Patent Publication Number: US-2021193303-A1

Title: Medical system with docking station and mobile machine

Description:
TECHNICAL FIELD 
     This disclosure relates to methods and medical systems that can be used for medical treatments, for example, personal medial systems such as hemodialysis and peritoneal dialysis machines. 
     BACKGROUND 
     Personal health care systems, such as home dialysis machines, have provided patients the convenience of monitoring and controlling their chronic diseases at home and have eliminated a need for frequent visits to medical clinics for such purposes. Such systems are usually bulky and require particular facilities, such as proper plumbing and electrical connections, in order to be stored and operable. Usually, users dedicate a particular part of their homes or other place of residence for storing and operating such systems. 
     SUMMARY 
     Implementations of the present disclosure include computer-implemented methods and systems that improve efficiency in storing and using medical devices, such as bulky personal medical dialysis systems. Each of the medical systems disclosed herein can include a mobile machine and a docking station. The mobile machine can navigate itself from a source location (e.g., from the docking station) to a destination location (e.g., a location where a user can use the machine for a medical treatment). The docking station can recharge, refill, clean, and/or drain waste from the mobile machine. 
     Users of medical devices usually store such devices at particular locations (e.g., closets) and retrieve those devices to use them for medical treatments. One problem with this procedure is that small medical devices can easily be lost. As the size of a medical device gets bigger, the chance of losing it reduces. However, as the size of a medical device gets larger, the locations where the device can be stored gets more limited. This problem gets worse when such medical devices require particular facilities such as particular electrical connections or plumbing. For example, dialysis machines such as hemodialysis (HD) and peritoneal dialysis (PD) machines usually require to be set up in locations where plumbing is available to drain effluents or other liquid wastes. Because of these requirements, some users set up those machines in the kitchen, bathroom, or a dedicated closet where the required plumbing or electrical facilities are available for those machines. However, users of such bulky devices may need to use them frequently (e.g., on a daily or weekly basis) and storing such devices in isolated locations such as closets may not be convenient. Storing medical devices in common areas (e.g., living room or bedroom of a place of residence) may also not be convenient or desirable because the user would lose a sense of home or may not be able to hide those devices or the user&#39;s chronic disease from visitors or guests. 
     Implementations of the present disclosure provide solutions to these problems. The implementations disclose a two-part medical system including a stationary docking station and a dynamic mobile machine. The mobile machine can be summoned by a user to perform medical treatments on the user. Thus, the chance of losing the medical device carried by the mobile machine is reduced. The docking station can be stored in a closet or other isolated locations of a building (e.g., the user&#39;s house) and can recharge, refill, clean, or drain waste from the mobile machine. Accordingly, the user can store the medical system in isolated or hidden parts (e.g., closet, laundry, etc.) of the user&#39;s place of residence, and can call the mobile machine to any location of the residence when the user wants to perform a medical treatment by the mobile machine. 
     In an aspect, an example medical system presented herein performs operations including: receiving, by a mobile machine of the medical system and from a user, a request to transport the mobile machine to a target location to perform a medical treatment; automatically navigating the mobile machine to the target location; performing, by the mobile machine, the medical treatment on a patient; determining, by the mobile machine, that the medical treatment is completed and the mobile machine is disconnected from the patient; automatically navigating the mobile machine to a stationary docking station of the medical system; and determining that the mobile machine is connected to the docking station through one or more connectors, and in response, receiving, by the mobile machine, at least one of an electrical charge, a refill of one or more supplies, a cleaning, or a drain of waste. 
     In some implementations, the mobile machine includes a base machine and a medical treatment device, wherein the base machine transports the medical treatment device from the target location to the docking station. In some implementations, the mobile machine includes at least one of a hemodialysis machine or a peritoneal dialysis machine. 
     The operations can further include automatically transporting the mobile machine to a storage area designated for storing the mobile machine, the storage area being different from the target location. 
     The operations can further include: determining that the liquid waste does not have any hazardous material, and in response, causing the liquid waste to be drained from the mobile machine into a primary reservoir; and determining that the liquid waste includes hazardous material, and in response, causing the liquid waste to be drained to a secondary reservoir designated for hazardous material and different from the primary reservoir. 
     In some implementations, the operations further include determining that a supply of medical material in a supply container is below a threshold amount, and in response, providing an alert. 
