Patent Publication Number: US-2023134949-A1

Title: Medical support robot and medical robot system

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims priority to and the benefit of Japanese Patent Application No. 2020-071344 filed with the Japan Patent Office on Apr. 10, 2020, the entire disclosure of which is incorporated herein by reference. 
     TECHNICAL FIELD 
     The present disclosure relates to a medical support robot and a medical robot system. 
     BACKGROUND ART 
     In recent years, the introduction of robots into medical sites has been discussed. For example, PTL 1 discloses a robot X-ray imager. The robot X-ray imager includes a robotic arm, a support arm supported by the robotic arm, an X-ray source attached to the support arm, and a radiation detector attached to the support arm. During a medical treatment, the robot X-ray imager irradiates a region including a heart valve of a patient with X rays from projection directions different from each other by using the robotic arm, detects by the radiation detector the X rays attenuated in the different projection directions by the patient, and sends projection data sets corresponding to the projection directions. Moreover, a 3D image is generated from the projection data sets and is displayed on a display. 
     CITATION LIST 
     Patent Literature 
     PTL 1: Japanese Laid-Open Patent Application Publication No. 2009-213892 
     SUMMARY OF INVENTION 
     In recent years, various new infectious diseases prevail. Infected persons of such infectious diseases may spread the infectious diseases to others through infectious disease sources contained in, for example, droplets from the infected persons. Especially, medical workers who examine and treat the infected persons are at high risk of infection. Moreover, medical appliances used for treating the infected persons are contaminated by the infectious disease sources. Therefore, persons who supports medical practice, for example, who handles the medical appliances after the treatment are also at high risk of infection. 
     An object of the present disclosure is to provide a medical support robot and a medical robot system, each of which can perform work of supporting medical practice. 
     A medical support robot according to one aspect of the present disclosure includes: a storage that houses a medical instrument; at least one robotic arm including a tip including an end effector that handles the medical instrument; a traveling structure that supports the storage and the at least one robotic arm and travels; and a controller. The controller performs control of causing the traveling structure to move to a medical robot that is a robot that performs medical practice. 
     The above objects, features and advantages of the present disclosure and other objects, features and advantages of the present disclosure will be made clear by the following detailed explanation of preferred embodiments with reference to the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a plan view showing one example of the configuration of a medical robot system according to an embodiment. 
         FIG.  2    is a side view showing one example of the configuration of a medical support robot according to the embodiment. 
         FIG.  3    is a plan view showing one example of the configuration of the medical support robot according to the embodiment. 
         FIG.  4    is a block diagram showing one example of a functional configuration of the medical support robot according to the embodiment. 
         FIG.  5    is a plan view showing one example of operation of the medical support robot according to the embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are comprehensive or specific examples. Among components in the following embodiments, components that are not recited in independent claims which embody the broadest concept of the present disclosure will be described as optional components. The diagrams in the accompanying drawings are schematic diagrams and are not necessarily strictly drawn. In the diagrams, the same reference signs are used for the substantially identical components, and the repetition of the same explanation may be avoided, or such explanation may be simplified. 
     Configuration of Medical Robot System 
       FIG.  1    is a plan view showing one example of the configuration of a medical robot system  1  according to an embodiment. As shown in  FIG.  1   , the medical robot system  1  is a system that performs medical practice by using robots. The medical robot system  1  includes a medical robot  10 , a medical support robot  100 , and manipulation inputters  20  and  30 . The medical robot  10  is a robot that performs the medical practice for a medical practice target person P, such as a to-be-examined person, a to-be-inspected person, or a patient, and  FIG.  1    shows medical robots  10 A and  10 B. The medical support robot  100  is a robot that supports the medical practice of the medical robots  10 A and  10 B. The manipulation inputter  20  is a device that manipulates the medical robot  10 A or  10 B.  FIG.  1    shows a manipulation inputter  20 A for the medical robot  10 A and a manipulation inputter for the medical robot  10 B. The manipulation inputter  30  is a device that manipulates the medical support robot  100 . The medical practice may be any practice for the treatment of the medical practice target person. Examples of the medical practice includes examination, diagnosis, inspection, care, treatment, medical operation, and surgical operation. 
     Hereinafter, the “medical robot  10 A” and the “medical robot  10 B” will be described when the medical robots  10 A and  10 B are distinguished from each other, and the “medical robot  10 ” will be described when the medical robots  10 A and  10 B are not distinguished from each other. The “manipulation inputter  20 A” and the “manipulation inputter  20 B” will be described when the manipulation inputters  20 A and  20 B are distinguished from each other, and the “manipulation inputter  20 ” will be described when the manipulation inputters  20 A and  20 B are not distinguished from each other. 
     In the present embodiment, the medical robot  10 A is a newly developed robot that utilizes a general purpose robot, such as a movable industrial robot, is based on the general purpose robot, and has been devised by the inventors of the technique of the present disclosure. However, the present embodiment is not limited to this. The medical robot  10 A includes: a robotic arm  11 A; an end effector  12 A at a tip of the robotic arm  11 A; a traveling structure  13 A that supports the robotic arm  11 A and causes the robotic arm  11 A to travel; and an interface. The medical robot  10 A may be supplied with electric power from an external commercial power supply, may include a storage battery as an electric power source, or may have both of these configurations. 
     The end effector  12 A has a structure suitable for the medical practice and is attachable to and detachable from the tip of the robotic arm  11 A. For example, the end effector  12 A may have a structure that accommodates to perform various medical practice, such as inspection practice, specimen collection, temperature measurement, attachment and detachment of medical appliances to and from the medical practice target person, connection and disconnection between the medical appliances attached to the medical practice target person, holding, and suction. The robotic arm  11 A is an articulated robotic arm with multiple degrees of freedom. The traveling structure  13 A may move the robotic arm  11 A and, for example, includes wheels. For example, the traveling structure  13 A may be an AGV (Automated Guided Vehicle). The interface includes a camera, a microphone, a monitor, a speaker, and the like. The camera and the microphone acquire images and sounds (including sound and voice) of, for example, the medical practice target person P and transmit them to the manipulation inputter  20 A. The monitor and the speaker receive images and sounds (including sound and voice) of, for example, a doctor D as an operator from the manipulation inputter  20 A and output them. 
     In the present embodiment, the medical robot  10 B is a newly developed robot that utilizes a surgical robot, is based on the surgical robot, and has been devised by the inventors of the technique of the present disclosure. However, the present embodiment is not limited to this. The medical robot  10 B includes: an arm  11 B; a base  12 B at a tip of the arm  11 B; manipulators  13 B supported by the base  12 B; end effectors  14 B; a traveling structure  15 B; and an interface. Instead of surgical appliances, the medical robot  10 B includes the end effectors  14 B at the tips of the manipulators  13 B. The medical robot  10 B may be supplied with electric power from an external commercial power supply, may include a storage battery as an electric power source, or may have both of these configurations. 
