公开(公告)号：US20180088583A1

公开(公告)日：2018-03-29

申请号：US15721067

申请日：2017-09-29

Applicant: 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: G05D1/02 ,  G06T11/00 ,  B25J11/00 ,  B25J9/16 ,  G05D1/00

CPC classification number: G05D1/0217 ,  B25J9/1689 ,  B25J11/009 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/3418 ,  G06T11/00

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 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 map, or by using a joystick or other peripheral device.

公开(公告)号：US20180071917A1

公开(公告)日：2018-03-15

申请号：US15818420

申请日：2017-11-20

Applicant: InTouch Technologies, Inc.

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

IPC: B25J9/16 ,  G06F19/00 ,  B25J19/02 ,  G05D1/00

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.

公开(公告)号：US20170334069A1

公开(公告)日：2017-11-23

申请号：US15446919

申请日：2017-03-01

Applicant: InTouch Technologies, Inc. ,  iRobot Corporation

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 ,  G06T15/10 ,  G06T11/60 ,  G05D1/00 ,  G06F19/00 ,  G06F3/0484 ,  B25J5/00 ,  G05D1/02 ,  G06F3/0482 ,  G06T11/00

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 ,  G06F19/3418 ,  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：US20160368146A1

公开(公告)日：2016-12-22

申请号：US15250621

申请日：2016-08-29

Applicant: INTOUCH TECHNOLOGIES, INC.

Inventor： Amante Mangaser ,  Jonathan Southard ,  Marco Pinter ,  John Cody Herzog ,  Charles Steve Jordan ,  Yulun Wang ,  James Rosenthal

IPC: B25J9/16 ,  G05D1/00 ,  G06F19/00 ,  G05B19/409

CPC classification number: B25J9/1689 ,  G05B19/409 ,  G05B2219/40174 ,  G05B2219/40298 ,  G05D1/0022 ,  G05D2201/0206 ,  G06F19/00 ,  G06F19/3418 ,  H04N7/185 ,  Y10S901/01

Abstract: A remote control station that controls a robot through a network. The remote control station transmits a robot control command that includes information to move the robot. The remote control station monitors at least one network parameter and scales the robot control command as a function of the network parameter. For example, the remote control station can monitor network latency and scale the robot control command to slow down the robot with an increase in the latency of the network. Such an approach can reduce the amount of overshoot or overcorrection by a user driving the robot.

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：US20150339452A1

公开(公告)日：2015-11-26

申请号：US14472277

申请日：2014-08-28

Applicant: InTouch Technologies, Inc.

Inventor： Timothy C. Wright ,  Fuji Lai ,  Marco Pinter ,  Yulun Wang

IPC: G06F19/00 ,  H04N7/18

CPC classification number: B25J9/1689 ,  G05B2219/45117 ,  G06F19/321 ,  G06F19/328 ,  G06F19/3418 ,  G06Q30/0283 ,  G16H40/63 ,  G16H40/67 ,  G16H50/20 ,  H04N7/185

Abstract: A robotic system that is used in a tele-presence session. For example, the system can be used by medical personnel to examine, diagnose and prescribe medical treatment in the session. The system includes a robot that has a camera and is controlled by a remote station. The system further includes a storage device that stores session content data regarding the session. The data may include a video/audio taping of the session by the robot. The session content data may also include time stamps that allow a user to determine the times that events occurred during the session. The session content data may be stored on a server that accessible by multiple users. Billing information may be automatically generated using the session content data.

Abstract translation: 在远程存在会话中使用的机器人系统。 例如，医疗人员可以使用该系统在会议中检查，诊断和开出治疗。 该系统包括具有相机并由远程站控制的机器人。 系统还包括存储关于会话的会话内容数据的存储设备。 数据可以包括机器人对会话的视频/音频录音。 会话内容数据还可以包括允许用户确定在会话期间发生的事件的时间的时间戳。 会话内容数据可以存储在可由多个用户访问的服务器上。 可以使用会话内容数据自动生成开票信息。

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：US20150081338A1

公开(公告)日：2015-03-19

申请号：US14550744

申请日：2014-11-21

Applicant: InTouch Technologies, Inc. ,  iRobot Corporation

Inventor： Fuji Lai ,  Timothy C. Wright ,  Yair Lurie ,  Yulun Wang

IPC: G06F19/00

CPC classification number: B25J9/1676 ,  G06F19/3418 ,  G06Q50/22 ,  G16H40/67 ,  Y10S901/01 ,  Y10S901/47 ,  Y10S901/49

Abstract: The present disclosure describes various clinical workflows and other methods that utilize a telemedicine device in a healthcare network. According to various embodiments, a healthcare practitioner may utilize a remote presence interfaces (RPIs) on a remote access device (RAD), such as a portable electronic device (PED) to interface with a telemedicine device. The healthcare practitioner may directly interface with a display interface of a telemedicine device or utilize the RPI on a RAD. The present disclosure provides various clinical workflows involving a telemedicine device to view patient data during a telepresence session, perform rounds to visit multiple patients, monitor a patient, allow for remote visitations by companions, and various other clinical workflow methods.

Abstract translation: 本公开描述了在医疗保健网络中利用远程医疗设备的各种临床工作流程和其他方法。 根据各种实施例，保健从业者可以使用诸如便携式电子设备（PED）的远程访问设备（RAD）上的远程存在接口（RPI）与远程医疗设备进行接口。 医疗保健从业者可以直接与远程医疗设备的显示接口相连，或者在RAD上使用RPI。 本公开提供涉及远程医疗设备在远程呈现会话期间查看患者数据的各种临床工作流程，执行轮次以访问多个患者，监视患者，允许伴​​侣的远程访问以及各种其他临床工作流程方法。

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。