     In some implementations, the mobile machine automatically connects to the docking station through one or more electrical connectors and tubes. In some implementations, the mobile machine receives the request from an electronic device though a wireless network. 
     Systems and computer-readable medium storing one or more instructions executable by a computer system to perform the above-identified actions and other actions described below are presented herein. 
     In an aspect, an example medical system includes a stationary docking station and a mobile machine. The mobile machine is connectable to the docking station through one or more electrical connectors and tubes, the mobile machine comprising a medical treatment device operable to perform a medical treatment on a patient. The mobile machine is configured to perform operations including: receiving, from a user, a request to transport the mobile machine to a target location to perform a medical treatment, automatically navigating to the target location, performing the medical treatment on the patient, determining that the medical treatment is completed and the mobile machine is disconnected from the patient, and automatically navigating to the docking station. The docking station is configured to perform operations including determining that the mobile machine is connected to the docking station through one or more connectors, and in response, causing the mobile machine to be charged, refilled, or cleaned. 
     In some implementations, the mobile machine further includes a base machine. The operations can cause the base machine to transport the medical treatment device. In some implementations, the mobile machine includes at least one of a hemodialysis machine or a peritoneal dialysis machine. 
     The mobile machine can be configured to automatically transfer the mobile machine to a storage area designated for storing the mobile machine, the storage area being different from the target location. 
     The docking station can be configured to perform operations including: determining that the liquid waste does not have any hazardous material, and in response, causing the liquid waste to be drained from the mobile machine into a primary reservoir; and determining that liquid drained from the mobile machine includes hazardous material, and in response, causing the liquid waste to be drained to a secondary reservoir designated for hazardous material and different from the primary reservoir. 
     In some implementations, at least one of the mobile machine or the docking station is to detect that a supply in a supply container is lower than a threshold volume or amount, and in response, providing an alert. 
     The mobile machine can automatically connects to the docking station through one or more electrical connectors and tubes. 
     Methods to execute above-identified actions and computer-readable medium storing one or more instructions executable by a computer system to perform the above-identified actions and other actions described below are presented herein. 
     The details of one or more implementations of the present disclosure are set forth in the accompanying drawings and the description below. Other features and advantages of the present disclosure will be apparent from the description and drawings, and from the claims. 
    
    
     
       DESCRIPTION OF DRAWINGS 
         FIGS. 1A and 1B  depict example applications of medical systems according to the present disclosure. 
         FIG. 2A  depicts an example peritoneal dialysis (PD) system as part of an example mobile machine according to the present disclosure. 
         FIG. 2B  depicts an example hemodialysis (HD) system as part of an example mobile machine according to the present disclosure. 
         FIG. 3  depicts an example mobile machine according to implementations of the present disclosure. 
         FIG. 4  depicts an example process that can be executed according to implementations of the present disclosure. 
         FIG. 5  is a block diagram of an example computing system, according to implementations of the present disclosure. 
     
    
    
     Like reference symbols in the various drawings indicate like elements. 
     DETAILED DESCRIPTION 
       FIG. 1A  depicts an example communication  100  between a user  114  and a computer-implemented medical system  102  according to the present disclosure. The medical system  102  includes two main parts: a docking station  106 , and a mobile machine  104 . The docking station  106  is stationary and is configured to drain waste, clean containers, recharge batteries, refill supplies, etc. of the mobile machine  104 . The docking station can be connected to utility supplies and reservoirs such as plumbing reservoirs, water and/or other liquid sources, electrical sources, etc. As is described in further details with respect to  FIG. 3  below, the mobile machine  104  pulls, pushes, or carries a medical device that the user  114  can use to perform one or more medical treatments. 
     The user  114  can summon the mobile machine  104  to navigate to a target (e.g., treatment) location so that the user can perform the medical treatment at that target location.  FIG. 1B  illustrates a house  120  as an example environment where the medical system  102  can be used. The user can summon the mobile machine  104  to move to any target location of the house. In the depicted example, the user  114  has selected a chair  122  in a study room  126  as the target location and has summoned the mobile machine  104  to move close to the chair  122 . In other cases, the user  114  may select any location in the house  120  as the target location, for example, a location in the bedroom, bathroom, living room, etc. 
