ROBOT

Abstract

A mobile robot including a mobile base element and at least one multi-jointed manipulator, wherein the robot includes several telemedical devices. The invention also relates to a robot for performing a movement sequence together with a limb of a human with the help of a manipulator.

Claims

1. A robot with a mobile base element and with at least one multi-articulated robot arm, which is designed to interact directly or indirectly with a human being, as well as with at least one telemonitoring device and/or at least one telediagnostic device and/or at least one telemetry device and/or at least one teletherapy device, wherein the robot arm is designed to be compliant-controlled.

2. The robot according to claim 1, wherein said at least one multi-articulated robot arm is adapted to actuate and/or to cooperate with said at least one telemonitoring device and/or at least one telediagnostic device and/or at least one telemetry device and/or at least one teletherapy device.

3. The robot according to claim 1, wherein the telemonitoring device comprises at least one sensor for detecting vital parameters and wherein the robot arm is adapted to guide the sensor to a corresponding measuring point of a body.

4. The robot according to claim 1, wherein the telediagnostic device comprises at least one ultrasound probe and wherein the robot arm is adapted to guide the probe to a corresponding recording site of a body and/or along the corresponding recording site.

5. The robot according to claim 3, wherein the telemetry device is adapted to transmit the data detected by means of the sensors to an external receiving point.

6. The robot according to claim 1, wherein the teletherapy device comprises an audio-visual device.

7. The robot according to claim 1, wherein the at least one robot arm has a proximal base and a distal free end.

8. The robot according to claim 7, wherein the telemonitoring device comprises at least one sensor for detecting vital parameters, wherein the robot arm is adapted to guide the sensor to a corresponding measuring point of a body, and wherein the distal end is adapted to grip the sensors.

9. The robot according to claim 7, wherein the telemonitoring device comprises at least one sensor for detecting vital parameters, wherein the robot arm is adapted to guide the sensor to a corresponding measuring point of a body, and wherein the distal end integrally comprises the sensors.

10. The robot according to claim 7, wherein a torso is provided which is arranged on the mobile base element, at which the proximal base of the robot arm is guided displaceably.

11. The robot according to claim 10, wherein a head is provided on the torso.

12. The robot according to claim 11, wherein the teletherapy device is provided in the torso and/or in the head.

13. The robot according to claim 3, wherein the robot arm is configured such that the guiding of the sensors relative to the measuring/recording point is performed by force-controlled and/or impedance-controlled translational and/or rotational and/or tilting movements.

14. The robot according to claim 13, wherein the robot arm is configured to define a contact force in the region of the measuring/recording point by achieving or exceeding at least one of a predetermined threshold condition for a torque acting at the distal end and/or a force acting at the distal end, and/or achieving or exceeding a provided force/torque signature and/or a position/velocity signature at the distal end.

15. The robot according to claim 13, or wherein the robot arm is remotely controllable.

16. The robot according to claim 10, wherein the telemonitoring device comprises at least one sensor for detecting vital parameters, wherein the robot arm is adapted to guide the sensor to a corresponding measuring point of a body, and wherein the sensors can be deposited on or in the torso.

17. The robot according to claim 1, wherein the robot comprises at least one control unit which is designed to enable machine learning of the robot in the context of interaction with humans.

18. A robot with at least one multi-articulated robot arm, which is controlled for compliance and designed to perform a predefined sequence of movements intended for a limb when interacting with the limb of a human being.

19. The robot of claim 18, wherein the robot arm is configured to perform said sequence of movements while simultaneously guiding the limb.

20. The robot according to claim 19, wherein said robot arm is configured to perform said sequence of movements by force-controlled and/or impedance-controlled translational and/or rotational and/or tilting movements.

21. The robot according to claim 18, wherein the robot arm is configured to detect the mobility of the limb while performing the sequence of movements.