     As with the end effector  12 A of the medical robot  10 A, the end effector  14 B has a structure suitable for the medical practice and is attachable to and detachable from the tip of the manipulator  13 B. The traveling structure  15 B may move the medical robot  10 B and, for example, may be a traveling structure included in a surgical robot. The interface includes a camera, a microphone, a monitor, a speaker, and the like. The camera and the microphone acquire images and sounds of, for example, the medical practice target person P and transmit them to the manipulation inputter  20 B. The monitor and the speaker receive images and sounds of, for example, the doctor D from the manipulation inputter  20 B and output them. 
     For example, the medical robots  10 A and  10 B are in a medical treatment room MTR where the medical treatment is performed for the medical practice target person P. The medical robots  10 A and  10 B communicate with the manipulation inputters  20 A and  20 B in a manipulation room OR located outside the medical treatment room MTR. The medical treatment room MTR and the manipulation room OR are isolated from each other such that, for example, pathogens, such as infectious disease sources, cannot move therebetween. The medical robot  10 A transmits and receives information, commands, data, and the like to and from the manipulation inputter  20 A and operates in accordance with the information, the commands, and the like received from the manipulation inputter  20 A. The medical robot  10 B transmits and receives information, commands, data, and the like to and from the manipulation inputter  20 B and operates in accordance with the information, the commands, and the like received from the manipulation inputter  20 B. To be specific, the medical robots  10 A and  10 B are remotely manipulated by the manipulation inputters  20 A and  20 B located in a space that is isolated from the medical robots  10 A and  10 B. 
     For example, as the manipulation inputter  20 A for the medical robot  10 A, a device similar to a manipulation inputter used for an industrial robot may be used, or a new or novel manipulation inputter devised for the medical robot  10 A may be used. As the manipulation inputter  20 B for the medical robot  10 B, a device similar to a manipulation inputter used for a surgical robot, such as a console, may be used. Communication between the medical robots  10 A and  10 B and the manipulation inputters  20 A and  20 B may include any type of wired communication and any type of wireless communication. 
     Each of the manipulation inputters  20 A and  20 B includes an inputter  21  and an interface  22 . The inputter  21  receives inputs from the doctor D who is the operator. The interface  22  includes a camera, a microphone, a monitor, a speaker, and the like. The camera and the microphone acquire images and sounds of, for example, the doctor D and transmit them to the medical robot  10 A or  10 B. The monitor and the speaker receive images and sounds of, for example, the medical practice target person P from the medical robot  10 A or  10 B and output them. Therefore, the doctor D in the manipulation room OR isolated from the medical practice target person P can perform the medical practice by using the medical robot  10 A or  10 B while communicating with the medical practice target person P. 
     Configuration of Medical Support Robot 
     The configuration of the medical support robot  100  will be described.  FIG.  2    is a side view showing one example of the configuration of the medical support robot  100  according to the embodiment.  FIG.  3    is a plan view showing one example of the configuration of the medical support robot  100  according to the embodiment. As shown in  FIGS.  2  and  3   , the medical support robot  100  includes a base  101 , a robotic arm  102 , an end effector  103 , a traveling structure  104 , a storage  105 , and a controller  106 . The robotic arm  102  and the storage  105  are located on an upper surface  101   a  of the base  101  and are supported by the base  101 . The end effector  103  is detachably attached to a tip of the robotic arm  102  and has a structure suitable for a medical support operation. The traveling structure  104  is located at a lower portion of the base  101  and moves the base  101 . To be specific, the traveling structure  104  supports the robotic arm  102  and the storage  105  and can travel. The controller  106  controls operations of the robotic arm  102 , the end effector  103 , the traveling structure  104 , and the like. 
     The robotic arm  102  can freely change the position and posture of the end effector  103  at the tip of the robotic arm  102 . The robotic arm  102  is a robotic arm with multiple degrees of freedom and includes joints. In the present embodiment, the robotic arm  102  is a six-axis vertically articulated robotic arm including six rotary joints. However, the type of the robotic arm  102  is not limited to this. The robotic arm  102  includes arm drivers AM 1  to AM 6  that respectively rotate the six joints. The arm drivers AM 1  to AM 6  use electric power as a power source and, for example, include servomotors as electric motors. The operations of the arm drivers AM 1  to AM 6  are controlled by the controller  106 . 
     The end effector  103  can handle a medical instrument MD. A power source of a tool driver  103   a  that is a driver of the end effector  103  is not especially limited but may be, for example, electric power, pneumatic pressure, liquid pressure, or the like. The tool driver  103   a  that uses electric power as the power source includes, for example, a servomotor as an electric motor. The operation of the tool driver  103   a  is controlled by the controller  106 . 
     The medical instrument MD may be any device used for medical care. Examples of the medical instrument MD may include medical appliances, medical tools, inspection appliances, inspection tools, specimens, medicines, carrying structures on which the medical practice target persons rest, and the end effectors  12 A and  14 B of the medical robots  10 A and  10 B. However, the present embodiment is not limited to these. For example, the medicines includes not only medicines but also articles, such as blood for transfusion and culture liquid, which are introduced into the bodies of the medical practice target persons. Examples of the carrying structures may include beds, examination tables, operating tables, stretchers, and wheelchairs. However, the present embodiment is not limited to these. 
     The storage  105  can house the medical instruments MD. In the present embodiment, the storage  105  includes storages  105 A to  105 D. However, the present embodiment is not limited to this. The first storage  105 A houses the end effectors  12 A and  14 B which have not been used for the treatment of the medical practice target person or have been disinfected. For example, the first storage  105 A houses the end effectors  12 A and  14 B which may be used by the medical robots  10 A and  10 B for various treatments. The second storage  105 B houses the end effectors  12 A and  14 B which have already been used for the treatment of the medical practice target person. For example, the second storage  105 B houses the end effectors  12 A and  14 B which have been detached from the medical robots  10 A and  10 B. 
     The third storage  105 C houses the medical instruments MD which have not been used for the treatment of the medical practice target person among the medical instruments MD handled by the end effectors  12 A and  14 B of the medical robots  10 A and  10 B. For example, the third storage  105 C may house medical appliances, medical tools, inspection appliances, inspection tools, specimens, medicines, and the like. For example, the third storage  105 C may house inspection tools, inspection kits, and the like which are used to collect specimens from the medical practice target persons. 
     The fourth storage  105 D houses the medical instruments MD which have already been used for the treatment of the medical practice target person among the medical instruments MD handled by the end effectors  12 A and  14 B. For example, the fourth storage  105 D may house medical appliances, medical tools, inspection appliances, inspection tools, specimens, medicines, and the like. For example, the fourth storage  105 D may house inspection tools, inspection kits, and the like which have been used to collect specimens from the medical practice target persons. 
     The end effector  103  can hold the medical instrument MD in the storage  105 , take out the medical instrument MD from the storage  105 , and put the medical instrument MD into the storage  105 . Furthermore, the end effector  103  can perform at least either one of a holding operation of causing the medical robot  10 A or  10 B to hold the medical instrument MD which has been taken out from the storage  105  or a hold releasing operation of causing the medical robot  10 A or  10 B to release the medical instrument MD held by the medical robot  10 A or  10 B. 
