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公开(公告)号：WO2011097132A2
公开(公告)日：2011-08-11
申请号：PCT/US2011022969
申请日：2011-01-28
Applicant: INTOUCH TECHNOLOGIES INC , WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SANCHEZ DANIEL S , HANRAHAN KEVIN P
Inventor： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SANCHEZ DANIEL S , HANRAHAN KEVIN P
Abstract: A robot system that includes a robot face with a monitor, a camera, a speaker and a microphone. The system may include a removable handle attached to the robot face. The robot face may be controlled through a remote controller. The handle can be remove and replaced with another handle. The remote controller can be covered with a sterile drape or sterilized after each use of the system. The handle and remote controller allow the robot to be utilized in a clean environment such as an operating room without requiring the robot face to be sterilized after a medical procedure. The robot face can be attached to a boom with active joints. The robot face may include a user interface that allows a user to individually move the active joints of the boom.
Abstract translation: 一个机器人系统，其中包括一个机器人脸与监视器，相机，扬声器和麦克风。 该系统可以包括附接到机器人面部的可移除手柄。 机器人脸部可以通过遥控器进行控制。 手柄可以拆下并换成另一个手柄。 每次使用该系统后，遥控器可以覆盖无菌盖布或灭菌。 手柄和遥控器允许机器人在手术室等干净的环境中使用，而不需要在医疗程序后对机器人面部进行消毒。 机器人的脸部可以连接到具有主动关节的悬臂上。 机器人面部可以包括用户界面，其允许用户单独地移动吊杆的主动关节。
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42.发明申请
公开(公告)号：WO2010033666A1
公开(公告)日：2010-03-25
申请号：PCT/US2009/057260
申请日：2009-09-17
Applicant: INTOUCH TECHNOLOGIES, INC.
Inventor： MANGASER, Amante , SOUTHARD, Jonathan , PINTER, Marco , HERZOG, John, Cody , JORDAN, Charles Steve , WANG, Yulun , ROSENTHAL, James
IPC: H04N11/02
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 system parameter and scales the robot control command as a function of the system 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.
Abstract translation: 通过网络控制机器人的远程控制站。 遥控站发送包含信息的机器人控制命令以移动机器人。 远程控制站监视至少一个系统参数，并根据系统参数对机器人控制命令进行缩放。 例如，远程控制站可以监视网络延迟并缩放机器人控制命令以随着网络延迟的增加来减慢机器人。 这种方法可以减少驾驶机器人的用户的过冲量或过度校正量。
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公开(公告)号：WO2009145958A3
公开(公告)日：2010-01-21
申请号：PCT/US2009036472
申请日：2009-03-09
Applicant: INTOUCH TECHNOLOGIES INC
Inventor： ROE DAVID BJORN , SANCHEZ DANIEL STEVEN , PINTER MARCO , WALTERS DEREK , JORDAN CHARLES S
IPC: B25J5/00
CPC classification number: B25J13/003 , B25J9/0003 , B25J19/023 , 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。
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公开(公告)号：WO2009128997A1
公开(公告)日：2009-10-22
申请号：PCT/US2009/036541
申请日：2009-03-09
Applicant: INTOUCH TECHNOLOGIES, INC.
Inventor： WRIGHT, Timothy C. , LAI, Fuji , PINTER, Marco , WANG, Yulun
IPC: B25J5/00
CPC classification number: B25J9/0003 , B25J9/1689 , B25J19/023 , G06F19/00 , G06F19/3418 , G06Q50/22 , G06Q50/24 , G16H40/63
Abstract: A robotic system that can be used to treat a patient. The robotic system includes a mobile robot that has a camera. The mobile robot is controlled by a remote station that has a monitor. A physician can use the remote station to move the mobile robot into view of a patient. An image of the patient is transmitted from the robot camera to the remote station monitor. A medical personnel at the robot site can enter patient information into the system through a user interface. The patient information can be stored in a server. The physician can access the information from the remote station. The remote station may provide graphical user interfaces that display the patient information and provide both a medical tool and a patient management plan.
Abstract translation: 可用于治疗病人的机器人系统。 机器人系统包括具有相机的移动机器人。 移动机器人由具有监视器的远程站控制。 医生可以使用远程站将移动机器人移动到病人的视野。 将患者的图像从机器人摄像机发送到远程站监视器。 机器人站点的医务人员可以通过用户界面将患者信息输入系统。 患者信息可以存储在服务器中。 医生可以从远程站访问信息。 远程站可以提供显示患者信息并提供医疗工具和患者管理计划的图形用户界面。
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公开(公告)号：WO2007041038A3
公开(公告)日：2007-04-12
申请号：PCT/US2006/037076
申请日：2006-09-22
Applicant: INTOUCH TECHNOLOGIES, INC.