22. The robot according to claim 21, wherein the robot arm is configured to determine the degree of mobility of the limb by at least one of reaching or exceeding a predetermined threshold condition for a torque and/or force acting on the robot arm, and/or reaching or exceeding a predetermined force/torque signature and/or a predetermined position/speed signature on the robot arm.

23. The robot according to claim 18, wherein the robot arm is remotely controllable.

24. The robot according to claim 18, wherein the robot comprises at least one control unit configured to enable machine learning of the robot in the context of interaction with humans.

25. The robot according to claim 18, wherein the robot comprises at least one telemonitoring device and/or at least one telediagnostic device and/or at least one telemetry device and/or at least one teletherapy device.

26. The robot according to claim 4, wherein the telemetry device is adapted to transmit the data detected by means of the probes to an external receiving point.

27. The robot according to claim 7, wherein the telediagnostic device comprises at least one ultrasound probe, wherein the robot arm is adapted to guide the probe to a corresponding recording site of a body and/or along the corresponding recording site, and wherein the distal end is adapted to grip the probes.

28. The robot according to claim 7, wherein the telediagnostic device comprises at least one ultrasound probe, wherein the robot arm is adapted to guide the probe to a corresponding recording site of a body and/or along the corresponding recording site, wherein the distal end integrally comprises the probes.

29. The robot according to claim 4, wherein the robot arm is configured such that the guiding of the probes relative to the measuring/recording point is performed by force-controlled and/or impedance-controlled translational and/or rotational and/or tilting movements.

30. The robot according to claim 10, wherein the telediagnostic device comprises at least one ultrasound probe, wherein the robot arm is adapted to guide the probe to a corresponding recording site of a body and/or along the corresponding recording site, and wherein the probes can be deposited on or in the torso.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Further advantages and features of the invention will be apparent from the description of the embodiments illustrated with reference to the accompanying drawings, in which:

[0050] FIG. 1 is a schematic view of a robot according to a first aspect of the invention;

[0051] FIG. 2 is a perspective view of a mobile robot according to the invention;

[0052] FIG. 3 is a schematic view of a mobile robot interacting with a human;

[0053] FIG. 4 is a schematic view of an arrangement for remote control between a patient-side robot arm and a reference robot arm;

[0054] FIG. 5 is a schematic view of a robot according to a second aspect of the invention; and

[0055] FIG. 6 shows a robot arm attached to a wheelchair.

DETAILED DESCRIPTION

[0056] FIG. 1 shows the principle of a mobile robot 1 according to the invention, which can be used, for example, as a care and/or service robot in a patient's household.

[0057] The mobile robot 1 is configured to have at least one telemonitoring device 2 and/or at least one telediagnostic device 3 and/or at least one telemetry device 4 and/or at least one teletherapy device 5, each depending on the need having different embodiments. Furthermore, the robot 1 may comprise at least one control unit 18 configured to enable machine learning of the robot 1.

[0058] As shown in FIG. 2, the mobile robot 1 comprises a mobile base element 6, which serves as a mobile platform by means of which the robot 1 moves on a plane. For this purpose, motor-driven wheels (not shown) can be arranged within the base element 6.

[0059] A torso 7 is located on the mobile base element 6, which can be arranged to rotate about its longitudinal axis relative to the base element 6. On the torso 7 there is also a head 8 which can be arranged rotatably relative to the torso 7.

[0060] The head 8 has an interface 9 in the form of a screen with integrated camera and speakers. Via this interface 9, any communication with the outside world is possible, e.g. in the context of video telephony.

[0061] On both sides of the torso 7, robot arms or manipulators 10 are provided, which consist of several axis members 11 connected to each other in an articulated manner. The number of axis members 11 or joints defines the total number of degrees of freedom provided by such a manipulator 10.

[0062] In accordance with the invention, these robot arms 10 are controlled such that they are compliant and sensitive.

[0063] Each manipulator 10 has a proximal base 12 disposed on the torso 7 and a free distal end 13, for example a hand-like gripping mechanism.