     At the target location, the user can use the mobile machine  104  to perform a medical treatment. The treatment can be performed on the user  114  and or another user (e.g., a patient). Upon completing the medical treatment, the mobile machine  104  automatically determines whether the mobile machine  104  is safely disconnected from the user (e.g., the user  114  or another user receiving the treatment). Once the mobile machine  104  determines that it is safely disconnected from the user, the mobile machine  104  automatically navigates itself to the docking station  106 . 
     The docking station  106  can be stationary and can be set up at any desired part of the house  120 . For example, the user can hide the docking station  106  at an isolated part of the house such as a closet  124  or a bathroom. Thus, the user does not have to set up the docking station where the user performs the medical treatments; rather the user can store the docking station  106  and the mobile machine  104  at one or more locations different from the treatment location (e.g., the target treatment location). In this way, the user does not have to move to where the medical system  102  is located for each treatment session, and can rather call the medical system  102  to move to e.g., anywhere in the bedroom, study room  126 , living room, etc. for the treatment. 
     Another benefit is that such configuration improves safety. The medical systems presented herein provide the capability of setting up the system where proper plumbing, electrical connections, source liquids, etc. are provided within the building (e.g., the user&#39;s house) rather than where the user wants to perform the medical treatment. For example, if the user usually performs a treatment in bed, the docking station can be stored at a bathroom where proper plumbing is provided, while the mobile machine  104  can be summoned to the user&#39;s bedside when needed. Such feature improves user and building safety because it eliminates a need to transport the waste or supplies between different rooms of a building (e.g., through additional pipes or electrical connectors) and reduces potential leakage of the supply and/or waste within the building. In addition, the medical system improves patient&#39;s safety by eliminating a need for the patient to carry or dispose medical supplies or waste fluids, such as a need for heavy and/or cumbersome transport of fluids. Rather, the present systems automatically transport medical supplies and/or waste fluids to and from the patient, as well as separate the supplies and/or wastes based on what the material they contain (e.g., hazardous versus medically safe materials). 
     When the mobile machine  104  reaches to the docking station  106 , the mobile machine  104  gets connected to the docking station  106  through one or more connections. The connections can include particular tube connectors such as through tapered tubing, particular electrical connectors such as through magnetic connections, etc. In some implementations, the mobile machine  104  is capable of automatically connecting itself to the docking station  106 . In some implementations, the mobile machine  104  may need an operator&#39;s assistance for proper connection and/or to check that the connectors are safely connected. For example, the mobile machine  104  may alert the user by generating particular sounds or sending notifications on the user&#39;s electronic device  112 , informing the user that the machine needs to be connected to the docking station  106 . 
     Once the medical system  102  detects that the mobile machine  104  is safely and properly connected to the docking station  106 , the docking station  106  starts performing one or more operations on the mobile machine  104 . For example, the docking station  106  can clean, recharge, refill, and/or drain waste (e.g., liquid waste) from the mobile machine  104 . The docking station  106  can be connected to utility sources such as electrical, water, gas, etc. to recharge, refill, and/or clean the mobile machine  104 . The docking station  106  can be connected to sewage or other waste reservoirs, e.g., through the pipe  108 , to drain wastes from the mobile machine  104 . 
     In some implementations, the docking station  106  is connected to multiple waste reservoirs (e.g., two waste reservoirs). The docking station  106  may drain the waste into either of the two waste reservoirs based on one or more health-related concerns. For example, the docking station  106  can drain into a primary reservoir non-hazardous liquid wastes such as usual effluents, water from washing a container of the mobile machine  104 , etc. If the docking station  106  and/or the mobile machine  104  detects one or more health hazards in the liquid waste, the docking station  106  may drain the liquid waste into a secondary reservoir designated for such purposes. For example, the primary reservoir may be a city sewage system, a house&#39;s septic system, etc. The secondary reservoir may be a particular tank stored inside or outside the house for keeping hazardous waste. 
     The medical system  102  can be set up to detect one or more hazardous materials such as blood, infections, particular bacteria, particular minerals, etc. in liquid waste at any point before draining the liquid waste. For example, a hazardous material such as blood may be set up to be detected during performing the medical treatment, while another hazardous material such as particular bacteria may be set up to be detected when the mobile machine is connected to the docking station  106 . 
