Telepresence robot with a camera boom

• US 10,073,950 B2
• Filed: 01/12/2015
• Issued: 09/11/2018
• Est. Priority Date: 10/21/2008
• Status: Active Grant

• Current Assignee: Teladoc Health, Inc.
• Original Assignee: Touch Technologies Incorporated
• Inventors: Wang, Yulun, Jordan, Charles S., Hanrahan, Kevin, Sanchez, Daniel, Pinter, Marco
• Primary Examiner(s): Patton, Spencer D
• Application Number:
  US14/594,729
• Publication Number:
  US 20150127156A1
• Time in Patent Office: 1,338 Days
• CPC Class Codes: A61B 5/0013 Medical image data A61B1/00011, A61B6/56, A61B8/56 take precedence
• CPC Class Codes: A61B 5/7445 Display arrangements, e.g. multiple display units
• CPC Class Codes: A61B 5/7465 Arrangements for interactive communication between patient and care services, e.g. by using a telephone network telemetry of measured physiological signal A61B5/0002
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H04N 7/15 Conference systems

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.

Claims

1. A remote controlled robot system, comprising:

a remote control station that includes a station camera, a station monitor, a station microphone, and a station speaker; and

,

a mobile robot located in a facility and capable of participating in a communication session with the remote control station, the mobile robot includes;

a mobile platform capable of maneuvering about a floor of the facility in response to movement commands received from the remote control station via a broadband network;

a robot monitor;

a first robot camera that faces substantially in the direction of the robot monitor;

a second robot camera that faces substantially in the direction of the floor;

a robot microphone; and

,

a robot speaker,

wherein, during said communication session, the station monitor displays a display user interface that includes an image captured by the first robot camera in an upper portion of the display user interface and an image captured by the second robot camera in a lower portion of the display user interface, wherein a display area of the image from the first robot camera is larger than a display area of the image from the second robot camera, the robot monitor displays an image captured by the station camera, the station speaker reproduces a sound captured by the robot microphone, the robot speaker reproduces a sound captured by the station microphone, and the remote control station generates the movement commands in response to operation of an input device of the remote control station.

2. The system of claim 1, wherein the second robot camera is coupled to the mobile platform via a boom.

3. The system of claim 2, wherein said boom has at least one passive joint.

4. The system of claim 2, further comprising a head that includes the first robot camera and the robot monitor, and wherein said boom is connected to said head.

5. The system of claim 4, wherein said head moves in at least two degrees of freedom relative to the mobile platform.

6. The system of claim 1, wherein the display user interface simultaneously displays the images from the first and second robot cameras.

7. The system of claim 6, wherein the display user interface includes a graphical element that can be selected to change a display of the image captured by the second robot camera.

8. The system of claim 1, wherein the display user interface includes a robot view field, a station view field and an auxiliary camera view field.

9. The system of claim 8, wherein an image from said first robot camera is displayed in the robot view field.

10. The robot of claim 9, wherein an image from the second robot camera is displayed in the auxiliary view field.

11. The robot of claim 10, wherein the image captured by the station camera is displayed in the station view field.

12. A method for controlling a mobile robot in a facility using a remote control station, the method comprising:

establishing a communication session with the mobile robot via a broadband network, the robot having a mobile platform that can move about a floor of the facility;

transmitting movement commands from the remote control station to the mobile robot via a broadband network, the mobile robot including a robot monitor, a first robot camera that faces substantially in the direction of the robot monitor, a second robot camera that faces substantially in the direction of the floor, a robot microphone, and a robot speaker;

displaying, on a monitor of the remote station, a display user interface that includes an image captured by the first robot camera in an upper portion of the display user interface and an image captured by the second robot camera in a lower portion of the display user interface, wherein a display area of the image from the first robot camera is larger than a display area of the image from the second robot camera; and

,

transmitting an image captured by a camera of the remote station to the mobile robot for display on the robot monitor.

13. The method of claim 12, further comprising simultaneously displaying the images from the first and second robot cameras in the display user interface.

14. The method of claim 12, further comprising displaying the image from the station camera in the display user interface.