[0064] The proximal base 12 is linearly slidably movable relative to the torso 7 in the longitudinal direction thereof, namely the proximal base 12 of each manipulator 10 separately.

[0065] According to the invention, at least one sensor 14 is integrated in the hand 13, which is designed to detect various vital parameters at a corresponding measuring point of the body or skin upon contact with a human being.

[0066] A tray 15 is provided on the rear side of the torso 7, in which, for example, further sensors, in particular an ultrasound probe 16, or emergency devices, such as defibrillators, are located.

[0067] The compliant-controlled design of the robot arms 10 according to the invention allows the sensors 16 to be gripped directly by the free distal grippers 13 and guided to the patient. That is, the axis members 11 are configured, dimensioned, and articulated relative to each other and actuatable to permit the manipulators 10 to move such that their distal free end 13 can be moved directly toward the lateral, ventral, and/or dorsal regions or surfaces of the torso 7. The mobility of the manipulators also allows objects to be picked up directly from the floor in front of or behind the robot and laterally thereto, as well as to reach almost any part of a patient who is lying or sitting, for example, to perform the measurement procedures.

[0068] FIG. 3 schematically shows an example of an interaction of the robot 1 according to the invention with a human 17.

[0069] The robot 1 uses its robot arm 10 to guide an ultrasound probe 16 to the knee of the seated human 17 by means of its distal hand 13 in order to perform corresponding recordings there, whereby during the ultrasound examination the human 17 can be in direct video and voice contact with a physician via the interface 9.

[0070] However, this movement can also be remotely controlled by a physician by operating a reference manipulator or robot arm, as illustrated in FIG. 4.

[0071] FIG. 4 schematically illustrates the possibility according to the invention to remotely control the robot 1 or at least one robot arm 10 for the purpose of a medical or other therapeutic application.

[0072] While the robot 1 is on site at the patient, a reference or control robot 19 is located at the site of the doctor A. The control robot 19 has a reference manipulator 20 that is identical in construction to the robot arm 10 of the patient-side robot 1. In other words, the doctor-side reference manipulator 20 has the same number of degrees of freedom, as well as identical drive units in the joints including torque and force sensors.

[0073] The doctor A operates the reference manipulator 20 by guiding it accordingly with his hand H, whereby the movements introduced or applied by the doctor A to the reference manipulator 20 are translated in terms of their quality and quantity into corresponding movements of the robot arm 10, which is symbolized by the arrows in FIG. 4.

[0074] In other words, the doctor A performs a movement, for example to guide a probe to a part of the patient's body to be examined, and the forces and torques occurring in the reference manipulator 20 in the process, which in their entirety ultimately define a defined sequence of movements, are transmitted identically to the robot arm 10, whereby the doctor A can monitor and control the course of the examination in real time via the audiovisual means provided in the robot 1 (camera, microphone).

[0075] According to the invention, however, a substantial feedback is provided to the doctor A in that the resistances occurring in the course of the movement of the robotic arm 1 during an interaction with the human being, in this case, for example, during the placement of the probe on the soft body part, are detected by the corresponding sensors in the joints of the robot arm 10 as a result of counter forces and counter torques and are transmitted in an identical manner in real time to the reference manipulator 20, which conveys them to the doctor A by corresponding activation of its own drive units in the joints, while the doctor A moves or guides the reference manipulator 20, which is also to be indicated by the arrows. Consequently, the doctor A can feel these resistances himself, and thereby align his further behavior with them and adapt the further sequences of movements.

[0076] During the transmission of forces and torques between the reference manipulator 20 on the doctor's side and the robot arm 10 on the patient's side, which takes place via corresponding local or global networks 21 (WLAN, 5G, etc.), predetermined conversion factors (amplification or reduction of the forces) can be used in both directions under certain circumstances.