     For example, upon detecting blood or an infection in a dialysis effluent, the docking station  106  and/or the mobile machine  104  of the medical system  102  can determine that it is not safe to drain the liquid into the city sewage, and rather drain it into a tank located outside the house for this purpose. The tank may be emptied on a regular basis, or upon determining that it has been filled up to a particular level. A designated health-related company may empty the tank when needed. 
     When the docking station&#39;s  106  operations on the mobile machine  104  is completed, the mobile machine  104  may stay connected to the docking station  106  until it receives the next user request, or may move to another location that the user may have allocated for storing the mobile machine  104 . For example, while the user has set up the docking station  106  in closet  124 , the user may decide to keep the mobile machine  104  in the closet  128 , for example, to be reminded of the medical treatments that the user needs to perform routinely. Unless the mobile machine  104  is summoned, it can stay in the closet  128  until it needs to be recharged, refilled, and/or cleaned. 
     The mobile machine  104  can automatically navigate its way through the house  120  to get to the user&#39;s target treatment location, to the docking station  106 , and/or to the storage location (or area) designated for the mobile machine  104 . In some implementations, a map of the house  120  is input (e.g., downloaded) into a storage memory (e.g., storage device  530  of  FIG. 5 ) of the medical system  102 , for example, on the mobile machine  104 . For example, the map can be input to the storage memory when the medical system  102  is set up (e.g., initially set up) for operation in the house  120 , or the map can be built and improved as the mobile machine  104  runs through the house  120  and finds its way through different walls and barriers. 
     The mobile machine  104  is capable of detecting barriers in order to find its way to its destination location (e.g., the target location  122 ). For example, the mobile machine  104  in  FIG. 1B  uses a map of the house to detect the target location  122 , and uses its capabilities to detect barriers (e.g., sofa, stove, walls, etc.) to find its path  130  to the target location  122 . The mobile machine  104  includes one or more sensors (not shown) such as cameras, light detector sensors, etc. to detect barriers and/or electronically “painted” targets. 
     The user can select the target treatment location and/or the storage location by selecting such locations on the map, for example, on user electronic device  112 . The user electronic device  112  can communicate such selections to the medical system  102  through the network  110 . Alternatively, or in addition, the user can paint a particular location of the house  120  for the mobile machine  104  to recognize. For example, when the chair  122  is within an angle of view of one or more sensors of the mobile machine  104  (e.g., when the mobile machine is in room  126 ), the user may apply a visual laser target to the chair  122 , and the mobile machine  104  may detect the laser target and move to the chair  122 . 
     The user  114  can communicate with a receiving component of the medical system  102  by sending and/or receiving messages to the receiving component through the user&#39;s electronic device  112  and over a network  110 . For example, the electronic device  112  can send information of the target location to the medical system  102  and request the mobile machine  104  to move to that target location. Examples of the electronic device  112  can include a personal computer, laptop, smartphone, electronic dispatcher, etc. The network  110  can be wireless network or a wired network. The network  110  can be a local network such as WiFi, Bluetooth, etc., or a non-local network such as a cellular network. 
     Alternatively, or in addition, the user may summon the mobile machine  104  by calling a particular name or phrase recognizable by the mobile machine  104 . The particular name or phrase can be programed on a processor of the medical system  102  to activate a voice recognition module on the system. The voice recognition module receives the spoken name or phrase to determine whether the spoken name or phrase matches a code word associated with a respective action stored on a memory of the medical system  102 , such as a transportation of the mobile machine  104  to a particular location. In response to finding a match, the medical system  102  performs the respective action. 
     Upon receiving the user&#39;s request (or summon), the mobile machine  104  moves from a source location to the location that the user has requested. The source location can be the location where the user typically stores the mobile machine  104 , a location where the user had used the mobile machine  104  for a prior medical treatment, or anywhere else the mobile machine  104  was located when it received the user&#39;s request. 
     The medical system  102  can communicate with a health care provider of the user to report information such as medical treatments performed on the user, any concerns on the medical treatment, any health issues with the user, a history of the mobile machine  104 &#39;s usage, etc. For example, if the medical system  102  determines that the user has not used the medical system  102  for longer than a specified period of time (e.g., over two weeks for a medical treatment that needs to be done weekly), the system may notify the user&#39;s health care provider about this issue. As another example, if the system determines abnormalities in the user&#39;s health such as high blood pressure, blood in user&#39;s effluent, etc., the system can alert the user&#39;s health care provider about this issue. The medical system  102  can communicate to the health care provider through a wireless and/or wired network. 
