the control of the control unit 201.
The sensor 2114 is an encoder that detects the movement of a joint, a tactile sensor attached to a finger or the hand 2112, or the like. The sensor 2114 outputs a detected value to the control unit 201.

The moving means 212 is, for example, a plurality of wheels. The moving means 212 may be driven by the driving unit 203. The lifesaving emergency robot 2 may be moved by a person using a hand carry, and in this case, the moving means 212 may assist in the movement by driving the driving unit 203.

The lifesaving equipment storage section 213 stores lifesaving equipment in, for example, a box or bag. The number of lifesaving equipment storage sections 213 is not limited to one, and two or more may be provided, for example, at the front and back. Each of the lifesaving equipment has a wired or wireless communication function and transmits acquired data to the lifesaving robot 2.

The arms 211 are stored in the arm storage sections 214. An arm storage section 214 is provided for each arm 211 as shown in FIG. 1.

The sound collection unit 215 is a microphone or a microphone array having multiple microphones. The sound collection unit 215 may collect an acoustic signal based on remote control by the paramedic 121 or the like, and transmit the collected acoustic signal to the server 3 as environmental data (environmental information).

The route generation unit 216 performs, for example, the same processing as the route generation unit 306 of the server 3.

The support determination unit 218 determines whether support from other emergency rescue robots installed around the device is necessary based on the acquired medical condition information and environmental data. The support determination unit 218 determines that support from other emergency rescue robots is necessary, for example, when there are many people around the patient and the device cannot handle all the people around, or when there are multiple patients. When the support determination unit 218 determines that support from other emergency rescue robots is necessary, it transmits a support request to the server 3 via the network NW. The support request transmitted to the server 3 includes the identification information of the device itself and the installation positions and identification information of the other emergency rescue robots. When communication with the other emergency rescue robots is possible without going through the server 3, the emergency rescue robot 2 may transmit a support request to the other emergency rescue robots. The support request transmitted to the other emergency rescue robots includes location information of the patient, route information to the location of the patient, navigation information from the installation position of the other emergency rescue robot to the location of the patient, etc.

[Server configuration example]
Next, a configuration example of the server 3 will be described.
Fig. 6 is a diagram showing an example of the configuration of a server according to the embodiment. As shown in Fig. 6, the server 3 includes, for example, a medical condition data control unit 301, a robot data control unit 302, an environmental data control unit 303, a storage unit 304, a communication unit 305, a path generation unit 306, a transport means determination unit 307, and a directionality determination unit 308. Note that the configuration shown in Fig. 6 is an example and is not limited thereto.

The medical condition data control unit 301 acquires medical information, such as a vital check, which is current biological information, from the lifesaving emergency robot 2 via the communication unit 305. In the following description, "medical information, such as a vital check" is also referred to as "medical condition information." The medical condition information may include, for example, vital signs such as respiratory condition, pulse rate, blood pressure, body temperature, and level of consciousness, the degree of bleeding, and the like.
The medical condition data control unit 301 transmits the acquired medical information such as vital signs check to the terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) via the network NW.

The robot data control unit 302 acquires remote operation instructions from the paramedic 121 or doctor 101 via the communication unit 305. Based on the acquired remote operation instructions, the robot data control unit 302 generates control command information for controlling the operation of the paramedic robot 2, and transmits the generated control command information to the paramedic robot 2 via the communication unit 305. Based on the directivity information, the robot data control unit 302 generates directivity control information for controlling the direction in which the alarm unit 207 of the paramedic robot 2 is pointed, and transmits the generated directivity control information to the paramedic robot 2 via the communication unit 305. The robot data control unit 302 transmits the audio signal received from the terminal 6 to the paramedic robot 2 via the communication unit 305 and the network NW. Note that the remote operation instructions may also include an instruction to output an audio signal from the second speaker 2074. When the robot data control unit 302 receives support request information from the life-saving emergency robot 2, it transmits a support movement request via the network NW to the other life-saving emergency robots included in the support request information. The support movement request includes location information of the patient, route information to the patient's location, navigation information from the installation location of the other life-saving emergency robot to the patient's location, etc. The robot data control unit 302 transmits, for example, a request to remotely control the other life-saving emergency robot to the terminal of another emergency medical technician linked to the other life-saving emergency robot.