     Specifically, the end effector  103  may be able to attach the end effector  12 A to the robotic arm  11 A and attach the end effector  14 B to the manipulator  13 B. The end effector  103  may be able to detach the end effector  12 A attached to the robotic arm  11 A and detach the end effector  14 B attached to the manipulator  13 B. The end effector  103  may be able to attach or hand over the medical instrument MD other than the end effectors  12 A and  14 B to the end effector  12 A or  14 B. The end effector  103  may be able to detach or receive the medical instrument MD, held by the end effector  12 A or  14 B, from the end effector  12 A or  14 B. 
     The traveling structure  104  includes wheels  104   a  and a traveling driver  104   b.  The wheels  104   a  can support and move the base  101 . The traveling driver  104   b  can drive at least one of the wheels  104   a  and turn at least one of the wheels  104   a.  With this, the traveling driver  104   b  can move the base  101  in any direction. The traveling structure  104  may be able to move the base  101  by using power. In the present embodiment, the traveling driver  104   b  uses electric power as a power source and, for example, includes a servomotor as an electric motor. However, the present embodiment is not limited to this. For example, the traveling structure  104  may be an AGV. The operation of the traveling driver  104   b  is controlled by the controller  106 . 
     The medical support robot  100  includes a storage battery  107 , a communicator  108 , a position detector  109 , and a disinfectant storage  110   a  of a disinfector  110  in the base  101 . The storage battery  107  serves as an electric power source of electrical structures of the medical support robot  100 . The storage battery  107  is a secondary battery that can be charged or discharged. Examples of the secondary battery includes lead storage batteries, lithium ion secondary batteries, nickel-hydrogen storage batteries, and nickel-cadmium storage batteries. The storage battery  107  is electrically connected to a power supply connector  114  located at the base  101 . The storage battery  107  is supplied with electric power from, for example, an external commercial power supply connected to the power supply connector  114 , stores the supplied electric power, and supplies the stored electric power to the electrical structures of the medical support robot  100 . The medical support robot  100  may supply electric power, supplied from, for example, an external commercial power supply connected to the power supply connector  114 , to the electrical structures of the medical support robot  100  or may selectively use the electric power of the storage battery  107  or the electric power of, for example, the commercial power supply or use both the electric power of the storage battery  107  and the electric power of, for example, the commercial power supply. 
     The communicator  108  includes a first communicator  108   a  and a second communicator  108   b.  The first communicator  108   a  communicates with the manipulation inputter  30  of the medical support robot  100  through wireless communication or wired communication. The transmission and reception of information, commands, data, and the like between the controller  106  and the manipulation inputter  30  are performed through the first communicator  108   a.  The second communicator  108   b  communicates with the medical robots  10 A and  10 B through wireless communication or wired communication. The transmission and reception of information, commands, data, and the like between the controller  106  and the medical robots  10 A and  10 B are performed through the second communicator  108   b.  In the present embodiment, the communicators  108   a  and  108   b  perform wireless communication. However, the present embodiment is not limited to this. Each of the communicators  108   a  and  108   b  may include, for example, communication circuitry. The wireless communication and the wired communication applied to the communicators  108   a  and  108   b  may be any type of wireless communication and any type of wired communication. Only the first communicator  108   a  may be included among the communicators  108   a  and  108   b.    
     For example, the medical support robot  100  is located in the medical treatment room MTR as with the medical robots  10 A and  10 B, and the manipulation inputter  30  is located in the manipulation room OR as with the manipulation inputters  20 A and  20 B for the medical robots  10 A and  10 B. Therefore, the medical support robot  100  is remotely manipulated by the manipulation inputter  30  located in a space isolated from the medical robots  10 A and  10 B and the medical support robot  100 . 
     The position detector  109  may detect the position of the base  101  and further detect the posture of the base  101 . The position detector  109  outputs a detection result to the controller  106 . The configuration of the position detector  109  is not especially limited. The position detector  109  may detect at least the position of the base  101  among the position and posture of the base  101 . 
     For example, the position detector  109  may include a position measurer, such as a GPS (Global Positioning System) receiver or an IMU (Inertial Measurement Unit). The position detector  109  may detect the position and posture of the base  101  by using, for example, received signals of the GPS receiver and/or acceleration, angular velocity, and the like measured by the IMU. For example, the position detector  109  may detect the position and posture of the base  101  based on signals received from a sensor located around the position detector  109 . For example, the position detector  109  may detect the position and posture of the base  101  by emitting infrared light, light wave, ultrasound, or the like to its periphery and receiving a reflected wave of the infrared light, the light wave, the ultrasound, or the like. For example, the position detector  109  may detect the position and posture of the base  101  based on an image of the periphery taken by the camera. For example, the position detector  109  may detect weak induction current from an electric wire embedded in a floor surface and detect the position and posture of the base  101  based on a detected value of the induction current. 
     The disinfector  110  includes the disinfectant storage  110   a  and an ejector  110   b.  The disinfectant storage  110   a  is a container that houses disinfectant. For example, the disinfectant storage  110   a  houses disinfectant solution, such as alcohol. The ejector  110   b  is connected to the disinfectant storage  110   a  through piping or the like and ejects the disinfectant of the disinfectant storage  110   a  to an outside. For example, the ejector  110   b  may be a device that ejects disinfectant solution or disinfectant powder. Then, the ejector  110   b  includes an ejection nozzle  110   ba  and a pump  110   bb  that pumps the disinfectant. The ejection nozzle  110   ba  is located at the robotic arm  102  or the end effector  103  and can eject the disinfectant in an arbitrary direction at an arbitrary position by the operations of the robotic arm  102  and the end effector  103 . In the present embodiment, the ejection nozzle  110   ba  is located at the tip of the robotic arm  102 . The pump  110   bb  is located in the base  101 . 
     The medical support robot  100  includes at least one imager  121 ,  122 ,  123 , a sound inputter  131 , a display  141 , and a sound outputter  151 . In the present embodiment, three imagers  121  to  123  are included. However, the present embodiment is not limited to this. The first imager  121  is located at the tip of the robotic arm  102 . However, the first imager  121  may be located at the end effector  103  or another portion of the robotic arm  102 . The first imager  121  can be located at an arbitrary position and an arbitrary orientation by the robotic arm  102 . For example, the first imager  121  takes an image of a target to which the end effector  103  applies an action, and outputs image data as one example of the image signals to, for example, the controller  106 . The first imager  121  is a camera that takes a digital still image and/or a digital video and may be a 3D camera that can take a 3D image including the positional information of a subject in the image. 
     The second imager  122  is located on a side surface  101   b  of the base  101 . The side surface  101   b  is a side surface located in a front direction FD that is an advancing direction of the base  101  that advances by the traveling structure  104 . The robotic arm  102  is located in the vicinity of the side surface  101   b.  For example, the second imager  122  is a wide angle camera that takes a digital still image and/or a digital video. The second imager  122  may take an image of a wide range in the front direction FD from the side surface  101   b  and a radiation direction with respect to the front direction FD. The second imager  122  outputs taken image data to the controller  106 . 
     The third imager  123  is located on a side surface  101   c  of the base  101 . The side surface  101   c  is a side surface located in a rear direction BD that is a retreating direction of the base  101  that retreats by the traveling structure  104 . The storage  105  is located in the vicinity of the side surface  101   c.  For example, the third imager  123  is a wide angle camera as with the second imager  122  and may take an image of a wide range in the rear direction BD from the side surface  101   c  and a radiation direction with respect to the rear direction BD. The third imager  123  outputs taken image data to the controller  106 . 