       FIG. 3  provides an example mobile machine  302 , according to embodiments of the present disclosure. The mobile machine  302  can be an example of the mobile machine  104  in  FIG. 1A . The mobile machine  302  includes two main parts: a medical device  304 , and a base machine  306 . In this particular example, the base machine  306  carries the medical device  304  to move the medical device  304  from a source location to a destination location. In other examples, the base machine  306  may push or pull the medical device  304 . The base machine  306  moves the medical device  304  to the desired locations such as the target treatment location  122 . 
     The base machine  306  can be manufactured with a particular setup designed for connection with a particular medical device, or can be manufactured with a default setup configured to allow the base machine  306  be connected to a variety of the medical devices. For example, the base machine  306  may be manufactured and/or sold separately from the medical device  304 , and may be configured to be connected, for example, to any type of dialysis machine, blood pressure measurement device, etc. 
     The base machine  306  includes one or more transportation wheels (e.g., wheel  312 ). At least one wheel of the one or more transportations wheels may automatically get locked when the mobile machine  302  detects that a user is using the medical device  304  for a medical treatment. The wheel  312  can also be locked when the docking station is performing an operation on the mobile machine  302 . The mobile machine  302  includes a receiver component  308  (e.g., an antenna) configured to communicate with a docking station (e.g., the docking station  106  of  FIG. 1A ), with a user electronic device (e.g., the electronic device  114  of  FIG. 1A ), or with other computing systems through a network (e.g., the network  110  of  FIG. 1A ). 
     Each of the base machine  306  and the medical device  304  can include one or more respective containers (e.g., the container  310  of  FIG. 1A ) to store medical supplies such as gauze, tape, syringe, medicine, etc. In some implementations, upon detecting that one or more medical supplies of the base machine  306  and/or the medical device  304  is running low, the docking station automatically refills such supplies. In some implementations, the mobile machine  302  or the docking station sends a notification to the user&#39;s electronic device (e.g.,  112 ), notifying the user about the need to refill the respective supply. 
     Any of the docking station (e.g., the docking station  106  of  FIG. 1A ) and the mobile machine  302  can detect that a medical supply is running low by measuring a weight of a container that stores the medical supply, and/or by reading smart-tags on the remaining supplies stored in the container and counting the number of tags associated with the respective supplies. For example, each supply container in the mobile machine  302  may be equipped with a respective weight and/or volume sensor that measures the weight and/or the volume of the supply stored in the container. Upon detecting that the weight and/or volume of the supply is below a respective predetermined threshold, the docking station or the mobile machine  302  may detect that the supply is running low. 
     The medical device  304  is configured to perform one or more medical treatments on the user. Some example medical devices are depicted in  FIGS. 2A and 2B .  FIG. 2A  depicts an example peritoneal dialysis (PD) system  200 , and  FIG. 2B  depicts an example hemodialysis (HD) system  250 . Although the present medical device examples are described with reference to dialysis machines including PD machines and HD machines, the disclosed medical system can be implemented for use on any other healthcare devices used for treatment, monitoring, or assisting a user with one or more medical issues. 
     The PD system  200  in  FIG. 2A  and the HD system  250  in  FIG. 2B  show example medical devices that can be implemented as the mobile machine  104  of  FIG. 1A  and/or the mobile machine  302  of  FIG. 3 . For example, the PD machine  202  in the PD system  200 , or the HD machine  252  of the HD system  250 , can be a medical device carried, held, pushed, and/or pulled by a base machine, such as the base machine  306  shown in  FIG. 3 . 
     In some implementations, the PD system  200  is configured for use at a patient&#39;s home (e.g., a home PD system). In some implementations, the HD system  250  is configured for use at a patient&#39;s home (e.g., a home HD system). 
     The PD system  200  includes a PD machine (also generally referred to as a PD cycler)  202  seated on a cart  204 . The PD machine  202  includes a housing  206 , a door  208 , and a cassette interface  210  that contacts a disposable PD cassette  212  when the cassette  212  is disposed within a cassette compartment  214  formed between the cassette interface  210  and the closed door  208 . A heater tray  216  is positioned on top of the housing  206 . The heater tray  216  is sized and shaped to accommodate a bag of PD solution such as dialysate (e.g., a 5 liter bag of dialysate). The PD machine  202  also includes a user interface such as a touch screen display  218  and additional control buttons  220  that can be operated by a user (e.g., a caregiver or a patient) to allow, for example, set up, initiation, and/or termination of a PD treatment. 
