Providing personalized patient care based on electronic health record associated with a user

• US 9,694,496 B2
• Filed: 02/26/2015
• Issued: 07/04/2017
• Est. Priority Date: 02/26/2015
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Martinson, Eric, Sisbot, Emrah Akin, Oguchi, Kentaro, Yalla, Veeraganesh, Nakano, Yusuke
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US14/632,165
• Publication Number:
  US 20160250751A1
• Time in Patent Office: 859 Days
• CPC Class Codes: B25J 11/009 Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G16H 10/60 for patient-specific data, e.g. for electronic patient records
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/03 Teaching system
• CPC Class Codes: Y10S 901/47 Optical

Abstract

The disclosure includes methods for determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user based on an EHR associated with the user; generating, with a processor-based device that is programmed to perform the generating, instructions for a robot to perform a task based on the obstacles within the environment and one or more physical capabilities of the user; and instructing the robot to perform the task.

Claims

1. A method comprising:

determining a current location for a user in an environment;

detecting obstacles within the environment;

estimating one or more physical capabilities of the user based on an electronic health record (EHR) associated with the user, wherein the EHR includes a description of a current medical condition of the user and a historical medical condition of the user and estimating the one or more physical capabilities of the user includes a processor executing a simulation which estimates the one or more physical capabilities of the user based on the current medical condition of the user and the historical medical condition of the user, wherein the simulation indicates a goal for the user which is estimated to improve an experience of the user by increasing one of comfort and ease for the user;

generating instructions for a robot to perform a hand-over motion for moving an object from an original location to a position and a rotation within the environment, wherein the instructions are generated based on the obstacles within the environment, the one or more physical capabilities of the user and the goal indicated by the simulation, wherein the goal includes one or more of the position and the rotation of the hand-over motion which are each estimated by the simulation to improve the experience of the user by increasing one of comfort and ease for the user for the hand-over motion;

instructing the robot to perform the hand-over motion, wherein instructing the robot includes determining, by the processor, whether a closest hand that is closest to the robot is injured based on at least one of a range of motion for the closest hand and a reachability for the closest hand; and

, responsive to the closest hand being injured, computing by the processor, the hand-over motion for moving the object from the original location to a furthest hand that is furthest from the robot;

tracking a status of the user;

responsive to a change to the status of the user, generating modified instructions for the robot to perform the hand-over motion; and

updating the EHR to include the change to the status of the user.

2. A method comprising:

determining a current location for a user in an environment;

detecting obstacles within the environment;

estimating, by a processor, one or more physical capabilities of the user based on an electronic health record (EHR) associated with the user, wherein estimating the one or more physical capabilities of the user includes the processor executing a simulation to determine the one or more physical capabilities of the user based on the EHR and the simulation indicates a goal for the user which improves an experience of the user;

generating, by the processor, instructions for a robot to perform a task based on the obstacles within the environment, the one or more physical capabilities of the user and the goal indicated by the simulation, wherein the goal includes an outcome of the task which is estimated by the simulation to improve the experience of the user by increasing one of comfort and ease of the user for the task;

instructing the robot to perform the task, wherein the task includes a hand-over motion and instructing the robot includes determining, by the processor, whether a closest hand that is closest to the robot is injured based on at least one of a range of motion for the closest hand and a reachability for the closest hand; and

, responsive to the closest hand being injured, computing by the processor, the hand-over motion for moving an object from an original location to a furthest hand that is furthest from the robot;

tracking a status of the user while performing the task; and

responsive to a change to the status of the user, generating modified instructions for the robot to perform the task.

3. The method of claim 2, wherein the hand-over motion includes moving the object from the original location to a position and a rotation within the environment and the simulation indicates the position and the rotation which are each described by the goal.

4. The method of claim 2, wherein estimating the one or more physical capabilities of the user is further based on at least one of a current medical condition of the user and a historical medical condition of the user.

5. The method of claim 4, wherein:

the hand-over motion includes moving the object from the original location to a position and a rotation within the environment and the simulation indicates the position and the rotation which are each described by the goal; and

the historical medical condition includes at least one of a range of motion for the user, reachability for the user, muscle tension for the user, comfort associated with the user, a preference associated with the user, a time for the user to pick up the object from the robot, a time for the user to make contact with the robot after the hand-over motion, and a time of completion of the task.

6. The method of claim 2, wherein estimating the one or more physical capabilities of the user is further based on user preferences associated with the user.

7. The method of claim 2, wherein the task includes carrying the object for the user.

8. The method of claim 2, wherein the task includes estimating a path for the user to travel, wherein estimating the path for the robot to travel is based on at least one of a speed of the user, a relative position to the user, a difficulty of the path, and an amount of information the robot provides to the user for guidance, and further comprising:

instructing the robot to guide the user by traveling along the path.

9. The method of claim 8, further comprising determining a condition of the user based on the EHR and wherein estimating the path includes estimating a distance between the robot and the user based on the condition of the user.

