In the scenario of COVID-19, the social interaction is limited and distancing. It causes several drawbacks such as decreasing the social constraints among relations and growing the troublesomeness of daily activities. However, this way helps to isolate the infectious disease as well as reduce the number of patients. To overcome these troubles, the service robot plays an excellent solution in this circumstance. Instead of servants, robot could carry the heavy cargo, continuously operate with numerous orders and do not hesitate the hazardous environment. Especially, it can not be affected by the infected disease and ease to disinfect by various chemicals. Therefore, in this paper, an interactive model for the autonomous robot in the healthcare service is proposed. Firstly, several coefficients related to interaction are denoted for the clarification and initial establishment. Later, a model of working space for human that interact with others, is suggested. These zones are categorized based on the needs of socially collaboration and comfortably communication in reality. In our research, the autonomous robot must work in the medical area where both patients and nurses stay. Hence, the missions of robot are not only to avoid obstacles but also cleverly manipulate in the crowd. Owing to this model, the service robot could behave intelligently, perceptively and safely. To validate the our work, the fully interactive model is simulated in the pre-determined situations. The robot must obey the desired commands while the medical constraints are still preserved. From these test results, it could be easily seen that our approach such the interactive model of robot is effective, feasible and reasonable for the healthcare service to prevent the infectious disease in the period of global pandemic.