The environmental data control unit 303 acquires environmental data captured by the imaging device 209 from the lifesaving emergency robot 2 via the communication unit 305. The environmental data also includes, for example, the number of people in the vicinity, information about the ground and topography, and traffic volume. The environmental data control unit 303 transmits the acquired environmental data to the terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) via the network NW.

The memory unit 304 stores programs, thresholds, network information, etc. used by each part of the server 3. The memory unit 304 stores location information (latitude and longitude, name of commercial facility, etc.) where the life-saving emergency robot 2 is installed.

The communication unit 305 transmits and receives data to and from the lifesaving emergency robot 2 via the network NW. The communication unit 305 references the database 4 via the network NW. The communication unit 305 transmits and receives information to and from the terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) via the network NW.

The route generating unit 306 selects the emergency rescue robot 2 installed closest to the caller based on the location information of the caller's mobile phone 5-2. The location information is generated based on data received by the GPS receiver 51 from a GPS satellite, for example. The route generating unit 306 generates route information from the caller to the emergency rescue robot 2 using the location information of the selected emergency rescue robot 2 and the difference between the caller's location information and the environmental data. The route is not limited to the shortest distance, and may be generated taking into account the surrounding road conditions, the number of people, road width, etc. The route generating unit 306 transmits the generated route information to the caller's mobile phone 5-2 via the network NW. The route generating unit may be provided in the emergency rescue robot 2.

The transport means determination unit 307 determines whether the treatment or procedure is complete based on the acquired medical information such as vital signs checks and instructions from the paramedic. When the treatment or procedure is complete and transportation by taxi is possible, for example, the transport means determination unit 307 transmits a request to the terminal 6-2 of the ambulance team 111 to stop dispatching, indicating that an ambulance will be dispatched. When the transport means determination unit 307 determines that the treatment or procedure is not complete, it transmits information to the terminal 6-3 of the paramedic 121 indicating that further remote operation is required. The paramedic robot 2 may be equipped with a transport means determination unit that performs processing equivalent to that of the transport means determination unit 307.

The directivity determination unit 308 determines the direction (directivity) of the muzzle of the notification unit 207 of the emergency rescue robot 2 in response to remote control or instructions from the paramedic 121, the operator 122 who calms the bystander, the assistant paramedic 123, the coordinator 131, etc. The directivity determination unit 308 outputs the determined directivity information to the robot data control unit 302.

[Example of how other emergency rescue robots move when requested to assist]
Here, an example of a method for moving another life-saving emergency robot that has been requested for assistance will be described.
Other emergency rescue robots may be made to move by themselves by remotely operating a terminal by the server 3 or another emergency rescue technician.
Alternatively, the other life-saving emergency robot may report the route information and navigation information received from the server 3 or the life-saving emergency robot 2 to people around the other life-saving emergency robot, so that they can move to the location of the patient.
Alternatively, route information and navigation information to the location of other life-saving emergency robots may be printed out, for example by a printing device (not shown), and given to someone near the patient, who may then bring it to the patient.
The above-described movement method is an example and is not limited to this.

[Example of configuration of terminal 6]
Next, an example of the configuration of the terminal 6 will be described.
Fig. 7 is a diagram showing an example of the configuration of a terminal according to this embodiment. As shown in Fig. 7, the terminal 6 includes, for example, a control unit 601, a storage unit 602, an operation unit 603, an image display unit 604, a sound collection unit 605, an output unit 606, and a communication unit 607. Note that the configuration of the terminal 6 shown in Fig. 7 is an example, and is not limited thereto. For example, the terminal 6 may include a GPS receiving device 608.