10. The method of claim 2, wherein estimating the one or more physical capabilities of the user based on the EHR further comprises the processor:

building an EHR query;

querying a database for the EHR;

receiving the EHR; and

generating the simulation based on the EHR.

11. The method of claim 10, wherein generating the simulation includes the processor generating classifiers and training sets that are used to identify a condition associated with the user.

12. The method of claim 11, further comprising the processor:

updating the EHR to include a change to the status of the user.

13. The method of claim 2, wherein each step of the method is executed by the robot.

14. A non-transitory computer-readable medium having computer instructions stored thereon that are executable by a processor of a robot to perform or control performance of steps comprising:

determining a current location for a user in an environment;

detecting obstacles within the environment;

estimating one or more physical capabilities of the user based on an electronic health record (EHR) associated with the user, wherein estimating the one or more physical capabilities of the user includes the processor of the robot executing a simulation to determine the one or more physical capabilities of the user based on the EHR, wherein the simulation indicates a goal for the user which improves an experience of the user;

generating instructions for the robot to perform a task based on the obstacles within the environment, the one or more physical capabilities of the user and the goal, wherein the goal includes an outcome of the task which is estimated by the simulation to improve the experience of the user by increasing one of comfort and ease for the user for the task;

instructing the robot to perform the task, wherein the task includes a hand-over motion and instructing the robot includes determining, by the processor, whether a closest hand that is closest to the robot is injured based on at least one of a range of motion for the closest hand and a reachability for the closest hand; and

, responsive to the closest hand being injured, computing by the processor, the hand-over motion for moving an object from an original location to a furthest hand that is furthest from the robot;

tracking a status of the user while performing the task; and

responsive to a change to the status of the user, generating modified instructions for the robot to perform the task.

15. The non-transitory computer-readable medium of claim 14, wherein:

the hand-over motion includes moving the object from the original location to a position and a rotation within the environment, wherein the position and the rotation are described by the goal which is indicated by the simulation; and

estimating the one or more physical capabilities of the user is further based on at least one of a current medical condition of the user and a historical medical condition of the user, the historical medical condition including at least one of a range of motion for the user, reachability for the user, muscle tension for the user, comfort associated with the user, a time for the robot to pick up the object with a hand, a time for the hand-over motion, and a time of completion of the task.

16. The non-transitory computer-readable medium of claim 15, wherein the task includes carrying the object for the user.

17. The non-transitory computer-readable medium of claim 15, wherein the task includes estimating a path for the user to travel, wherein estimating the path for the robot to travel is based on at least one of a speed of the user, a relative position to the user, a difficulty of the path, and an amount of information the robot provides to the user for guidance, and the steps further comprising:

instructing the robot to guide the user by traveling along the path.

18. The non-transitory computer-readable medium of claim 17, the steps further comprising determining a condition of the user based on the EHR and wherein estimating the path includes estimating a distance between the robot and the user based on the condition of the user.

19. The non-transitory computer-readable medium of claim 15, wherein estimating the one or more physical capabilities of the user based on the EHR further comprises:

building an EHR query;

querying a database for the EHR;

receiving the EHR; and

generating the simulation based on the EHR.

20. A computer program product stored on a non-transitory memory of a robot that, when executed by a processor, causes the processor to execute steps including:

determining a current location for a user in an environment;

detecting obstacles within the environment;

estimating one or more physical capabilities of the user based on an electronic health record (EHR) associated with the user, wherein the EHR includes a description of a current medical condition of the user and a historical medical condition of the user and estimating the one or more physical capabilities of the user includes the processor executing a simulation which estimates the one or more physical capabilities of the user based on the current medical condition of the user and the historical medical condition of the user, wherein the simulation indicates a goal for the user which is estimated to improve an experience of the user by increasing one of comfort and ease for the user;

generating instructions for the robot to perform a hand-over motion for moving an object from an original location to a position and a rotation within the environment, wherein the instructions are generated based on the obstacles within the environment, the one or more physical capabilities of the user and the goal indicated by the simulation, wherein the goal includes one or more of the position and the rotation of the hand-over motion which are each estimated by the simulation to improve the experience of the user by increasing one of comfort and ease for the user for the hand-over motion;

instructing the robot to perform the hand-over motion, wherein instructing the robot includes determining, by the processor, whether a closest hand that is closest to the robot is injured based on at least one of a range of motion for the closest hand and a reachability for the closest hand; and

, responsive to the closest hand being injured, computing by the processor, the hand-over motion for moving the object from the original location to a furthest hand that is furthest from the robot;

tracking a status of the user; and

responsive to a change to the status of the user, generating modified instructions for the robot to perform the hand-over motion.

21. The computer program product of claim 20, wherein the hand-over motion is performed based on a preference of the user.

22. The computer program product of claim 20, wherein estimating the one or more physical capabilities of the user is further based on user preferences associated with the user.

23. The computer program product of claim 20, wherein the hand-over motion is performed if the object weighs more than a threshold amount of weight.

24. The computer program product of claim 20, wherein the hand-over motion is not performed if the object does not weigh more than a threshold amount of weight.