[0077] It can also be provided that the robot 1 is individually adapted to the patient, which has been machine-learned in advance by a patient-specific programming or in the course of a longer interaction by the robot 1, whereby defined threshold conditions are created, which are formed, for example, in the form of force, torque, position and/or speed signatures and/or parameters. In this way, it can be prevented that an incorrect operation on the reference manipulator 20 by the doctor A, which would for example lead to an excessive application of the probe, can cause pain or injury to the patient during the operation and exercise of the telemedical application. Also, such threshold conditions can be used that the robot arm 10 applies the correct, appropriate forces and torques when interacting with the human being, which it knows via experience values as a result of machine learning, adapting, so to speak, the movements pre-set by the doctor A in their quantity, although the latter erroneously operates the reference manipulator 20 in this respect from the beginning. Consequently, according to the invention, the robot 1, as an adaptive assistance system, is capable of correcting the commands of the doctor A when necessary.

[0078] According to the invention, the aforementioned properties and conditions can also be applied to actions in the context of telerehabilitation, in which a defined sequence of movements, reflecting for example a known rehabilitation exercise, is controlled remotely, as illustrated in FIG. 5.

[0079] A therapist T operates a reference manipulator 20 remotely (via a network 21). A manipulator 22 of identical configuration is provided at the patient P, which can hold and thus guide an arm of the patient P via its end effector and corresponding ergonomic means, e.g. a cuff 23.

[0080] The sequence of movements exerted by the therapist T on the reference manipulator 20 by means of hand H is transferred to the patient-side manipulator 22 identically or taking into account predetermined conversion factors by detecting the forces and torques occurring in the process, i.e. its drive units in the joints are controlled in such a way that this sequence of movements is implemented in a corresponding manner when guiding the arm of the patient P, as indicated schematically by the arrows.

[0081] As mentioned above, the therapist T can receive feedback on the resistances occurring in the patient P, and threshold conditions can also be taken into account in order to prevent injuries.

[0082] In a preferred embodiment of the invention, however, there is no need for remote control, i.e. specification by a therapist T, but the robot arm 22 is designed in such a way and is already capable itself of being able to perform predetermined sequences of movements within the scope of guiding a limb of a patient P.

[0083] Such movement sequences can be stored in a memory of a corresponding control unit, be individually adapted to the patient P or his clinical picture by corresponding pre-programming and/or be further modified and individualized by machine learning.

[0084] By guiding the arm of patient P, for example, in the course of a rehabilitation exercise, the robot arm 22 can meanwhile immediately detect the resistances arising in the course of guiding the arm, which may be of a muscular nature and/or specific to the joint, for example, or generated directly by patient P due to pain, via the force measurement and torque measurement sensors in its drive units in the individual joints, and stop, adjust or reverse the further movement. In other words, the detection of resistances that can be mapped as counter forces and/or counter torques can be used as a measure for assessing the mobility.

[0085] This is also possible if the patient P moves the robot arm 22 automatically as part of a rehabilitation movement or training sequence performed by the patient P, wherein the robot arm 22 is in a gravity-compensated state, can therefore be guided without resistance, and senses the forces and torques generated by the patient P's movement.

[0086] In this regard, the robot arm 22 can also serve as a type of training device for muscle development and mobility. The robot arm 22 is programmed so that when the patient P performs defined sequences of movements, the robot arm 22 opposes the patient P with a defined resistance, which can also change during the exercise. Such resistances or resistance curves can be pre-programmed individualized to the patient P and/or determined over several exercise units by machine learning by the robot itself, since the robot according to the invention is able to detect the respective forces and torques at any time.

[0087] Such a robot arm 22 can be arranged on a mobile platform, stationary or, for example, also on a wheelchair 24, as shown in FIG. 6.

[0088] According to the invention, all of the aforementioned embodiments and application examples have in common that both the patient-side manipulator 10,22 and a doctor- or therapist-side manipulator 20 are designed, configured and programmed as a compliant-controlled and thus sensitive robot arm. The robots, as well as the systems in which they are embedded, are preferably designed as machine-learning systems.