The control unit 601 causes the image display unit 604 to display information (condition information, environmental data, etc.) received by the communication unit 607. When the environmental data received by the communication unit 607 includes an audio signal, the control unit 601 causes the output unit 606 to reproduce the audio signal. The control unit 601 transmits the audio signal collected by the sound collection unit 605 to the server 3 via the communication unit 607. The control unit 601 generates a remote operation instruction based on the operation result detected by the operation unit 603, and transmits the generated remote operation instruction to the server 3 via the communication unit 607. Note that the transmitted audio signal may be linked to the remote operation instruction. For example, when the operator calls out to people around the patient from the second speaker 2074, the remote operation instruction also includes an instruction to output an audio signal from the second speaker 2074.

The memory unit 602 stores programs, thresholds, etc. that the control unit 601 uses for control. The memory unit 602 stores environmental data and medical condition information under the control of the control unit 601.

The operation unit 603 detects the results of the operation by the operator. The operation unit 603 is, for example, a touch panel sensor provided on the image display unit 604. Alternatively, the operation unit 603 may be a keyboard or a mouse. Alternatively, the operation unit 603 may be a joystick. Alternatively, the operation unit 603 may be a glove or the like equipped with a tactile sensor that detects the movement of the operator's hand.

The image display unit 604 displays the image output by the control unit 601.

The sound pickup unit 605 includes at least one microphone and picks up the operator's voice. Note that the sound pickup unit 605 may be a microphone array consisting of multiple microphones.

The output unit 606 is, for example, a speaker. The output unit 606 outputs the acoustic signal output by the control unit 601.

The communication unit 607 receives information (condition information, environmental data, etc.) from the server 3 via the network NW and outputs the received information to the control unit 601. The communication unit 607 transmits the operation request output by the control unit 601 to the server 3 via the network NW.

The GPS receiver device 608 generates location information using information received from the GPS satellites.

[Example of notification using a directional notification unit]
Next, an example of notification using the directional notification unit 207 will be described.
FIG. 8 is a diagram showing an example of a notification using a directional notification unit according to the present embodiment. In the example of FIG. 8, for example, the reporter Hub1 is processing the patient. Around the patient and the reporter Hub1, there are bystanders (those who are present at the emergency scene) Hub2 and Hub3. For example, when the paramedic 121 determines that support is needed from someone other than the reporter Hub1 for the treatment of the patient, the paramedic 121 selects a person who is likely to be able to request support based on the environmental data acquired by the terminal 6-3. For example, when there are multiple people around, the paramedic 121 selects from among people other than children and elderly people. Or, when the paramedic 121 needs to undress, the paramedic 121 selects a person of the same sex as the patient.

The paramedic 121 operates the terminal 6-3 to input the selection result. The terminal 6-3 transmits the input (or selected) selection result to the server 3 via the network NW. The server 3 generates a remote operation instruction to notify the selected person based on the received selection result, and transmits the generated remote operation instruction to the paramedic robot 2 via the network NW.

The notification drive unit 208 of the life-saving emergency robot 2 controls the directivity of the notification to the selected people Hub 2 and Hub 3 in response to the received remote operation instruction. The notification drive unit 208 controls the directivity, for example, by controlling the orientation and angle of the second display device 2072 and the second speaker 2074. Alternatively, the notification drive unit 208 controls the directivity by controlling the phase of the audio signals of the first speaker 2073 and the second speaker 2074. Alternatively, the notification drive unit 208 controls the directivity by controlling, for example, a polarizing filter of a liquid crystal control type provided on the second display device 2072. The notification drive unit 208 may estimate and track the direction of the selected people by a well-known sound source method estimation process or the like for the audio signal collected by the sound collection unit 215 of the life-saving emergency robot 2. The notification driving unit 208 may also estimate and track the direction of the selected people by using the results of well-known image processing performed on the image captured by the image capture device 209. Note that the above-mentioned method of controlling directivity is an example and is not limited to this.

