Apparatus and method for patient rounding with a remote controlled robot

• US RE45,870 E1
• Filed: 07/06/2012
• Issued: 01/26/2016
• Est. Priority Date: 07/25/2002
• Status: Expired due to Term

• Current Assignee: Teladoc Health, Inc.
• Original Assignee: Touch Technologies Incorporated
• Inventors: Wang, Yulun, Kavoussi, Louis
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): TESTARDI, DAVID A
• Application Number:
  US13/543,225
• Time in Patent Office: 1,299 Days
• Field of Search: 700/245, 700/246, 700/250, 700/254, 700/260, 700/261, 700/262, 318/568.12, 901/1, 901/2, 702/188
• US Class Current: 1/1
• CPC Class Codes: B25J 11/0005 Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• 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: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 2201/0206 Vehicle in a health care environment, e.g. for distribution of food or medicins in a hospital or for helping handicapped persons
• CPC Class Codes: G05D 2201/0211 Vehicle in an office environment, e.g. for delivering mail or for videoconferencing
• CPC Class Codes: G06F 19/3418 Telemedicine, e.g. remote diagnosis, remote control of instruments or remote monitoring of patient carried devices
• CPC Class Codes: G06F 19/3456 Computer-assisted prescription or delivery of medication, e.g. prescription filling or compliance checking
• CPC Class Codes: G16H 10/60 for patient-specific data, e.g. for electronic patient records
• CPC Class Codes: H04N 7/142 Constructional details of the terminal equipment, e.g. arrangements of the camera and the display
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A method for remotely monitoring a patient. The method includes generating and transmitting input commands to the robot from a remote station. The remote station may include a personal computer that is operated by a doctor. The input commands can move the robot so that a video image and sounds of the patient can be captured by a robot camera and microphone, respectively, and transmitted back to the remote station. The robot may also have a monitor and a speaker to allow for two-way videoconferencing between the patient and a doctor at the remote station. The robot can move from room to room so that a doctor can make “patient rounds” within a medical facility. The system thus allows a doctor visit patients from a remote location, thereby improving the frequency of visits and the quality of medical care.

REEXAMINATION RESULTS

The questions raised in reexamination proceeding No. 90/012,069, filed Dec. 22, 2011, have been considered, and the results thereof are reflected in this reissue patent which constitutes the reexamination certificate required by 35 U.S.C. 307 as provided in 37 CFR 1.570(e) for ex parte reexaminations, or the reexamination certificate required by 35 U.S.C. 316 as provided in 37 CFR 1.997(e) for inter partes reexaminations.

Claims

1. A method for viewing enabling at least one of a first remote user and a second remote user to view a patient using a robot having a camera and a microphone, the first remote user having an ability to control the robot using a first remote station and the second remote user having an ability to control the robot using a second remote station, the method comprising:

electing either an exclusive mode of operation or a shared mode of operation, whereby, in the exclusive mode of operation, only of the first remote station and the second remote station has control of the robot and, in the shared mode of operation, both of the first remote station and the second remote station have control of the robot;

generating a first robot movement input command at a using the first remote station or the second remote station;

transmitting the first robot movement input command;

receiving the first robot movement input command at a the robot that has a the camera and a the microphone;

moving the camera to view a the patient; and

,

transmitting an image of the patient and a sound of the patient from the robot to the first remote station or the second remote station.

2. The method of claim 1, further comprising generating a second robot movement command, transmitting the second robot command and moving the robot across a floor of a medical facility.

3. The method of claim 1, wherein the robot movement input command is generated by a doctor.

4. The method of claim 1, further comprising transmitting a video image and a sound of a doctor at the first remote station or the second remote station to the robot, the video image being displayed by a monitor of the robot, the sound being generated by a speaker of the robot.

5. The method of claim 1, wherein the robot movement input command causes the robot camera to zoom relative to the patient.

6. The method of claim 1, further comprising transmitting a video image of a medical chart from the robot to the first remote station or the second remote station.

7. The method of claim 1, further comprising generating and transmitting a question from the first remote station or the second remote station to the robot.

8. The method of claim 7, wherein the question is generated by a speaker of the robot.

9. The method of claim 7, wherein the question is displayed by a monitor of the robot.

10. The method of claim 1, wherein the robot movement input command is transmitted through a broadband network.

11. The method of claim 1, wherein the robot movement input command is generated by a caregiver.

12. The method of claim 1, further comprising detecting when the robot has contacted an object, determining a direction of contact with the object and preventing further movement toward the object.

13. The method of claim 1, wherein the robot further comprises a monitor, the monitor and the camera of the robot being mounted to rotate together such that the camera and the monitor cannot be rotated independently of each other, the method further comprising at least one of pivoting and tilting the monitor and the camera together as a single unit.

14. The method of claim 4, further comprising compressing, transmitting and receiving the video image and the sound of the first remote user or the second remote user using an MPEG standard.

15. The method of claim 1, wherein transmitting the image of the patient and the sound of the patient from the robot to the first remote station or the second remote station comprises transmitting and receiving a video with MPEG compression software.

16. The method of claim 1 further comprising

displaying the image of the patient on a display connected to the first remote station;

transmitting an image of the first user and a sound of the first user from the first remote station to the robot; and

displaying the image of the first user on the display connected to the robot.

