You can make the form in Word and save it as a pdf file, or there are many available to download (just Google or Bing "medical history form") some free, some for a small fee for editable versions.
Once you have the form you want as a pdf file you can use Foxit PDF reader and when the pt is done your staff choses Save As... to save it under the pt's name or ID number.
Many here like Drawboard PDF, and it is easier to use in tablet mode, but I haven't figured out how to Save As so you can name it with pt ID name and keep original as a template.