     Not all the imagers  121  to  123  are essential. For example, the first imager  121  that can change its position and its orientation may be used instead of at least either one of the imager  122  or the imager  123 . 
     The sound inputter  131  is located on the side surface  101   b  of the base  101 . The sound inputter  131  receives an input of sounds, converts the sounds into sound signals, and outputs the sound signals to the controller  106 . The sound inputter  131  may be any device that can receive the input of the sounds and convert the sounds into the sound signals. For example, the sound inputter  131  is a microphone. For example, the sound inputter  131  can acquire sound signals of, for example, the medical practice target person. 
     The display  141  is a device that outputs an image. For example, the display  141  is a liquid crystal display, an organic or inorganic EL display (Electro-Luminescence Display), or the like. However, the present embodiment is not limited to these. For example, the display  141  can display, as an image, image data of, for example, the operator taken by an imager  33  (see  FIG.  1   ) located at the manipulation inputter  30 . 
     The sound outputter  151  is a device that outputs sounds. The sound outputter  151  converts the sound signals into sounds and outputs the sounds. The sound outputter  151  may be any device that can convert the sound signals into the sounds. For example, the sound outputter  51  is a speaker. For example, the sound outputter  151  can convert the sound signals of the operator, output from a sound inputter  34  (see  FIG.  1   ) located at the manipulation inputter  30 , into sounds and output the sounds. 
     As above, the medical support robot  100  realizes the transfer of the medical instrument MD to the medical robot  10 A or  10 B and the communication between a person in the vicinity of the medical robot  10 A or  10 B and the the operator of the manipulation inputter  30 . Since the medical support robot  100  does not have to perform the medical practice directly to the medical practice target person, the the operator of the manipulation inputter  30  is not limited to the medical worker. 
     As shown in  FIG.  1   , the manipulation inputter  30  includes an inputter  31  and an interface  32 . The inputter  31  receives an input from an operator O. The interface  32  includes the imager  33 , the sound inputter  34 , a display  35 , and a sound outputter  36 . The imager  33 , the sound inputter  34 , the display  35 , and the sound outputter  36  are the same in configuration as those of the medical support robot  100 . The imager  33  takes an image of, for example, the operator O, and image data of the image is transmitted to the medical support robot  100  by the manipulation inputter  30 . The sound inputter  34  receives the sounds of, for example, the operator O, and sound signals of the sounds is transmitted to the medical support robot  100  by the manipulation inputter  30 . The display  35  displays an image corresponding to the image data received by the manipulation inputter  30  from the medical support robot  100 . The sound outputter  36  outputs sounds corresponding to the sound signals received by the manipulation inputter  30  from the medical support robot  100 . 
     The configuration of the controller  106  will be described. The controller  106  controls the operations of the components of the medical support robot  100 . For example, the controller  106  includes a computer. For example, the controller  106  includes a computing unit including a processor, a memory, and the like. The computing unit transmits or receives information, data, information, commands, and the like to or from another device. The computing unit receives signals from various devices and outputs control signals to control targets. The memory includes a memory device such as a semiconductor memory (such as a volatile memory or a non-volatile memory), a hard disk or a SSD (Solid State Drive). For example, the memory stores programs executed by the computing unit, various fixed data, and the like. 
     The functions of the computing unit may be realized by a computer system including a processor such as a CPU (Central Processing Unit), a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read-Only Memory), and the like. The computer system may realize the functions of the computing unit in such a manner that the CPU uses the RAM as a work area and executes the programs stored in the ROM. Some or all of the functions of the computing unit may be realized by the computer system, may be realized by dedicated hardware circuitry, such as an electronic circuit or an integrated circuit, or may be realized by the combination of the computer system and the hardware circuitry. The controller  106  may execute processing by centralized control performed by a single computer or may execute processing by distributed control performed by the cooperation of plural computers. 
     For example, the functions of the controller  106  may be realized by circuitry, such as a LSI (Large Scale Integration), a system LSI, or the like. Each of the functions of the controller  106  may be realized by a single chip, or some or all of the functions of the controller  106  may be realized by a single chip. The circuitry may be general circuitry or dedicated circuitry. As the LSI, a FPGA (Field Programmable Gate Array) that is programmable after the manufacture of the LSI, a reconfigurable processor that can reconfigure the connection and/or setting of circuit cells inside the LSI, an ASIC (Application Specific Integrated Circuit) that is a single circuit obtained by integrating plural function circuits for a specific application, or the like may be utilized. 
     A functional configuration of the controller  106  will be described.  FIG.  4    is a block diagram showing one example of the functional configuration of the medical support robot  100  according to the embodiment. As shown in  FIG.  4   , as functional components, the controller  106  includes a mode determination unit  1601 , an autonomous manipulation command unit  1602 , a manual manipulation command unit  1603 , a traveling command unit  1604 , an arm driving control unit  1605 , a tool driving control unit  1606 , a traveling driving control unit  1607 , an information processing unit  1608 , a route determination unit  1609 , a position detecting unit  1610 , a first image processing unit  1611 , a second image processing unit  1612 , a third image processing unit  1613 , a first sound processing unit  1614 , a second sound processing unit  1615 , an ejection control unit  1616 , and a storage unit  1620 . The function of the storage unit  1620  is realized by the memory. The functions of the components other than the function of the storage unit  1620  are realized by the processor and the like. Not all the above components are essential. 
     The storage unit  1620  can store various information, and the stored information can be read from the storage unit  1620 . For example, the storage unit  1620  may store programs, various fixed data, and the like. The storage unit  1620  stores map data of the medical treatment room MTR, map data in a structure, such as a building including the medical treatment room MTR, and the like. When there is a change in information in the map data, the storage unit  1620  may receive an update of the map data. The storage unit  1620  may store the information of the medical robots  10 A and  10 B which has been received by the controller  106  from the medical robots  10 A and  10 B. The storage unit  1620  may store the image data transmitted to the controller  106  from the imagers and the sound signals transmitted to the controller  106  from the sound outputters. 
     The mode determination unit  1601  determines a manipulation mode of the medical support robot  100  in accordance with a command received from the manipulation inputter  30 . The manipulation mode includes: an autonomous manipulation mode in which the medical support robot  100  automatically, i.e., autonomously performs a predetermined operation in accordance with the program; and a manual manipulation mode in which the medical support robot  100  performs an operation corresponding to a manipulation command received from the manipulation inputter  30  in accordance with the manipulation command. The manipulation command is a command corresponding to manipulation input to the manipulation inputter  30  to manually manipulate the medical support robot  100 . 
     The autonomous manipulation command unit  1602  functions in the autonomous manipulation mode. The autonomous manipulation command unit  1602  outputs to the arm driving control unit  1605  and the tool driving control unit  1606  an operation command by which the robotic arm  102  and the end effector  103  autonomously execute a predetermined operation set in the program. The operation command is a command by which the arm drivers AM 1  to AM 6  of the robotic arm  102  and the tool driver  103   a  of the end effector  103  operate. 
