公开(公告)号：IN7383DEN2009A

公开(公告)日：2015-07-24

申请号：IN7383DEN2009

申请日：2009-11-13

Applicant: INTOUCH TECHNOLOGIES INC

Inventor： PINTER MARCO

IPC: G06F19/00

Abstract: A remote controlled robot system that includes a robot and a remote control station that communicate through a communication network. Communication with the robot is limited by a firewall coupled to the communication network. A communication server establishes communication between the robot and the remote control station so that the station can send commands to the robot through the firewall.

公开(公告)号：WO2009117274A3

公开(公告)日：2010-05-14

申请号：PCT/US2009036573

申请日：2009-03-09

Applicant: INTOUCH TECHNOLOGIES INC

Inventor： WANG YULUN ,  JORDAN CHARLES S ,  PINTER MARCO ,  SANCHEZ DANIEL STEVEN ,  HANRAHAN KEVIN P

IPC: G06F15/16

CPC classification number: B25J9/1689 ,  B25J19/023 ,  G06F19/3418 ,  G06F19/3481 ,  G16H80/00

Abstract: A robot system that includes a remote station and a robot face. The robot face includes a camera that is coupled to a monitor of the remote station and a monitor that is coupled to a camera of the remote station. The robot face and remote station also have speakers and microphones that are coupled together. The robot face may be coupled to a boom. The boom can extend from the ceiling of a medical facility. Alternatively, the robot face may be attached to a medical table with an attachment mechanism. The robot face and remote station allows medical personnel to provide medical consultation through the system.

Abstract translation: 机器人系统，包括远程站和机器人面。 机器人面部包括耦合到远程站的监视器的摄像机和耦合到远程站的摄像机的监视器。 机器人面部和远程站也具有耦合在一起的扬声器和麦克风。 机器人面可以联接到起重臂。 繁荣可以从医疗设施的天花板延伸。 或者，机器人面部可以附接到具有附接机构的医疗台。 机器人面部和远程站允许医务人员通过系统提供医疗咨询。

公开(公告)号：WO2011149902A3

公开(公告)日：2012-02-23

申请号：PCT/US2011037689

申请日：2011-05-24

Applicant: INTOUCH TECHNOLOGIES INC ,  PINTER MARCO ,  SANCHEZ DANIEL STEVEN ,  MEDUS LEON MIGUEL

Inventor： PINTER MARCO ,  SANCHEZ DANIEL STEVEN ,  MEDUS LEON MIGUEL

IPC: B25J5/00 ,  B25J13/08 ,  G06F9/00

CPC classification number: B25J9/1689 ,  B25J11/009 ,  G05B2219/40174 ,  G06F19/3418 ,  H04M1/72533 ,  H04M2250/12 ,  H04M2250/22

Abstract: A robot system with a robot that has a camera, a monitor, a microphone and a speaker. A communication link can be established with the robot through a cellular phone. The link may include an audio only communication. Alternatively, the link may include audio and video communication between the cellular phone and the robot. The phone can transmit its resolution to the robot and cause the robot to transmit captured images at the phone resolution. The user can cause the robot to move through input on the cellular phone. For example, the phone may include an accelerometer that senses movement, and movement commands are then sent to the robot to cause a corresponding robot movement. The phone may have a touch screen that can be manipulated by the user to cause robot movement and/or camera zoom.

Abstract translation: 具有机器人的机器人系统，其具有相机，监视器，麦克风和扬声器。 可以通过蜂窝电话与机器人建立通信链路。 链路可以包括仅音频通信。 或者，链路可以包括蜂窝电话和机器人之间的音频和视频通信。 手机可以将其分辨率传输给机器人，并使机器人以手机分辨率传输捕获的图像。 用户可以使机器人移动通过手机上的输入。 例如，电话可以包括感测运动的加速度计，然后运动命令被发送到机器人以引起相应的机器人移动。 手机可能具有触摸屏，可以由用户操纵以引起机器人移动和/或相机变焦。

公开(公告)号：WO2006078611A3

公开(公告)日：2007-11-22

申请号：PCT/US2006001517

申请日：2006-01-17

Applicant: INTOUCH TECHNOLOGIES INC

Inventor： WANG YULUN ,  JORDAN CHARLES S ,  PINTER MARCO ,  SOUTHARD JONATHAN

IPC: G06F19/00

CPC classification number: B25J9/1689 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  G05B2219/40061 ,  G05B2219/40136 ,  G05B2219/40169 ,  G05B2219/40172 ,  G05B2219/40173 ,  G05B2219/40174 ,  G05B2219/45119

Abstract: A remote controlled robot (12) system (10) that includes a robot (12) and a remote control station (16). A user can control movement the robot (12) from the remote control station (16). The remote control station (16) may generate robot (12) control commands that are transmitted through a broadband network. The robot (12) has a camera (26) that generates video images that are transmitted to the remote control station (16) through the network. The user can control movement of the robot (12) while viewing the video images provided by the robot (12) camera (26). The robot (12) can automatically stop movement if it does not receive a robot (12) control command within a time interval. The remote control station (16) may transmit a stop command to the robot (12) if the station does not receive an updated video image within a time interval.