Inventor： WANG, Yulun , JORDAN, Charles, S. , PINTER, Marco , SOUTHARD, Jonathan , HERZOG, John, Cody , LABY, Keith, Philip
IPC: A61B5/02
Abstract: A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
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Patent Agency Ranking
公开(公告)号：WO2007041038A2
公开(公告)日：2007-04-12
申请号：PCT/US2006037076
申请日：2006-09-22
Applicant: INTOUCH TECHNOLOGIES INC
Inventor： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SOUTHARD JONATHAN , HERZOG JOHN CODY , LABY KEITH PHILIP
IPC: G06F19/00
CPC classification number: B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , B25J5/00 , B25J13/006 , B25J13/06 , B25J19/021 , G06F19/3418 , G16H50/50 , H04N7/185
Abstract: A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
Abstract translation: 一种遥控机器人系统，包括移动机器人和遥控站。 用户可以控制机器人从遥控站的移动。 移动机器人包括可以捕获并向远程站传送缩放图像和非缩放图像的照相机系统。 遥控站包括显示机器人视野的监视器。 机器人视图字段可以显示非缩放图像。 缩放图像可以通过突出显示非缩放字段的区域来显示在机器人视图字段中。 遥控站还可以存储允许用户将相机系统移动到预设位置的照相机位置。
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公开(公告)号：US11468983B2
公开(公告)日：2022-10-11
申请号：US16817497
申请日：2020-03-12
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
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.
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48.发明授权公开(公告)号：US11205510B2
公开(公告)日：2021-12-21
申请号：US15012636
申请日：2016-02-01
Applicant: INTOUCH TECHNOLOGIES, INC.
Inventor： Scott Ross , Kelton Temby , Jonathan Southard , Dan Habecker , Michael Chan , Timothy C. Wright , Charles S. Jordan , Joshua A. Bouganim
Abstract: Disclosed herein are various embodiments of systems and methods for visualizing, analyzing, and managing telepresence devices operating in a telepresence network of healthcare facilities. The visualization and management system for telepresence devices may display a first viewing level that includes a geographical representation of the location of various telepresence devices. A user may selectively view a global view of all telepresence devices, telepresence devices within a particular region, and/or the details of a particular telepresence device. A user may also access a viewing level of a network of healthcare facilities. The user may view, analyze, and/or manage the healthcare network, telepresence device network, individual telepresence devices, connection rules, and/or other aspects of the healthcare network using the geographical visualization and management tool described herein.
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49.发明授权公开(公告)号：US10892052B2
公开(公告)日：2021-01-12
申请号：US15931451
申请日：2020-05-13
Applicant: InTouch Technologies, Inc. , iRobot Corporation
Inventor： Charles S. Jordan , Andy Young , Mei Sheng Ng , Yair Lurie , Fuji Lai , Timothy C. Wright , Cody Herzog , Blair Whitney , Bill Rizzi , James Ballantyne , Yulun Wang , Cheuk Wah Wong , Justin H. Kearns , Orjeta Taka , Ramchandra Karandikar
IPC: H04N7/14 , G16H40/63 , G06Q10/10 , G06F3/0484 , G16Z99/00 , G06F19/00 , G06F3/0488 , G16H40/67 , G06Q50/22
Abstract: The present disclosure describes various aspects of remote presence interfaces (RPIs) for use on portable electronic devices (PEDs) to interface with remote presence 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.
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公开(公告)号：US10780582B2
公开(公告)日：2020-09-22
申请号：US16418605
申请日：2019-05-21
Applicant: InTouch Technologies, Inc.
Inventor： Marco Pinter , Fuji Lai , Daniel Steven Sanchez , James Ballantyne , David Bjorn Roe , Yulun Wang , Charles S. Jordan , Orjeta Taka , Cheuk Wah Wong
Abstract: Devices, systems, and methods for social behavior of a telepresence robot are disclosed herein. A telepresence robot may include a drive system, a control system, an object detection system, and a social behaviors component. The drive system is configured to move the telepresence robot. The control system is configured to control the drive system to drive the telepresence robot around a work area. The object detection system is configured to detect a human in proximity to the telepresence robot. The social behaviors component is configured to provide instructions to the control system to cause the telepresence robot to operate according to a first set of rules when a presence of one or more humans is not detected and operate according to a second set of rules when the presence of one or more humans is detected.
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