The information to be notified may be information input by operating the operation unit 603 of the terminal 6-3, or may be a voice signal collected by the sound collection unit 605, or may be information previously stored in the emergency rescue robot 2 or the server 3. The information to be notified includes, for example, a request for cooperation and a method of using emergency rescue tools.
In this embodiment, the remote operator operates the terminal 6 to control the directivity of the notification unit 207 to notify people to whom he/she wishes to convey the warning or the like, thereby notifying the people to whom he/she wishes to convey the notification content.

Figure 9 is a diagram showing an example of protecting a patient's privacy using a directional notification unit according to this embodiment. In the example of Figure 9, the patient is a woman, the person providing treatment, Hub1, is also a woman, and the people around Hub2 and Hub3 are men. For example, when it is necessary to use an AED, the person providing treatment will need to remove the patient's clothing. In such a case, in order to protect the patient's privacy, etc., the treatment needs to be performed by a person of the same sex, and it is necessary that the opposite sex does not see the patient and that the patient is not visible to other people in the vicinity.

In such a case, the paramedic 121 operates the terminal 6-3 to input instructions to the people of the opposite sex to turn their backs to the patient and form a wall so as not to look at the patient during treatment and to prevent others from seeing them. The notification drive unit 208 of the paramedic robot 2 controls the directionality of the notification unit 207 to notify the target people in accordance with the remote operation instructions generated based on the input contents.

[Procedure for controlling the directivity of the notification unit 207 and method for requesting assistance from other emergency rescue robots]
Next, a procedure for controlling the directionality of the notification unit 207 for a person assisting in treatment and a procedure for requesting support from other emergency rescue robots will be described.
FIG. 10 is a flowchart of a procedure for controlling the directionality of the notification unit 207 according to this embodiment and a procedure for requesting assistance from other rescue robots.

(Step S101) The server 3 acquires the emergency call originated from the caller's mobile phone 5-2. The server 3 then transmits the acquired emergency call to each terminal 6.

(Step S102) The paramedic 121 operates the terminal 6-3 to instruct the paramedic robot 2 to have the caller perform treatment or use paramedic tools, or to have the paramedic robot 2 perform treatment or use paramedic tools. The paramedic robot 2 acquires medical condition information and environmental data, and transmits the acquired medical condition information and environmental data to the server 3 via the network NW. The server 3 transmits the acquired medical condition information and environmental data to each terminal 6 via the network NW.

(Step S103) Based on the medical condition information and environmental data, the paramedic 121 selects from among the people nearby those to whom he/she would like to ask for assistance with treatment, etc. The paramedic 121 operates the terminal 6-3 to input the selection result.

(Step S104) The server 3 sets the directionality towards the target person based on the selection result received from the terminal 6-3. The directionality towards the target person may be set by the life-saving emergency robot 2. The server 3 transmits remote operation instructions including control information for the directionality of the notification unit 207 and the request content to the life-saving emergency robot 2 via the network NW. In response to the received remote operation instructions, the life-saving emergency robot 2 controls the directionality of the notification unit 207 towards the people to be notified and notifies them.

(Step S105) The support determination unit 218 determines whether or not support is required from other rescue robots installed around the device based on the acquired medical condition information and environmental data. The paramedic 121 may determine whether or not a support request is required from other rescue robots based on the medical condition information and environmental data. In this case, the paramedic 121 may operate the terminal 6-3 to input and transmit the support request determination result, so that the support determination unit 218 obtains the determination result. If the support request determination result indicates that a support request is required from other rescue robots (step S105; YES), the support determination unit 218 proceeds to processing in step S106. If the support request determination result indicates that a support request is not required from other rescue robots (step S105; NO), the support determination unit 218 ends the processing.

(Step S106) If the support decision unit 218 determines that support from another life-saving emergency robot is necessary, it transmits a support request to the server 3 via the network NW.

In FIG. 10, after selecting a target person from people in the vicinity, it is determined whether or not support from other emergency rescue robots is required, but this is not limited to the above. The emergency rescue system 1 may select a target person from people in the vicinity after determining whether or not support from other emergency rescue robots is required, or the two processes may be performed simultaneously.