     The manual manipulation command unit  1603  functions in the manual manipulation mode. The manual manipulation command unit  1603  outputs to the arm driving control unit  1605  and the tool driving control unit  1606  an operation command by which the robotic arm  102  and the end effector  103  execute an operation corresponding to the manipulation command. 
     The traveling command unit  1604  outputs to the traveling driving control unit  1607  an operation command by which the traveling driver  104   b  of the traveling structure  104  operates. In the autonomous manipulation mode, the traveling command unit  1604  outputs an operation command by which the traveling structure  104  autonomously travels along a route set in the program. For example, the route set in the program may be a route determined by the route determination unit  1609 . The traveling command unit  1604  outputs an operation command including, for example, a movement direction, orientation, speed, and acceleration of the base  101  by using the position and posture of the base  101  detected by the position detecting unit  1610  and information of the route. In the manual manipulation mode, the traveling command unit  1604  outputs an operation command by which the traveling structure  104  travels based on, for example, the movement direction, orientation, speed, and acceleration of the base  101  corresponding to the manipulation command. 
     The arm driving control unit  1605  controls the arm drivers AM 1  to AM 6  such that the arm drivers AM 1  to AM 6  operate in accordance with the operation commands received from the manipulation command units. The arm driving control unit  1605  controls the rotation amounts, rotational speeds, and the like of the servomotors of the arm drivers AM 1  to AM 6  by using the rotation amounts and the like of the servomotors of the arm drivers AM 1  to AM 6  as feedback information and controls the rotational torques of the servomotors of the arm drivers AM 1  to AM 6  by using the current values of the servomotors of the arm drivers AM 1  to AM 6  as feedback information. 
     The tool driving control unit  1606  controls the tool driver  103   a  such that the tool driver  103   a  operates in accordance with the operation commands received from the manipulation command units. The tool driving control unit  1606  controls the driving of the servomotor of the tool driver  103   a  by using the rotation amount, the current value, and the like of the servomotor of the tool driver  103   a  as feedback information. 
     The traveling driving control unit  1607  controls the traveling driver  104   b  such that the traveling driver  104   b  operates in accordance with the operation command received from the traveling command unit  1604 . The traveling driving control unit  1607  controls the driving of the servomotor of the traveling driver  104   b  by using the rotation amount, the current value, and the like of the servomotor of the traveling driver  104   b  as feedback information. 
     The information processing unit  1608  processes robot information that is information of the medical robot  10 A received from the medical robot  10 A or information of the medical robot  10 B received from the medical robot  10 B, and outputs the robot information to the component corresponding to the robot information. Moreover, the information processing unit  1608  stores a part of the robot information or the whole robot information in the storage unit  1620 . For example, the robot information may include: identification information of the medical robots  10 A and  10 B, such as IDs of the medical robots  10 A and  10 B; commands from the medical robots  10 A and  10 B; the types of the medical robots  10 A and  10 B, such as models of the medical robots  10 A and  10 B; the types of the attached end effectors  12 A and  14 B, such as the models of the attached end effectors  12 A and  14 B; and information of the medical robots  10 A and  10 B, such as the positions and orientations of the medical robots  10 A and  10 B. For example, the commands may include: commands of requests or replacements of the end effectors  12 A and  14 B of the medical robots  10 A and  10 B; commands of requests, collections, or replacements of the medical instruments MD for the end effectors  12 A and  14 B of the medical robots  10 A and  10 B; commands of conveyance of carrying structures MDA conveyed to the medical robots  10 A and  10 B; and commands of conveyance of the carrying structures MDA conveyed from the medical robots  10 A and  10 B. The information processing unit  1608  transmits a part of the robot information or the whole robot information to the manipulation inputter  30 . 
     In the present description and the claims, each of “the information of the position” and “the positional information” may denote “only the information of the position,” “the information of the position and orientation,” or “the information of the position and posture.” 
     The route determination unit  1609  functions in the autonomous manipulation mode. The route determination unit  1609  determines a route along which the medical support robot  100  moves to the medical robot  10 A or  10 B corresponding to the command of the robot information. The route determination unit  1609  determines the route by using the information of the position and orientation of the medical robot  10 A or  10 B, the information of the position and orientation of the base  101  of the medical support robot  100 , and the map data of the medical treatment room MTR. 
     For example, as shown in  FIG.  1   , in some cases, the medical support robot  100  conveys the medical instrument MD housed in the storage  105  to the medical robot  10 A or  10 B in accordance with the command of the robot information. In this case, the route determination unit  1609  determines the route from the medical support robot  100  to the medical robot  10 A or  10 B. 
     For example, as shown in  FIG.  5   , in some cases, the medical support robot  100  conveys a bed MDA, which is one example of the carrying structure as the medical instrument MD and on which the medical practice target person P lies, to the medical robot  10 A or  10 B in accordance with the command of the robot information.  FIG.  5    is a plan view showing one example of the operation of the medical support robot  100  according to the embodiment. In this case, the route determination unit  1609  determines the route from the medical support robot  100  through the bed MDA to the medical robot  10 A or  10 B. In this case, the robot information includes information, such as the identification information and positional information of the bed MDA as a conveyance target. 
     The position detecting unit  1610  detects the position and posture of the base  101  of the medical support robot  100  by using a detection result received from the position detector  109 . The position detecting unit  1610  may transmit the information of the position and posture of the base  101  to the manipulation inputter  30 . With this, the information may be used for the manipulation of the traveling structure  104  by the manipulation inputter  30 . 
     The first image processing unit  1611  processes the image data taken by the first imager  121  of the medical support robot  100  and transmits the processed image data to the manipulation inputter  30 . 
     The second image processing unit  1612  processes the image data taken by the second imager  122  of the medical support robot  100  and the image data taken by the third imager  123  of the medical support robot  100  and transmits the processed image data to the manipulation inputter  30 . For example, the second image processing unit  1612  may perform processing, such as synthesis, such that the image data of the second imager  122  and the image data of the third imager  123  are displayed in synchronization with each other. 
     The third image processing unit  1613  processes the image data received from the manipulation inputter  30  and causes the display  141  to display the processed image data. For example, the third image processing unit  1613  receives the image data taken by the imager  33  of the manipulation inputter  30 , processes the image data, and causes the display  141  to display the processed image data. 
     The first sound processing unit  1614  processes the sound signals acquired by the sound inputter  131  of the medical support robot  100  and transmits the processed sound signals to the manipulation inputter  30 . 
     The second sound processing unit  1615  processes the sound signals received from the manipulation inputter  30  and causes the sound outputter  151  to output the processed sound signals. For example, the second sound processing unit  1615  receives the sound signals acquired by the sound inputter  34  of the manipulation inputter  30 , processes the sound signals, and causes the sound outputter  151  to output the processed sound signals. 
     The ejection control unit  1616  controls the operation of the ejector  110   b  of the disinfector  110 . For example, the ejection control unit  1616  causes the ejector  110   b  to eject the disinfectant to the robotic arm  11 A of the medical robot  10 A, the manipulators  13 B of the medical robot  10 B, and the end effectors  12 A and  14 B. The ejection control unit  1616  may cause the ejector  110   b  to autonomously perform the ejection in accordance with the command of the robot information or may cause the ejector  110   b  to perform the ejection in accordance with the command of the manipulation inputter  30 . For example, the ejection control unit  1616  may cause the ejector  110   b  to perform the ejection at a timing of the replacement of the end effector  12 A or  14 B or a timing of the replacement of the medical instrument MD at the end effector  12 A or  14 B. 
