公开(公告)号：US09616576B2

公开(公告)日：2017-04-11

申请号：US14483049

申请日：2014-09-10

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： David Bjorn Roe ,  Daniel Steven Sanchez ,  Marco Pinter ,  Derek Walters ,  Charles S. Jordan

IPC: B25J13/00 ,  B25J9/00 ,  B25J19/02 ,  G06F19/00

CPC classification number: B25J13/003 ,  B25J9/0003 ,  B25J19/023 ,  G06F19/00 ,  G06F19/3418

Abstract: A remote controlled robot system that includes a robot and a remote control station. The robot includes a binaural microphone system that is coupled to a speaker system of the remote control station. The binaural microphone system may include a pair of microphones located at opposite sides of a robot head. the location of the microphones roughly coincides with the location of ears on a human body. Such microphone location creates a mobile robot that more effectively simulates the tele-presence of an operator of the system. The robot may include two different microphone systems and the ability to switch between systems. For example, the robot may also include a zoom camera system and a directional microphone. The directional microphone may be utilized to capture sound from a direction that corresponds to an object zoomed upon by the camera system.

公开(公告)号：US09600631B2

公开(公告)日：2017-03-21

申请号：US14743733

申请日：2015-06-18

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： David Stuart ,  Daniel Steven Sanchez ,  Fuji Lai ,  Kevin Hanrahan ,  Charles S. Jordan ,  David Roe ,  James Rosenthal ,  Amante Mangaser ,  Blair Whitney ,  Derek Walters

IPC: G05B19/04 ,  G05B19/18 ,  G06F19/00 ,  H04N7/18 ,  B25J9/16 ,  H04L29/06 ,  H04L29/08

CPC classification number: H04N7/142 ,  B25J9/1689 ,  B25J9/1697 ,  G06F19/00 ,  G06F19/321 ,  G06F19/3418 ,  H04L65/403 ,  H04L67/10 ,  H04N5/23203 ,  H04N5/23222 ,  H04N5/23293 ,  H04N5/247 ,  H04N5/265 ,  H04N7/185

Abstract: A tele-presence system that includes a cart. The cart includes a robot face that has a robot monitor, a robot camera, a robot speaker, a robot microphone, and an overhead camera. The system also includes a remote station that is coupled to the robot face and the overhead camera. The remote station includes a station monitor, a station camera, a station speaker and a station microphone. The remote station can display video images captured by the robot camera and/or overhead camera. By way of example, the cart can be used in an operating room, wherein the overhead camera can be placed in a sterile field and the robot face can be used in a non-sterile field. The user at the remote station can conduct a teleconference through the robot face and also obtain a view of a medical procedure through the overhead camera.

公开(公告)号：US09469030B2

公开(公告)日：2016-10-18

申请号：US14924471

申请日：2015-10-27

Applicant: IROBOT CORPORATION ,  INTOUCH TECHNOLOGIES, INC.

Inventor： Yulun Wang ,  Charles S. Jordan ,  Tim Wright ,  Michael Chan ,  Marco Pinter ,  Kevin Hanrahan ,  Daniel Sanchez ,  James Ballantyne ,  Cody Herzog ,  Blair Whitney ,  Fuji Lai ,  Kelton Temby ,  Eben Christopher Rauhut ,  Justin H. Kearns ,  Cheuk Wah Wong ,  Timothy Sturtevant Farlow

IPC: B25J9/16 ,  B25J11/00 ,  G05D1/00 ,  G05D1/02 ,  G06F19/00 ,  G06T11/00 ,  B25J5/00 ,  G06F3/0482 ,  G06F3/0484 ,  G06T11/60 ,  G06T15/10

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/009 ,  B25J11/0095 ,  G05D1/0038 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0206 ,  G06F3/0482 ,  G06F3/04842 ,  G06F3/04847 ,  G06F19/00 ,  G06F19/3418 ,  G06T11/00 ,  G06T11/60 ,  G06T15/10 ,  G06T2200/24 ,  Y10S901/01 ,  Y10S901/47

Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

公开(公告)号：US20160161948A1

公开(公告)日：2016-06-09

申请号：US14617801

申请日：2015-02-09

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： Yulun Wang ,  Charles S. Jordan ,  Keith P. Laby ,  Jonathan Southard ,  Marco Pinter ,  Brian Miller

IPC: G05D1/00 ,  B25J11/00 ,  B25J19/02 ,  G06F3/033 ,  B25J5/00 ,  B25J13/02

CPC classification number: G05D1/0038 ,  A61B34/30 ,  A61B34/70 ,  B25J5/007 ,  B25J11/009 ,  B25J13/02 ,  B25J19/023 ,  G05D2201/0206 ,  G06F3/033 ,  Y10S901/01

Abstract: A robotic system that includes a mobile robot and a remote input device. The input device may be a joystick that is used to move a camera and a mobile platform of the robot. The system may operate in a mode where the mobile platform moves in a camera reference coordinate system. The camera reference coordinate system is fixed to a viewing image provided by the camera so that movement of the robot corresponds to a direction viewed on a screen. This prevents disorientation during movement of the robot if the camera is panned across a viewing area.

公开(公告)号：US20150127156A1

公开(公告)日：2015-05-07

申请号：US14594729

申请日：2015-01-12

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： Yulun Wang ,  Charles S. Jordan ,  Kevin Hanrahan ,  Daniel Sanchez ,  Marco Pinter

IPC: G06F19/00 ,  B25J5/00 ,  H04L29/08

CPC classification number: G06F19/3418 ,  A61B5/0013 ,  A61B5/7445 ,  A61B5/7465 ,  B25J5/00 ,  G06F19/00 ,  G16H40/67 ,  H04N7/15

Abstract: A remote controlled robot with a head that supports a monitor and is coupled to a mobile platform. The mobile robot also includes an auxiliary camera coupled to the mobile platform by a boom. The mobile robot is controlled by a remote control station. By way of example, the robot can be remotely moved about an operating room. The auxiliary camera extends from the boom so that it provides a relatively close view of a patient or other item in the room. An assistant in the operating room may move the boom and the camera. The boom may be connected to a robot head that can be remotely moved by the remote control station.

Abstract translation: 一种具有头部的远程控制机器人，其支撑监视器并耦合到移动平台。 移动机器人还包括通过吊杆耦合到移动平台的辅助照相机。 移动机器人由遥控站控制。 作为示例，机器人可以在手术室周围远程移动。 辅助摄像机从起重臂延伸，使得它提供了房间中患者或其他物品的相对较近的视野。 手术室的助手可以移动吊杆和相机。 吊杆可以连接到可由遥控站远程移动的机器人头部。

公开(公告)号：US20150077502A1

公开(公告)日：2015-03-19

申请号：US14550750

申请日：2014-11-21

Applicant: InTouch Technologies, Inc. ,  iRobot Corporation

Inventor： Charles S. Jordan ,  Andy Young ,  Mei Sheng Ng ,  Yair Lurie ,  Fuji Lai ,  Timothy C. Wright ,  John Cody Herzog ,  Blair Whitney ,  Bill Rizzi ,  James Ballantyne ,  Yulun Wang ,  Cheuk Wah Wong ,  Justin Kearns ,  Orjeta Taka ,  Ramchandra Karandikar

IPC: G06F3/0482 ,  G06F3/0484 ,  H04N7/15 ,  G06F3/0481

CPC classification number: G16H40/63 ,  G06F3/04847 ,  G06F3/04883 ,  G06F19/00 ,  G06F19/3418 ,  G06Q10/10 ,  G06Q50/22 ,  H04N7/142 ,  H04N7/147

Abstract: The present disclosure describes various aspects of remote presence interfaces (RPIs) for use on portable electronic devices (PEDs) to interface with remote telepresence devices. An RPI may allow a user to interact with a telepresence device, view a live video feed, provide navigational instructions, and/or otherwise interact with the telepresence device. The RPI may allow a user to manually, semi-autonomously, or autonomously control the movement of the telepresence device. One or more panels associated with a video feed, patient data, calendars, date, time, telemetry data, PED data, telepresence device data, healthcare facility information, healthcare practitioner information, menu tabs, settings controls, and/or other features may be utilized via the RPI.