[Processing example of emergency rescue system 1]
Next, a processing example of the emergency rescue system 1 of this embodiment will be described with reference to Fig. 3, Fig. 5 to Fig. 7, and Fig. 10. Fig. 10 is a diagram showing a processing example of the emergency rescue system according to this embodiment. In Fig. 10, the "emergency rescue robot" is also written as "robot". In the example shown in Fig. 10, the emergency rescue robot 2 does not touch people such as patients, but gives instructions to people around them by using, for example, the light of the pointer 2113.

(Step S11) When the caller finds a patient, the caller calls to request a life-saving emergency service (life-saving emergency call) using the mobile phone 5-2. This life-saving emergency call is sent to, for example, the life-saving emergency robot 2, the server 3, the terminal 6-2 of the ambulance team 111, the terminal 6-3 of the paramedic 121, the terminal 6-4 of the auxiliary paramedic, and the terminal 6-5 of the coordinator 131. The life-saving emergency call includes at least location information such as the address of the scene. The life-saving emergency call may also include information such as the patient's condition, the environmental state, and the number of patients. The environmental state is, for example, information such as the traffic conditions at the scene, whether the scene is a shopping center, and the temperature and humidity at the scene. The location information such as the address of the scene may be obtained, for example, by the server 3 based on the location information of the caller's mobile phone 5-2.

(Step S12) In response to the emergency call, an ambulance (not shown) begins rushing to the scene. After processing, the emergency rescue system 1 performs at least one of steps S13a and S13b.

(Step S13a) In response to a life-saving emergency call, the server 3 activates the life-saving emergency robot 2 that is installed closest to the location based on the location information included in the life-saving emergency call. Alternatively, in response to a life-saving emergency call, the server 3 transmits location information of the life-saving emergency robot 2 that is installed closest to the location to the mobile phone 5-2 based on the location information included in the life-saving emergency call. The server 3 also transmits to each terminal 6 information that a life-saving emergency call has been requested, identification information of the life-saving emergency robot 2 to be used, etc.

(Step S13b) Based on the location information included in the emergency call, the emergency robot 2 installed closest to that location is activated. Alternatively, the caller moves to the location where the emergency robot 2 is installed based on the location information of the emergency robot 2 transmitted to the mobile phone 5-2, and activates the emergency robot 2. Note that the emergency medical technician 121 may activate the emergency robot 2 in response to the emergency call. The server 3 also transmits to each terminal 6 information that a request for emergency medical care has been made, identification information of the emergency robot 2 to be used, etc.

(Step S14) The emergency robot 2 moves to the notified location based on the location information included in the emergency call. Alternatively, the caller moves the emergency robot 2 to the location where the patient is. Note that in response to the emergency call, the emergency medical technician 121 may remotely operate the emergency robot 2 to move it to the notified location.

(Step S15) The paramedic 121 remotely controls the paramedic robot 2 to, for example, display on the first display device 2071, make an announcement from the first speaker 2073, or use the pointer 2113 to give instructions to the caller or people at the scene. The paramedic 121 remotely controls the paramedic robot 2 to, for example, display on the first display device 2071, make an announcement from the first speaker 2073, or use the pointer 2113 to explain to the caller or people at the scene how to use the paramedic tools, and to obtain medical information such as a check of the patient's vital signs. The paramedic robot 2 transmits the obtained medical information such as a check of the vital signs to the server 3 via the network NW. The paramedic 121 also remotely controls the rescue robot 2 to, for example, display on the first display device 2071, notify from the first speaker 2073, or use the pointer 2113 to have the caller or people at the scene treat the patient. The paramedic 121 also remotely controls the rescue robot 2 to acquire environmental data (image data, audio signal) that is information on the surrounding situation. The rescue robot 2 transmits the acquired environmental data to the server 3 via the network NW. The remote operator issues an operation instruction via a terminal, and the server 3 that has acquired the operation instruction controls the notification unit 207, hand 2112, and pointer of the rescue robot 2 to issue instructions and notify. In addition, the server 3 (medical condition data control unit 301, robot data control unit 302, environmental data control unit 303) controls the operation of the arm 211 of the emergency rescue robot 2, controls the driving of the notification driving unit 208, and controls the driving of the imaging device driving unit 210 based on the acquired remote instructions.