     Dialysate bags  222  are suspended from fingers on the sides of the cart  204 , and a heater bag  224  is positioned in the heater tray  216 . The dialysate bags  222  and the heater bag  224  are connected to the cassette  212  via dialysate bag lines  226  and a heater bag line  228 , respectively. The dialysate bag lines  226  can be used to pass dialysate from dialysate bags  222  to the cassette  212  during use, and the heater bag line  228  can be used to pass dialysate back and forth between the cassette  212  and the heater bag  224  during use. In addition, a patient line  230  and a drain line  232  are connected to the cassette  212 . The patient line  230  can be connected to a patient&#39;s abdomen via a catheter and can be used to pass dialysate back and forth between the cassette  212  and the patient&#39;s peritoneal cavity during use. The catheter may be connected to the patient line  230  via a port such as a fitting. The drain line  232  can be connected to a drain or drain receptacle and can be used to pass dialysate from the cassette  212  to the drain or drain receptacle during use. 
     The PD machine  202  also includes a control unit  239  (e.g., a processor). The control unit  239  can receive signals from and transmit signals to the touch screen display  218 , the control panel  220 , and the various other components of the PD system  200 . The control unit  239  can control the operating parameters of the PD machine  202 . In some implementations, the control unit  239  is an MPC823 PowerPC device manufactured by Motorola, Inc. 
     The HD system  250  illustrated in  FIG. 2B  includes an HD machine  252  to which a disposable blood component set  264  that forms a blood circuit is connected. During hemodialysis, arterial and venous patient lines  256 ,  258  of the blood component set  264  are connected to a patient and blood is circulated through various blood lines and components, including a dialyzer  260 , of the blood component set  264 . At the same time, dialysate is circulated through a dialysate circuit formed by the dialyzer  260  and various other dialysate components and dialysate lines connected to the HD machine  252 . Many of these dialysate components and dialysate lines are located inside the housing  253  of the HD machine  252 , and are thus not visible in  FIG. 2B . The dialysate passes through the dialyzer  260  along with the blood. The blood and dialysate passing through the dialyzer  260  are separated from one another by a semi-permeable structure (e.g., a semi-permeable membrane and/or semi-permeable microtubes) of the dialyzer  260 . As a result of this arrangement, toxins are removed from the patient&#39;s blood and collected in the dialysate. The filtered blood exiting the dialyzer  260  is returned to the patient. The dialysate that exits the dialyzer  260  includes toxins removed from the blood and is commonly referred to as “spent dialysate.” The spent dialysate is routed from the dialyzer  260  to a drain. 
     One of the components of the blood component set  264  is an air release device  262 . The air release device  262  includes a self-sealing vent assembly that allows air to pass through while inhibiting (e.g., preventing) liquid from passing through. As a result, if blood passing through the blood circuit during treatment contains air, the air will be vented to atmosphere as the blood passes through the air release device  262 . 
     As shown in  FIG. 2B , a dialysate container  274  is connected to the HD machine  252  via a dialysate supply line  276 . A drain line  278  and an ultrafiltration line  279  also extend from the HD machine  252 . The dialysate supply line  276 , the drain line  278 , and the ultrafiltration line  279  are fluidly connected to the various dialysate components and dialysate lines inside the housing  253  of the HD machine  252  that form part of the dialysate circuit. During hemodialysis, the dialysate supply line  276  carries fresh dialysate from the dialysate container  274  to the portion of the dialysate circuit located inside the HD machine  252 . As noted above, the fresh dialysate is circulated through various dialysate lines and dialysate components, including the dialyzer  260 , that form the dialysate circuit. As the dialysate passes through the dialyzer  260 , it collects toxins from the patient&#39;s blood. The resulting spent dialysate is carried from the dialysate circuit to a drain via the drain line  278 . When ultrafiltration is performed during treatment, a combination of the spent dialysate and excess fluid drawn from the patient is carried to the drain via the ultrafiltration line  279 . 