Abstract translation: 一种包括机器人（12）和远程控制站（16）的遥控机器人（12）系统（10）。 用户可以控制机器人（12）从远程控制站（16）的移动。 远程控制站（16）可以生成通过宽带网络发送的机器人（12）控制命令。 机器人（12）具有摄像机（26），其生成通过网络发送到远程控制站（16）的视频图像。 用户可以在观看由机器人（12）相机（26）提供的视频图像的同时控制机器人（12）的移动。 如果机器人（12）在一段时间间隔内没有收到机器人（12）控制命令，则自动停止运动。 如果站在时间间隔内没有接收到更新的视频图像，则遥控站（16）可以向机器人（12）发送停止命令。

公开(公告)号：WO2008100272A3

公开(公告)日：2008-10-23

申请号：PCT/US2007014099

申请日：2007-06-13

Applicant: INTOUCH TECHNOLOGIES INC

Inventor： WANG YULUN ,  JORDAN CHARLES S ,  PINTER MARCO

IPC: H04N5/232

CPC classification number: H04N7/185 ,  G06F19/3418

Abstract: A remote controlled robot system that includes a mobile robot and a remote control station. The mobile robot includes a camera that captures an image. The remote control station may include a monitor that displays the image captured by the robot camera. A projector is coupled to the remote control station to project the image. The system allows for the projection of the image captured by the robot to a relatively large viewing audience. The audience can thus view images provided by a moving robot.

Abstract translation: 一种遥控机器人系统，包括移动机器人和遥控站。 移动机器人包括拍摄图像的相机。 遥控站可以包括显示由机器人摄像机拍摄的图像的监视器。 投影仪耦合到远程控制站以投影图像。 该系统允许将由机器人捕获的图像投影到相对较大的观看者。 因此观众可以观看移动机器人提供的图像。

公开(公告)号：WO2012103525A3

公开(公告)日：2013-01-24

申请号：PCT/US2012023036

申请日：2012-01-27

Applicant: INTOUCH TECHNOLOGIES INC ,  IROBOT CORP ,  WANG YULUN ,  JORDAN CHARLES S ,  WRIGHT TIM ,  CHAN MICHAEL ,  PINTER MARCO ,  HANRAHAN KEVIN ,  SANCHEZ DANIEL ,  BALLANTYNE JAMES ,  HERZOG CODY ,  WHITNEY BLAIR ,  LAI FUJI ,  TEMBY KELTON ,  NEUSHUL ANDREW ,  RAUHUT EBEN CHRISTOPHER ,  KEARNS JUSTIN H ,  WONG CHEUK WAH ,  FARLOW TIMOTHY STURTEVANT

Inventor： WANG YULUN ,  JORDAN CHARLES S ,  WRIGHT TIM ,  CHAN MICHAEL ,  PINTER MARCO ,  HANRAHAN KEVIN ,  SANCHEZ DANIEL ,  BALLANTYNE JAMES ,  HERZOG CODY ,  WHITNEY BLAIR ,  LAI FUJI ,  TEMBY KELTON ,  NEUSHUL ANDREW ,  RAUHUT EBEN CHRISTOPHER ,  KEARNS JUSTIN H ,  WONG CHEUK WAH ,  FARLOW TIMOTHY STURTEVANT

IPC: B25J5/00 ,  B25J13/08 ,  G05D1/02 ,  G06F9/44

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.

Abstract translation: 远程呈现机器人可以包括驱动系统，控制系统，成像系统和映射模块。 映射模块可以访问与该区域相关联的区域和标签的平面图。 在各种实施例中，每个标签可以包括标签坐标和标签信息，其可以包括标签注释。 标签识别系统可以识别当前位置的预定范围内的标签，并且控制系统可以基于识别的标签执行动作，其标签信息包括远程呈现机器人动作修改器。 远程呈现机器人可以独立于下部旋转上部部分。 远程终端可以允许操作者使用任何控制方法的组合来控制远程呈现机器人，包括通过在平面图上选择目的地，或者通过使用操纵杆或其它外围设备来选择实况视频馈送中的目的地。

公开(公告)号：WO2011097130A2

公开(公告)日：2011-08-11

申请号：PCT/US2011022953

申请日：2011-01-28

Applicant: INTOUCH TECHNOLOGIES INC ,  WANG YULUN ,  JORDAN CHARLES S ,  PINTER MARCO ,  HANRAHAN KEVIN P ,  WHITNEY BLAIR ,  SANCHEZ DANIEL S ,  ROE DAVID B

Inventor： WANG YULUN ,  JORDAN CHARLES S ,  PINTER MARCO ,  HANRAHAN KEVIN P ,  WHITNEY BLAIR ,  SANCHEZ DANIEL S ,  ROE DAVID B

IPC: B25J13/00 ,  A61B5/00 ,  G06Q50/00

CPC classification number: B25J9/0003 ,  B25J9/1689 ,  G06F19/3418 ,  G06Q10/06 ,  G06Q50/22 ,  G16H40/20

Abstract: A robot system that includes a remote control station and a robot that has a camera, a monitor and a microphone. The robot includes a user interface that allows a user to link the remote control station to access the robot. By way of example, the user interface may include a list of remote control stations that can be selected by a user at the robot site to link the robot to the selected control station. The user interface can display a connectivity prompt that allows a user at the robot site to grant access to the robot. The connectivity prompt is generated in response to a request for access by a remote control station. The robot may include a laser pointer and a button that allows a user at the robot site to turn the laser pointer on and off.

Abstract translation: 一种机器人系统，其包括远程控制站和具有照相机，监视器和麦克风的机器人。 机器人包括允许用户链接远程控制站以访问机器人的用户界面。 作为示例，用户界面可以包括可以由机器人站点上的用户选择以将机器人链接到所选择的控制站的远程控制站的列表。 用户界面可以显示连接提示，允许机器人站点上的用户授予对机器人的访问权限。 响应于远程控制站的访问请求而生成连接提示。 机器人可以包括激光指示器和允许机器人位置处的用户打开和关闭激光指示器的按钮。

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

IPC: A61B19/00 ,  A61B1/04 ,  A61B1/045 ,  A61B1/05 ,  B25J13/06

CPC classification number: A61B34/30 ,  A61B34/35

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。

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。

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。