(Step S16) The caller (or a person around the patient) retrieves and processes the emergency equipment and uses it to obtain medical information such as checking vital signs, in accordance with the instructions of the emergency robot 2.

(Step S17) After the life-saving emergency robot 2 arrives at the patient's location, medical information such as a vital sign check from the life-saving emergency robot 2 is transmitted to the terminal 6-2 of the emergency team 111 in the ambulance via the network NW and the server 3. The medical information such as a vital sign check from the life-saving emergency robot 2 is also transmitted to the terminal 6-3 of the emergency medical technician 121 who remotely operates the life-saving emergency robot 2.

(Step S18) Medical information such as vital signs from the emergency robot 2 is sent from the server 3 to the terminal 6-5 of the coordinator 131. In addition, the patient's personal information (medical history, family hospital, etc.) is sent from the server 3 to the terminal 6-5 of the coordinator 131. The patient's mobile phone number is obtained, for example, by asking the patient if he or she is conscious, or by asking the patient's attendant if the patient's mobile phone number cannot be obtained from the patient, or by making a emergency call from the patient's mobile phone 5-1 if the patient has a mobile phone. The coordinator 131 selects candidate hospitals to which the patient should be transported based on the medical information such as vital signs and personal information acquired by the terminal 6-5. The coordinator 131 or the server 3 may make arrangements and determine the hospital to which the patient should be transported.

(Step S19) After the destination hospital has been decided, medical information such as a vital sign check from the emergency robot 2 is sent from the server 3 to the terminal 6-1 of the hospital 100. Next, the server 3 gives the operator of the terminal 6-1 (e.g., the doctor 101) the right to use the imaging device 209 of the emergency robot 2 when it is not being used by remote control. This allows the doctor 101 to check the patient's condition, for example, by operating the second imaging device 2092 separately from the remote control of the emergency medical technician 121.

(Step S20) The transport means determination unit 307 of the server 3 determines whether or not the treatment has been completed based on the acquired medical information such as vital signs checks and the images captured by the imaging device 209. The paramedic 121 may determine whether or not the treatment has been completed. If it is determined that the treatment has been completed, for example, the transport means determination unit 307 of the server 3 transmits a request to stop dispatching to the terminal 6-2 of the ambulance 111 via the network NW, and arranges for another transport means (for example, a taxi). If it is determined that the treatment has not been completed, for example, the robot data control unit 302 of the server 3 continues to transmit medical information such as vital signs checks and environmental data to the terminal 6, while controlling the robot to issue notifications and instructions to continue treatment, etc. until the ambulance arrives in response to remote control.

(Step S21) The terminal 6-1 in the ambulance receives the request to stop dispatch. The ambulance team 111 stops dispatch based on the received result.

(Step S22) The ambulance team 111 in the ambulance arrives at the scene where the patient is.

(Step S23) The caller or the like hands the patient over to the ambulance team. After the patient is handed over, the emergency rescue robot 2 may be returned to the location where the caller was located, or may be remotely controlled to return to the location where the robot was located under its own power, or may be later collected by a collection vehicle.

In the above example, the caller goes to retrieve the emergency robot 2, but this is not limited to the above example. For example, the server 3 may notify people in the vicinity of the selected emergency robot 2 based on the emergency call to assist in moving the emergency robot 2 to the location of the patient, and have the people in the vicinity of the emergency robot 2 move to the patient's location.

In this case, the process of step S14 may be performed as follows. In response to the emergency call, the server 3 may generate route information for the movement route from the selected emergency robot 2 to the caller (the mobile phone 5-2 used by the caller). The server 3 may then generate navigation information from images and audio signals from the emergency robot 2 to the caller based on the generated route information. The server 3 may then transmit the generated route information and navigation information to the emergency robot 2 via the network NW. The emergency robot 2 may then notify people in the vicinity of the received route information and navigation information, and encourage them to help move to the caller. The emergency robot 2 may then navigate from the emergency robot 2 to the caller based on the route information and navigation information.