     The above-described controller  106  can cause the medical support robot  100  to execute various operations of supporting the medical practice of the medical robots  10 A and  10 B by controlling the robotic arm  102 , the end effector  103 , and the traveling structure  104 . 
     For example, the controller  106  can perform control of causing the traveling structure  104  to move to the medical robots  10 A and  10 B. In this case, the controller  106  can perform such control in both the autonomous manipulation mode and the manual manipulation mode. 
     The controller  106  can perform control of causing the robotic arm  102  and the end effector  103  to execute the holding operation of causing the medical robot  10 A or  10 B to hold the medical instrument MD in the storage  105  of the medical support robot  100  and the hold releasing operation of causing the medical robot  10 A or  10 B to release the medical instrument MD held by the medical robot  10 A or  10 B. For example, the replacement of the medical instrument MD can be performed. In such a case, the controller  106  can perform the control in both the autonomous manipulation mode and the manual manipulation mode. For example, the controller  106  may execute traveling control of the traveling structure  104  to the medical robot  10 A or  10 B in the autonomous manipulation mode and execute control of the holding operation and the hold releasing operation in the manual manipulation mode. With this, even when each of the holding operation and the hold releasing operation includes complex operation, the holding operation and the hold releasing operation can be surely executed. 
     For example, when performing the holding operation or the hold releasing operation, first, the controller  106  may cause the robotic arm  102  and the end effector  103  to autonomously operate such that the end effector  103  or the medical instrument MD held by the end effector  103  approaches the medical robot  10 A or  10 B. 
     Next, the controller  106  may cause the robotic arm  102  and the end effector  103  to operate in accordance with the manipulation command of the manipulation inputter  30  to execute the holding operation or the hold releasing operation by manual manipulation. In this case, the controller  106  may store in the storage unit  1620  the operation commands corresponding to the manipulation command of the manipulation inputter  30  and/or the operation information of the robotic arm  102  and the end effector  103  operated in accordance with the manipulation command. 
     Or, the controller  106  may cause the robotic arm  102  and the end effector  103  to operate based on the operation commands and/or the operation information stored in the storage unit  1620  to execute the holding operation or the hold releasing operation by autonomous manipulation. 
     Moreover, the controller  106  may learn the holding operation and the hold releasing operation. For example, while the holding operation or the hold releasing operation is executed by the autonomous manipulation, the controller  106  may receive the manipulation of the manipulation inputter  30  by the operator O and correct the ongoing operation of the robotic arm  102  and/or the end effector  103  in accordance with the inputted manipulation. In this case, the controller  106  may update the operation command and/or the operation information in the storage unit  1620  by using the operation command and/or the operation information corresponding to the corrected operation of the robotic arm  102  and/or the corrected operation of the end effector  103 . 
     After that, when executing the holding operation or the hold releasing operation by the autonomous manipulation, the controller  106  may cause the robotic arm  102  and the end effector  103  to operate based on the updated operation command and/or the updated operation information stored in the storage unit  1620 . Moreover, when the operation is corrected again using the manipulation inputter  30  by the operator O during the execution of the holding operation or the hold releasing operation, the controller  106  may update the operation command and/or the operation information in the storage unit  1620  again by using the operation command and/or the operation information corresponding to the corrected operation of the robotic arm  102  and/or the end effector  103 . As above, by the repetition of the update of the operation command and/or the operation information, the operation command and/or the operation information which realize the holding operation and the hold releasing operation that are more accurate or more sophisticated are stored in the storage unit  1620 . To be specific, the controller  106  can learn the holding operation and the hold releasing operation. Regarding control of the other operations of the medical support robot  100 , the controller  106  may perform control similar to the above control of the holding operation and the hold releasing operation. 
     Moreover, the controller  106  receives the information of the specified medical robot  10 A or  10 B and can perform control of executing at least either one of the holding operation or the hold releasing operation based on the robot information of the medical robot  10 A or  10 B. To be specific, the controller  106  can execute the control in the autonomous manipulation mode. 
     The controller  106  can perform control of causing the end effector  103  to hold the carrying structure MDA, such as the bed on which the medical practice target person lies and causing the traveling structure  104  to move the carrying structure MDA to the medical robot  10 A or  10 B. In this case, the controller  106  can perform the control in both the autonomous manipulation mode and the manual manipulation mode. 
     For example, the controller  106  receives the information of the specified carrying structure MDA and the robot information of the specified medical robot  10 A or  10 B. Based on the information of the carrying structure MDA and the robot information, the controller  106  can perform control of causing the traveling structure  104  to move to the carrying structure MDA, causing the end effector  103  to hold the carrying structure MDA, and causing the traveling structure  104  to move the carrying structure MDA to the medical robot  10 A or  10 B. 
     The controller  106  can perform control of receiving the sound signals from the manipulation inputter  30  for the medical support robot  100  and causing the sound outputter  151  of the medical support robot  100  to output the sounds corresponding to the sound signals. 
     The controller  106  can perform control of outputting to the manipulation inputter  30  for the medical support robot  100  the sound signals corresponding to the sounds received by the sound inputter  131  of the medical support robot  100 . 
     The controller  106  can perform control of receiving the image signals from the manipulation inputter  30  for the medical support robot  100  and causing the display  141  of the medical support robot  100  to output the image corresponding to the image signals. 
     The controller  106  can perform control of outputting to the manipulation inputter  30  for the medical support robot  100  the signals of the images taken by the imagers  121  to  123 . 
     The controller  106  can perform control of outputting to the manipulation inputter  30  for the medical support robot  100  the information of the position and posture of the medical support robot  100  detected by the position detector  109  of the medical support robot  100 . 
     Moreover, the controller  106  can perform control of causing the traveling structure  104  to autonomously move to the medical robot  10 A or  10 B based on the robot information of the medical robot  10 A or  10 B and the information of the position of posture of the medical support robot  100  detected by the position detector  109 . 
     The controller  106  can perform control of causing the ejector  110   b  of the disinfector  110  of the medical support robot  100  to eject the disinfectant to the medical robot  10 A or  10 B. In this case, the controller  106  can perform the control in both the autonomous manipulation mode and the manual manipulation mode. For example, the controller  106  can perform control of causing the ejector  110   b  to autonomously eject the disinfectant to the medical robot  10 A or  10 B based on the robot information of the medical robot  10 A or  10 B. 
     Other Embodiments 
     The foregoing has described the examples of the embodiment of the present disclosure. However, the present disclosure is not limited to the above embodiment. To be specific, various modifications and improvements may be made within the scope of the present disclosure. For example, modes prepared by variously modifying the above embodiment and modes prepared by combining components in different embodiments are within the scope of the present disclosure. 