Abstract translation: 本公开描述了用于在便携式电子设备（PED）上用于与远程远程呈现设备接口的远程存在接口（RPI）的各个方面。 RPI可以允许用户与远程呈现设备进行交互，查看实时视频馈送，提供导航指令，和/或以其他方式与网真设备进行交互。 RPI可以允许用户手动，半自主地或自主地控制远程呈现设备的移动。 与视频馈送相关联的一个或多个面板，患者数据，日历，日期，时间，遥测数据，PED数据，远程呈现设备数据，医疗机构信息，保健从业人员信息，菜单选项卡，设置控件和/或其他特征可以是 通过RPI使用。

公开(公告)号：US20150012136A1

公开(公告)日：2015-01-08

申请号：US14483049

申请日：2014-09-10

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： David Bjorn Roe ,  Daniel Steven Sanchez ,  Marco Pinter ,  Derek Walters ,  Charles S. Jordan

IPC: B25J13/00 ,  B25J19/02 ,  G06F19/00

CPC classification number: B25J13/003 ,  B25J9/0003 ,  B25J19/023 ,  G06F19/00 ,  G06F19/3418

Abstract: A remote controlled robot system that includes a robot and a remote control station. The robot includes a binaural microphone system that is coupled to a speaker system of the remote control station. The binaural microphone system may include a pair of microphones located at opposite sides of a robot head. the location of the microphones roughly coincides with the location of ears on a human body. Such microphone location creates a mobile robot that more effectively simulates the tele-presence of an operator of the system. The robot may include two different microphone systems and the ability to switch between systems. For example, the robot may also include a zoom camera system and a directional microphone. The directional microphone may be utilized to capture sound from a direction that corresponds to an object zoomed upon by the camera system.

Abstract translation: 包括机器人和远程控制站的遥控机器人系统。 机器人包括耦合到远程控制站的扬声器系统的双耳麦克风系统。 双耳麦克风系统可以包括位于机器人头部的相对侧的一对麦克风。 麦克风的位置大致与耳朵在人体上的位置重合。 这样的麦克风位置创建了更有效地模拟系统的操作员的远程存在的移动机器人。 机器人可以包括两个不同的麦克风系统和在系统之间切换的能力。 例如，机器人还可以包括变焦摄像机系统和定向麦克风。 定向麦克风可以用于从与相机系统放大的对象对应的方向上捕获声音。

公开(公告)号：US20140156069A1

公开(公告)日：2014-06-05

申请号：US14175988

申请日：2014-02-07

Applicant: Intouch Technologies, Inc.

Inventor： Yulun Wang ,  Charles S. Jordan ,  Keith Phillip Laby ,  Jonathan Southard

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1689 ,  B25J19/023 ,  G05D1/0022 ,  G05D2201/0206 ,  G06F19/00 ,  G06F19/3418 ,  G16H40/63 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station.

Abstract translation: 一种机器人系统，其包括链接到多个远程站的移动机器人。 其中一个远程站包括一个控制对机器人的访问的仲裁器。 可以为每个远程站分配优先级，该优先级由仲裁者使用以确定哪个站具有对机器人的访问。 仲裁器可以包括用于发送与访问请求相关的消息的通知和回叫机制，以及用于远程站的准许。

公开(公告)号：US08682486B2

公开(公告)日：2014-03-25

申请号：US13944526

申请日：2013-07-17

Applicant: InTouch Technologies, Inc.

Inventor： Yulun Wang ,  Charles S. Jordan ,  Keith Phillip Laby ,  Jonathan Southard

IPC: G05B19/04 ,  G05B19/418

CPC classification number: B25J9/1697 ,  B25J9/1689 ,  B25J19/023 ,  G05D1/0022 ,  G05D2201/0206 ,  G06F19/00 ,  G06F19/3418 ,  G16H40/63 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station.

Abstract translation: 一种机器人系统，其包括链接到多个远程站的移动机器人。 其中一个远程站包括一个控制对机器人的访问的仲裁器。 可以为每个远程站分配优先级，该优先级由仲裁者使用以确定哪个站具有对机器人的访问。 仲裁器可以包括用于发送与访问请求相关的消息的通知和回叫机制，以及用于远程站的准许。