Note that the processing procedure shown in FIG. 10 is an example and is not limited to this. Some processes may be performed simultaneously, and the procedures may be interchanged.

In addition, in the above-mentioned example, when the life-saving emergency robot 2 issues instructions by remote control using the arm 211, in accordance with the control command information of the server 3, the life-saving emergency robot 2 removes the arm 211 from the arm storage section 214 and then performs the work, and stores the arm 211 in the arm storage section 214 after the work is completed.

When the emergency rescue robot 2 obtains medical information or provides assistance, such as treating a patient or checking vital signs, in response to remote control, the processes of steps S15 and S16 may be performed as follows.
(Step S15) The paramedic 121 remotely controls the paramedic robot 2 to perform treatment on the patient and to use paramedic tools to obtain medical information such as a check on vital signs. The robot data control unit 302 of the server 3 generates control command information for the arm 211 to perform treatment on the patient and to use paramedic tools to obtain medical information such as a check on vital signs in response to the remote command. The robot data control unit 302 transmits the generated control command information to the paramedic robot 2. The robot data control unit 302 may also control the arm 211, the pointer 2113, etc. to give cooperative commands such as assistance when performing treatment on the patient and using paramedic tools to obtain medical information such as a check on vital signs.

(Step S16) When the caller (or a person around the patient) receives an instruction from the emergency robot 2 requesting cooperation, the caller may respond to the instructions of the emergency robot 2 by retrieving or assisting in the retrieval of emergency equipment, processing the equipment, or assisting in obtaining medical information such as checking vital signs using the emergency equipment.

The lifesaving emergency robot 2 or server 3 may generate traffic control information (signals, instructions to surrounding vehicles (especially effective for autonomous driving)) for the transport route in addition to informing the emergency team 111 of the availability of dispatch. The lifesaving emergency robot 2 or server 3 may transmit the generated traffic control information to, for example, a traffic control center or an emergency rescue center. As a result, according to this embodiment, traffic control for the transport route can be performed according to the response means.

When remotely operating the life-saving emergency robot 2, the operation unit 603 of the terminal 6-1 used by the paramedic 121 who remotely operates the robot may be a tactile data glove worn on the hand of the operator. The tactile data glove detects the direction and the movement of each finger, hand, and arm using sensors provided in the tactile data glove, and transmits the detected operator sensor value to the server 3. The sensors are, for example, an acceleration sensor, a gyroscope sensor, a magnetic sensor, etc. The tactile data glove may be provided with a feedback means. The feedback means feeds back feedback information (pressure, temperature, etc.) from the end effector of the life-saving emergency robot 2 to the operator according to the control of the control unit 601. The image display unit 604 of the terminal 6-1 may be an HMD (head mounted display). The HMD displays images captured by the life-saving emergency robot 2. The HMD may also be provided with a needle detector that detects the operator's line of sight information. In this case, the detected line of sight information is transmitted to the server 3.

Furthermore, the control unit 201 of the life-saving emergency robot 2 may input the above-mentioned operator sensor value and gaze information into the trained model to estimate the intention of the action the operator is about to perform. This allows the control unit 201 to perform the task without the operator having to perform precise positioning, and therefore allows the life-saving emergency robot 2 to perform the task with high accuracy. Note that the trained model, for example, inputs the operator sensor value and gaze information in advance and learns the task the operator is about to perform as training data.

As described above, the emergency rescue system 1 of this embodiment performs the following processing using the environmental data (the scene situation and surrounding people and their positions) acquired from the emergency rescue robot 2.
I. The control unit 201 identifies the position of a target person to whom an operator (e.g., the paramedic 121) is speaking, and sets the directionality toward the target person.
II. The support determination unit 218 determines whether or not to request support from other nearby life-saving emergency robots, and further outputs the following:
II-1. Sound or images are output directional toward the target person.
II-2. The system was designed to request support from other emergency rescue robots in the vicinity.