     For example, in the embodiment, the medical support robot  100  and the medical robots  10 A and  10 B communicate with each other through wired communication or wireless communication. However, the present embodiment is not limited to this. For example, the medical support robot  100  may communicate with the manipulation inputters  20 A and  20 B for the medical robots  10 A and  10 B through wired communication or wireless communication. The medical robots  10 A and  10 B may communicate with the manipulation inputter  30  for the medical support robot  100  through wired communication or wireless communication. The manipulation inputter  30  and the manipulation inputters  20 A and  20 B may communicate with each other through wired communication or wireless communication. Light, sound, or a combination of light and sound may be used as a means of communication between the medical support robot  100  and the medical robots  10 A and  10 B. 
     In the embodiment, the position of the medical support robot  100  is detected by using the position detector  109  mounted on the medical support robot  100 . However, the present embodiment is not limited to this. The position of the medical support robot  100  may be detected by using a device located outside the medical support robot  100 . For example, the position of the medical support robot  100  may be detected by analyzing an image of the medical support robot  100  taken by a camera from an outside of the medical support robot  100 . The position of the medical support robot  100  may be detected by using a measurement value of a distance measurement sensor, such as a laser sensor, a Lidar, or an ultrasound sensor, located outside the medical support robot  100 . 
     In the embodiment, the medical support robot  100  includes one robotic arm  102  but may include two or more robotic arms. In this case, the two or more robotic arms may include a robotic arm handling the medical instrument MD that has not yet been used for the treatment of the medical practice target person and a robotic arm handling the medical instrument MD that has already been used for the treatment of the medical practice target person. With this, the medical instrument MD that has not yet been used is prevented from being contaminated by the robotic arm and the end effector which have handled the medical instrument MD that has already been used for the treatment of the medical practice target person. 
     In the embodiment, the medical support robot  100  may include a structure that can close and open the storage  105 . For example, the medical support robot  100  may include a door that opens and closes the storage  105 . With this, the medical instrument MD that is in the storage  105  and has not been contaminated is prevented from being contaminated, and the source of contamination of the medical instrument MD that has been contaminated is prevented from diffusing. 
     In the embodiment, the medical support robot  100  can disinfect targets other than the medical support robot  100  by using the ejector  110   b  of the disinfector  110 . However, the present embodiment is not limited to this. For example, the medical support robot  100  may disinfect the medical support robot  100  by using the ejector  110   b.    
     In the embodiment, the medical support robot  100  includes the ejector  110   b  of the disinfector  110  at the robotic arm  102  or the end effector  103 . However, the present embodiment is not limited to this. For example, the medical support robot  100  may include the ejectors  110   b  at the robotic arm  102  and the end effector  103 . Instead of or in addition to the ejector  110   b  at the robotic arm  102  or the end effector  103 , the medical support robot  100  may include another ejector  110   b  at a place other than the robotic arm  102  and the end effector  103 . With this, the medical support robot  100  can disinfect the robotic arm  102  and the end effector  103  by using the ejector  110   b.    
     The medical support robot  100  according to the embodiment may include a detachable protection cover. The protection cover may cover a part of the medical support robot  100  or the entire medical support robot  100 . For example, the protection cover that covers a part of the medical support robot  100  may cover a portion which requires labor and time for being disinfected or is difficult to be disinfected among portions of the medical support robot  100 . With this, even if contaminants are attached to the medical support robot  100 , the protection cover is replaced, and this can obtain the same effect as the disinfection of the medical support robot  100 . Therefore, labor for the disinfection is reduced. 
     The medical robot system  1  according to the embodiment may include a disinfection equipment outside a space, such as the medical treatment room MTR, where the medical support robot  100  and the medical robots  10 A and  10 B are located. For example, the medical robot system  1  may include a disinfection chamber that is adjacent to the medical treatment room MTR and includes the disinfection equipment. Furthermore, the medical support robot  100  may pass through the disinfection chamber and be disinfected in the disinfection chamber immediately before the medical support robot  100  enters into the medical treatment room MTR from an outside and immediately after the medical support robot  100  gets out from the medical treatment room MTR to an outside. With this, the contaminants attached to the medical support robot  100  are prevented from getting into the medical treatment room MTR and getting out from the medical treatment room MTR. 
     In the medical robot system  1  according to the embodiment, the medical support robot  100  conveys the medical instrument MD to the medical robots  10 A and  10 B. However, the present embodiment is not limited to this. For example, the medical support robot  100  may convey the medical instrument MD to medical workers, such as doctors and nurses. 
     The medical robot system  1  according to the embodiment may be located at any place. For example, the medical robot system  1  may be located inside buildings (such as hospitals), temporary structures (such as tents and prefabricated structures), and movable bodies or may be located in an outdoor environment. For example, the movable bodies may be medical movable bodies, such as hospital ships and railcars. 
     In the embodiment, the robotic arm  102  of the medical support robot  100  is a vertically articulated robotic arm. However, the present embodiment is not limited to this. For example, the robotic arm  102  may be a horizontally articulated robotic arm, a polar coordinate robotic arm, a cylindrical coordinate robotic arm, a rectangular coordinate robotic arm, or another type of robotic arm. 
     Examples of aspects of the technique of the present disclosure will be described below. A medical support robot according to one aspect of the present disclosure includes: a storage that houses a medical instrument; at least one robotic arm including a tip including an end effector that handles the medical instrument; a traveling structure that supports the storage and the at least one robotic arm and travels; and a controller. The controller performs control of causing the traveling structure to move to a medical robot that is a robot that performs medical practice. 
     According to the above aspect, the medical support robot can convey the medical instrument to the medical robot. The medical support robot can perform work of supporting the medical practice of the medical robot. For example, since the medical robot performs the treatment of the medical practice target person, the medical robot tends to be contaminated by the infectious disease source. Therefore, there is a possibility that the medical robot needs to be disinfected each time the medical robot moves to acquire the medical instrument. Or, a person who holds the medical instrument is at high risk of being contaminated by the infectious disease source when the person approaches the medical robot. The medical support robot can reduce the frequency of the movement of the medical robot and the risk of infection of the medical workers. 
     In the medical support robot according to the aspect of the present disclosure, the controller may perform control of causing the robotic arm and the end effector to execute at least either one of a holding operation of causing the medical robot to hold the medical instrument in the storage or a hold releasing operation of causing the medical robot to release the medical instrument held by the medical robot. 
     According to the above aspect, for example, even when the medical robot itself does not have a structure that holds or releases the medical instrument or a function of executing such holding or releasing, the medical support robot can cause the medical robot to hold or release the medical instrument. Moreover, it is possible to prevent a case where the medical robot contaminated by the infectious disease source contacts and contaminates the non-contaminated medical instrument in the storage. 
     In the medical support robot according to the aspect of the present disclosure, the controller may receive information of the specified medical robot, and the controller may perform control of executing at least either one of the holding operation or the hold releasing operation based on the information of the medical robot. 
     According to the above aspect, the medical support robot can autonomously perform the conveyance of the medical instrument to the specified medical robot, the holding operation for the specified medical robot, and the hold releasing operation for the specified medical robot. 
     In the medical support robot according to the aspect of the present disclosure, the end effector may hold a carrying structure on which a medical practice target person rests, and the controller may perform control of causing the end effector to hold the carrying structure on which the medical practice target person is resting and causing the traveling structure to move to the medical robot. 
