Mobile robot with a head-based movement mapping scheme

• US 10,241,507 B2
• Filed: 09/18/2017
• Issued: 03/26/2019
• Est. Priority Date: 07/13/2004
• Status: Active Grant

• Current Assignee: Teladoc Health, Inc.
• Original Assignee: Touch Technologies Incorporated
• Inventors: Wang, Yulun, Jordan, Charles S., Laby, Keith P., Southard, Jonathan, Pinter, Marco, Miller, Brian
• Primary Examiner(s): Strege, John B
• Application Number:
  US15/707,952
• Publication Number:
  US 20180017966A1
• Time in Patent Office: 554 Days
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: B25J 11/009 Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G06F 3/033 Pointing devices displaced or positioned by the user , e.g. mice, trackballs, pens or joysticks; Accessories therefor digitisers characterised by the transducing means G06F3/041
• CPC Class Codes: Y10S 901/01 Mobile robot

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.

Claims

1. A mobile robot system that is controlled through an input device, comprising:

a robot that has a camera and a mobile platform with a drive vector that is mapped to one of a plurality of different coordinate systems; and

,

a remote station coupled to the robot via a network, the remote station including an input device that causes movement of said camera and said mobile platform within the one of said plurality of different coordinate systems.

2. The system of claim 1, wherein said input device is a joystick.

3. The system of claim 1, wherein said input device includes a mode button that allows the system to be switched between a mode wherein said mobile platform moves within a camera reference coordinate system or a mode wherein said mobile platform moves within a platform reference coordinate system.

4. The system of claim 1, wherein said mobile platform rotates to align an axis of a platform reference coordinate system fixed to said mobile platform with an axis of a camera reference coordinate reference coordinate system.

5. The system of claim 1, wherein movement of said mobile platform is accompanied by a movement of said camera.

6. The system of claim 2, wherein twisting said joystick causes rotation of said camera and pivoting said joystick causes said mobile platform to move.

7. The system of claim 1, further comprising a wireless base station coupled to said robot and said input device.

8. The system of claim 1, wherein said robot includes a monitor.

9. A method for controlling a robot that has a camera, comprising:

receiving a user input at a remote station via a user input device;

mapping a drive vector of a mobile platform of the robot to one a plurality of different coordinate systems in which the robot can move;

moving the robot within one of the plurality of different coordinate systems based on the user input.

10. The method of claim 9, wherein the robot is in a mode where the robot moves within a platform reference coordinate system.

11. The method of claim 9, wherein the robot has a mobile platform with a platform reference coordinate system, and the mobile platform is rotated so that an axis of a platform reference coordinate system is aligned with an axis of a camera reference coordinate system.

12. The method of claim 9, wherein the robot receives commands from a wireless base station.

13. The method of claim 12, wherein the command is transmitted through a broadband network.

14. The method of claim 9, wherein the camera and robot are moved through manipulation of a joystick.