As a result, this embodiment makes it possible to ensure safety at the site and protect privacy (such as having someone of the same sex give instructions on how to put on and take off clothing).

In addition, a program for implementing some or all of the functions of the life-saving robot 2 and the server 3 in the present invention may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform all or part of the processing performed by the life-saving robot 2 and the server 3. Note that the term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" also includes systems built on a local network and systems built on the cloud. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" also includes those that hold a program for a certain period of time, such as volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.

The above program may also be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium, or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The above program may also be one that realizes part of the above-mentioned functions. Furthermore, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made without departing from the spirit of the present invention.

1: Lifesaving emergency system, 2: Lifesaving emergency robot, 3: Server, 200: Housing, 201: Control unit, 202: Memory unit, 203: Drive unit, 204: Power source, 205: Communication unit, 206: Lighting device, 207: Notification unit, 208: Notification drive unit, 209: Camera, 210: Camera drive unit, 211, 211a, 211b: Arm, 212, 212a, 212b: Moving means, 215: Sound collection unit, 216: Path generation unit, 218: Support determination unit,
2071: first display device, 2072: second display device, 2073: first speaker, 2074: second speaker, 2091: first image capturing device, 2092: second image capturing device, 2111: arm, 2112: hand, 2113: pointer, 2114: sensor,
301: medical condition data control unit, 302: robot data control unit, 303: environmental data control unit, 304: storage unit, 305: communication unit, 306: path generation unit, 307: transport means determination unit, 308: directivity determination unit,
601: control unit, 602: storage unit, 603: operation unit, 604: image display unit, 605: sound collection unit, 606: output unit, 607: communication unit, 608: GPS receiving device

Claims (8)

A life-saving emergency device including a remote control function, an imaging device for acquiring environmental information around a patient, and a plurality of notification units;
a terminal that acquires the environmental information and transmits selection information indicating bystanders selected using the acquired environmental information;
a directivity operation means for controlling a directivity of at least one of the plurality of notification units to the bystander based on the selection information acquired from the terminal, the directivity being adjusted to the identified bystander;
A life-saving emergency system equipped with: The notification unit is at least one of a speaker and an image display unit.
The emergency rescue system according to claim 1 . The number of speakers is two,
The directivity control means controls the directivity by controlling the left and right phases of the sound signal to be notified.
The emergency rescue system according to claim 2 . A support determination unit that determines whether a support request is required from another emergency rescue device and, when it is determined that a support request is required, issues a support request to the other emergency rescue device.
The emergency rescue system according to any one of claims 1 to 3. The other emergency rescue device includes a moving means,
The support request includes route information and navigation information from the other emergency rescue device to the emergency rescue device,
The other emergency rescue device notifies people around the other emergency rescue device of the route information and the navigation information included in the request for assistance acquired from the directional operation means.
The emergency rescue system according to claim 4. Remote control function,
An imaging device for acquiring environmental information around a patient;
A plurality of notification units;
a directivity operation means for controlling a directivity of at least one of the plurality of notification units to the bystander based on the selection information acquired from a terminal that acquires the environmental information and transmits selection information indicating a bystander selected using the acquired environmental information; and
A life-saving emergency robot equipped with The imaging device acquires environmental information around the patient by causing the imaging device to capture an image,
The terminal transmits selection information indicating a bystander selected using the acquired environmental information;
a directivity operation means for controlling a directivity of at least one of a plurality of notification units to the bystander, based on the selection information acquired from the terminal, so as to match the directivity to the identified bystander;
A method for controlling a lifesaving emergency system. On the computer,
The imaging device captures images to obtain information about the patient's surroundings,
and causing the bystander to control a directivity of at least one of a plurality of notification units by matching a directivity to the identified bystander based on selection information indicating the bystander selected using the environmental information.
program.

Images