     According to the above aspect, the medical robot does not have to move to the carrying structure. The risk of the diffusion of the infectious disease source due to the movement of the medical robot is reduced. A space where the relatively large medical robot moves between the carrying structures is unnecessary. Thus, the space can be efficiently utilized. 
     In the medical support robot according to the aspect of the present disclosure, the controller may receive information of the specified carrying structure and information of the specified medical robot, and the controller may perform control of causing the traveling structure to move to the carrying structure, causing the end effector to hold the carrying structure, and causing the traveling structure to move to the medical robot based on the information of the carrying structure and the information of the medical robot. 
     According to the above aspect, the medical support robot can autonomously convey the specified carrying structure to the specified medical robot. 
     The medical support robot according to the aspect of the present disclosure may further include a wireless communicator that communicates with a manipulation inputter of the medical support robot through wireless communication. 
     According to the above aspect, the medical support robot may be manipulated by a remote manipulation inputter. With this, the risk of infection of the operator of the manipulation inputter can be reduced. 
     The medical support robot according to the aspect of the present disclosure, may further include: a first wireless communicator that communicates with a manipulation inputter of the medical support robot through wireless communication; and a second wireless communicator that communicates with the medical robot through wireless communication. 
     According to the above aspect, the medical support robot may be manipulated by a remote manipulation inputter. Moreover, since the medical support robot is not connected to the medical robot through a wire, the restriction of the movement is reduced, and the medical support robot can freely move. 
     The medical support robot according to the aspect of the present disclosure may further include a sound outputter that outputs sounds. The controller may perform control of receiving sound signals from a manipulation inputter of the medical support robot and causing the sound outputter to output sounds corresponding to the sound signals. 
     According to the above aspect, the medical support robot can output to, for example, the medical practice target person the sounds corresponding to the sound signals output from the manipulation inputter. The medical support robot can realize communication with the medical practice target person, such as communication between the operator of the manipulation inputter and the medical practice target person. 
     The medical support robot according to the aspect of the present disclosure may further include a sound inputter that receives an input of sounds. The controller may perform control of outputting to a manipulation inputter of the medical support robot sound signals corresponding to the sounds received by the sound inputter. 
     According to the above aspect, the operator of the manipulation inputter can manipulate the medical support robot by using the manipulation inputter while confirming the sounds of, for example, the medical practice target person acquired by the sound inputter at a place away from the medical support robot, such as a place where the operator cannot directly and visually confirm the medical support robot. 
     The medical support robot according to the aspect of the present disclosure may further include a display that outputs an image. The controller may perform control of receiving image signals from a manipulation inputter of the medical support robot and causing the display to output an image corresponding to the image signals. 
     According to the above aspect, the medical support robot can display the image corresponding to the image signals output from the manipulation inputter for the medical practice target person or the like. The medical support robot can realize communication with the medical practice target person, such as communication between the operator of the manipulation inputter and the medical practice target person. For example, the displayed image may be an image of the operator. 
     The medical support robot according to the aspect of the present disclosure may further include an imager. The controller may perform control of outputting to a manipulation inputter of the medical support robot signals of an image taken by the imager. 
     According to the above aspect, the operator of the manipulation inputter can manipulate the medical support robot by using the manipulation inputter while visually confirming the image taken by the imager at a place away from the medical support robot, such as a place where the operator cannot directly and visually confirm the medical support robot. 
     The medical support robot according to the aspect of the present disclosure may further include a position detector that detects a position of the medical support robot. The controller may perform control of outputting to a manipulation inputter of the medical support robot, information of the position of the medical support robot detected by the position detector. 
     According to the above aspect, the operator of the manipulation inputter can manipulate, for example, the movement of the medical support robot by using the manipulation inputter while confirming the position of the medical support robot. 
     The medical support robot according to the aspect of the present disclosure may further include a position detector that detects a position of the medical support robot. The controller may receive information of the specified medical robot. The controller may performs control of causing the traveling structure to move to the medical robot based on the information of the medical robot and information of the position of the medical support robot detected by the position detector. 
     According to the above aspect, the medical support robot can autonomously move to the medical robot based on the information of the medical robot and the position of the medical support robot. 
     The medical support robot according to the aspect of the present disclosure may further include: a disinfectant storage that houses disinfectant; and an ejector that is located at the end effector or the robotic arm and ejects the disinfectant. The controller may perform control of causing the ejector to eject the disinfectant to the medical robot. 
     According to the above aspect, the medical support robot can disinfect the medical robot. For example, the medical support robot disinfects the medical robot before causing the medical robot to hold the medical instrument. With this, the medical instrument can be prevented from being contaminated by the medical robot. 
     In the medical support robot according to the aspect of the present disclosure, the controller may receive information of the specified medical robot, and the controller may perform control of causing the ejector to eject the disinfectant to the medical robot based on the information of the medical robot. 
     According to the above aspect, the medical support robot can autonomously disinfect the specified medical robot. 
     A medical robot system according to one aspect of the present disclosure includes: the medical support robot according to the aspect of the present disclosure; a manipulation inputter of the medical support robot; and the medical robot. 
     According to the above aspect, the same effects as the medical support robot according to the aspect of the present disclosure are obtained. 
     In the medical robot system according to the aspect of the present disclosure, the manipulation inputter of the medical support robot may be located in a space that is isolated from a space where the medical support robot and the medical robot are located. 
     According to the above aspect, even when a contamination source, such as the infectious disease source, exists in the space where the medical support robot and the medical robot are located, the operator of the manipulation inputter and the contamination source are prevented from contacting each other. Therefore, the contamination of the operator is prevented. 
     In the medical robot system according to the aspect of the present disclosure, the medical robot may be a robot based on a surgical robot or a robot based on a general purpose robot other than the surgical robot. 
     According to the above aspect, an existing surgical robot or a general purpose robot other than the surgical robot can be utilized as the medical robot. With this, a new robot does not have to be manufactured even when a medical robot system needs to be built. Therefore, the medical robot system can be quickly and easily built. 
     All the numerals, such as the ordinal numbers and the quantities, are examples used to specifically describe the technique of the present disclosure, and the present disclosure is not limited to these numerals. Furthermore, connection relations among the components are examples used to specifically describe the technique of the present disclosure, and the connection relations that realize the functions of the present disclosure are not limited to these. 
     The scope of the present disclosure is defined by not the description but the claims attached hereto such that the present disclosure is carried out in various ways within the scope of the essential features of the present disclosure. Therefore, the present embodiments are exemplary embodiments and are not limiting embodiments. All changes that come within the claims and the scope of the claims or equivalents in claims and the scope of the claims intend to be covered by the claims. 
     REFERENCE SIGNS LIST 
       1  medical robot system 
       10 ,  10 A,  10 B medical robot 
       30  manipulation inputter 
       100  medical support robot 
       102  robotic arm 
       103  end effector 
       104  traveling structure 
       105 ,  105 A to  105 D storage 
       106  controller 
       108 ,  108   a,    108   b  communicator 
       109  position detector 
       110  disinfector 
       110   a  disinfectant storage 
       110   b  ejector 
       121  to  123  imager 
       131  sound inputter 
       141  display 
       151  sound outputter 
     MD medical instrument 
     MDA carrying structure