     The blood component set  264  is secured to a module  280  attached to the front of the HD machine  252 . The module  280  includes a blood pump  282  capable of driving blood through the blood circuit. The module  280  also includes various other instruments capable of monitoring the blood flowing through the blood circuit. The module  280  includes a door that when closed, as shown in  FIG. 2B , cooperates with the front face of the module  280  to form a compartment sized and shaped to receive the blood component set  264 . In the closed position, the door presses certain blood components of the blood component set  264  against corresponding instruments exposed on the front face of the module  280 . Such an arrangement facilitates control of the flow of blood through the blood circuit and monitoring of the blood flowing through the blood circuit. 
     The blood pump  282  can be controlled by a blood pump module  284 . The blood pump module  284  includes a display window, a start/stop key, an up key, a down key, a level adjust key, and an arterial pressure port. The display window displays the blood flow rate setting during blood pump operation. The start/stop key starts and stops the blood pump  282 . The up and down keys increase and decrease the speed of the blood pump  282 . The level adjust key raises a level of fluid in an arterial drip chamber. 
     A drug pump  286  also extends from the front of the HD machine  252 . The drug pump  286  is a syringe pump that includes a clamping mechanism configured to retain a syringe  288  of the blood component set  264 . The drug pump  286  also includes a stepper motor configured to move the plunger of the syringe  288  along the axis of the syringe  288 . A shaft of the stepper motor is secured to the plunger in a manner such that when the stepper motor is operated in a first direction, the shaft forces the plunger into the syringe  288 , and when operated in a second direction, the shaft pulls the plunger out of the syringe  288 . The drug pump  286  can thus be used to inject a liquid drug (e.g., heparin) from the syringe  288  into the blood circuit via a drug delivery line  290  during use, or to draw liquid from the blood circuit into the syringe  288  via the drug delivery line  290  during use. 
     The HD machine  252  includes a touch screen  268  and a control panel  270 . The touch screen  268  and the control panel  270  allow an operator to input various treatment parameters to the HD machine  252  and to otherwise control the HD machine  252 . In addition, the touch screen  268  serves as a display. The touch screen  268  functions to provide information to the patient and the operator of the HD system  250 . For example, the touch screen  268  may display information related to a dialysis treatment to be applied to the patient, including information related to a prescription. 
     The HD machine  252  includes a processing module  251  that resides inside the machine and which is configured to communicate with the touch screen  268  and the control panel  270 . The processing module  251  is configured to receive data from the touch screen  268  and the control panel  270  and control the HD machine  252  based on the received data. For example, the processing module  251  can adjust the operating parameters of the HD machine  252 . 
     The HD machine  252  is configured to connect to a network  254 . The HD machine  252  includes a transceiver  255  that is configured to facilitate the connection to the network  254 . Other medical devices (e.g., peripheral devices or monitors, other dialysis machines, etc.) may be configured to connect to the network  254  and communicate with the HD machine  252 . Similarly, one or more remote entities, such as issuers of digital prescription files, may be able to connect to the network  254  and communicate with the HD machine  252  in order to provide digital prescriptions for implementing on the HD machine  252 . 
       FIG. 4  depicts an example process  400  that can be executed according to implementations of the present disclosure. The process  400  can be performed by any of the medical systems described herein. 
     In the process  400 , a request to transport a mobile machine (e.g., the mobile machine  104  of  FIG. 1A  or the mobile machine  302  of  FIG. 3 ) to a target location is received ( 402 ). For example, the request can be received by any part of the medical system, such as the docking station (e.g., the docking station  106  of  FIG. 1A ) or the mobile machine. The request can be a request to summon received from a user of the medical system, e.g., through voice recognition or an electronic device (e.g. the electronic device  112  of  FIG. 1 ) of the user. The mobile machine includes a medical device that the user can use to perform a medical treatment at the target location. 
     In response to the request, the mobile machine automatically navigates to the target location ( 404 ). The mobile machine can find its path to the target location based on a map input (e.g., downloaded) on the mobile machine. The mobile machine can include one or more sensors to detect barriers and/or a particular signs or colors used by the user to tag or mark the path or an object detectable by the mobile machine as the target location. 
     The mobile machine performs a medical treatment on the user ( 406 ). The medical treatment can include measuring, monitoring, and/or treating the user for a medical issue such as a chronic disease. For example, the mobile machine can include a medical device, such as a HD machine or a PD machine, that the user can use to perform a medical treatment. 
     The mobile machine can determine that the treatment is completed and the mobile machine is safely disconnected from the user ( 408 ). For example, the mobile machine can determine that the medical device was used for more than a predetermined period of time to perform the medical treatment (e.g., more than an hour for a single dialysis operation), and/or detect that tubes, pads, or any other components of the medical device are safely detached from the user&#39;s body. Each of such components may have a respective sensor (e.g., temperature sensor, pressure sensor, etc.) configured to detect that the component is detached from the user&#39;s body. 
     The mobile machine can automatically navigate its way to a docking station ( 410 ). For example, the mobile machine  104  in  FIGS. 1A and 1B  can navigate its way to the docking station  106 . The mobile machine can navigate its way to the docking station after each medical treatment session, or in response to determining that one or more of the mobile machine&#39;s waste containers are filled beyond a predetermined threshold volume and/or one or more of its supply containers are running low (i.e., getting lower than a predetermined threshold volume or amount). 
     Once the mobile machine is properly connected to the docking station, the docking station performs one or more operations on the mobile machine ( 412  and  414 ). For example, the docking station can clean, refill, recharge, and/or drain waste from the mobile machine. Either the docking station or the mobile machine can detect that the mobile machine is properly connected to the docking station ( 412 ). For example, prior to performing an operation on the mobile machine, the docking station may determine that the connections required for such operations are properly made between the mobile machine and the docking station. For example, the docking station may check the electrical connections, drain tube connections, and water tubes between the docking station and the mobile machine before respectively performing electrical charging, waste draining, and cleaning (at least part of) the mobile machine. 
       FIG. 5  is a block diagram of an example computing system  500  that can be used as part of the medical system  102 , for example to perform functions of the mobile machine and/or the docking station. The example computing system  500  is illustrated in connection with the mobile machine  302 , but the similar components can be used for implementing any part of the medical devices disclosed herein, e.g., the docking station  106  or the mobile machine  104  of  FIG. 1A . 
     A control unit, a computing device, a processor, and/or a microcontroller as described above could be examples of the system  500  described with respect to  FIG. 5 . The system  500  includes a processor  510 , a memory  520 , a storage device  530 , and an input/output device  540 . Each of the components  510 ,  520 ,  530 , and  540  can be interconnected, for example, using a system bus  550 . The processor  510  is capable of processing instructions for execution within the system  500 . The processor  510  can be a single-threaded processor, a multi-threaded processor, or a quantum computer. The processor  510  is capable of processing instructions stored in the memory  520  or on the storage device  530 . The processor  510  may execute operations such as causing the dialysis system to carry out dialysis functions. 
     The memory  520  stores information within the system  500 . In some implementations, the memory  520  is a computer-readable medium. The memory  520  can, for example, be a volatile memory unit or a non-volatile memory unit. In some implementations, the memory  520  stores information for causing the pumps of the dialysis system to operate as described herein. 
     The storage device  530  is capable of providing mass storage for the system  500 . In some implementations, the storage device  530  is a non-transitory computer-readable medium. The storage device  530  can include, for example, a hard disk device, an optical disk device, a solid-date drive, a flash drive, magnetic tape, or some other large capacity storage device. The storage device  530  may alternatively be a cloud storage device, e.g., a logical storage device including multiple physical storage devices distributed on a network and accessed using a network. 
     The input/output device  540  provides input/output operations for the system  500 . In some implementations, the input/output device  540  includes one or more of network interface devices (e.g., an Ethernet card), a serial communication device (e.g., an RS-232 10 port), and/or a wireless interface device (e.g., an 802.11 card, a 3G wireless modem, or a 4G wireless modem). In some implementations, the input/output device  540  may include short-range wireless transmission and receiving components, such as Wi-Fi, Bluetooth, and/or near field communication (NFC) components, among others. In some implementations, the input/output device includes driver devices configured to receive input data and send output data to other input/output devices, e.g., keyboard, printer and display devices (such as the touch screen display  268 ). In some implementations, mobile computing devices, mobile communication devices, and other devices are used. 
     In some implementations, the system  500  is a microcontroller. A microcontroller is a device that contains multiple elements of a computer system in a single electronics package. For example, the single electronics package could contain the processor  510 , the memory  520 , the storage device  530 , and input/output devices  540 . 
     A number of implementations of the present disclosure have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the present disclosure. Accordingly, other implementations are within the scope of the following claims.