17. The method of claim 16, further comprising accessing information stored in a mass storage device of the robot.

18. The method of claim 17, wherein accessing information stored in the mass storage device of the robot comprises accessing medical files associated with the patient.

19. The method of claim 17, wherein accessing information stored in the mass storage device of the robot comprises recalling a still picture stored on the robot.

20. The method of claim 17, further comprising displaying on the display connected to the first remote station the information stored in the mass storage device of the robot.

21. The method of claim 16, further comprising transmitting a command to the robot that causes the robot to move so that the robot is coupled to a battery charger.

22. The method of claim 21, wherein the robot couples to the battery charger without human intervention.

23. The method of claim 16, further comprising coupling the robot to an electrical wall outlet to recharge the battery.

24. The method of claim 16, further comprising moving the robot across a surface through a series of movement input commands that are transmitted from one of the first remote station and the second remote station to the robot.

25. The method of claim 24, further comprising creating message packets having multiple data fields, which message packages contain the movement input commands.

26. The method of claim 25, further comprising encrypting the message packets that are transmitted to the robot.

27. The method of claim 25, wherein one of the multiple data fields is an ID field.

28. The method of claim 25, wherein one of the multiple data fields is a forward speed field.

29. The method of claim 25, wherein one of the multiple data fields is an angular speed field.

30. The method of claim 25, wherein one of the multiple data fields is a stop field.

31. The method of claim 25, wherein one of the multiple data fields is a bumper field.

32. The method of claim 25, wherein one of the multiple data fields is a sensor range field.

33. The method of claim 25, wherein one of the multiple data fields is a configuration field.

34. The method of claim 25, wherein one of the multiple data fields is a text field.

35. The method of claim 25, wherein one of the multiple data fields is a debug field.

36. The method of claim 24, further comprising exclusively controlling the robot from multiple remote stations at different times.

37. The method of claim 36, further comprising determining which of the multiple remote stations can have control of the robot.

38. The method of claim 16, further comprising moving the display connected to the robot relative to the robot.

39. The method of claim 38, wherein moving the display comprises tilting the display connected to the robot.

40. The method of claim 38, wherein moving the display comprises rotating the display connected to the robot.

41. The method of claim 38, wherein moving the display comprises pivoting the display connected to the robot.

42. The method of claim 16, further comprising tilting the camera connected to the robot.

43. The method of claim 16, further comprising rotating the camera connected to the robot.

44. The method of claim 16, further comprising identifying obstructions to movement using one or more proximity sensors mounted to the robot.

45. A method of using a mobile robotic system for facilitating remote monitoring of a plurality of patients in a medical facility having a plurality of patient rooms, including a first patient room and a second patient room, each of the first patient room and the second patient room containing one or more patients, the mobile robotic system comprising a first remote station adapted for use by a first user and a robot configured to be wirelessly linked to the first remote station, the robot comprising a video camera and a microphone, the method comprising:

using the first remote station to generate a first set of robot movement input commands that are transmitted to and received by the robot;

using the first set of robot movement input commands generated at the first remote station to move the robot to a vicinity of the first patient room;

capturing with the video camera of the robot and transmitting to the first remote station patient-related information related to a first patient;

after viewing the captured and transmitted patient-related information related to the first patient, using the first remote station to generate a second set of robot input commands that are transmitted to and received by the robot;

using the second set of robot input commands generated at the first remote station to move the robot into the first patient room;

conducting a two-way videoconference with the first patient in the first patient room using the video camera of the robot, a display of the robot, a video camera of the first remote station and a display of the first remote station, the two-way videoconference including moving the video camera to view the patient, transmitting an image of the patient and a sound of the patient from the robot to the first remote station;

using the first remote station to generate a third set of robot input commands that are transmitted to and received by the robot;

using the third set of robot input commands generated at the first remote station to move the robot out of the first patient room and into a vicinity of the second patient room;

capturing with the video camera of the robot and transmitting to the first remote station patient-related information related to a second patient;

after viewing the captured and transmitted patient-related information related to the second patient, using the first remote station to generate a fourth set of robot input commands that are transmitted to and received by the robot;

using the fourth set of robot input commands generated at the first remote station to move the robot into the second patient room;

conducting a two-way videoconference with the second patient in the second patient room using the video camera of the robot, the display of the robot, the video camera of the first remote station and the display of the first remote station;

using the first remote station to generate a fifth set of robot input commands that are transmitted to and received by the robot; and

using the fifth set of robot input commands generated at the first remote station to move the robot out of the second patient room.

46. The method of claim 45, wherein the patient-related information related to at least one of the first patient and the second patient comprises a patient chart.

47. The method of claim 45, wherein using the video camera comprises using a zoom feature to capture the information.

48. The method of claim 45, further comprising displaying the first user on the display of the robot during the two-way videoconference.

49. The method of claim 45, further comprising using a second station to generate robot input commands.

50. The method of claim 49, further comprising selecting only one of the first remote station and the second station to control the robot such that exclusive control of the robot can be provided to one of the first remote station and the second station.

51. The method of claim 49, further comprising allowing both the first remote station and the second station to control the robot such that the first remote station and the second station share control of the robot.

52. The method of claim 51, further comprising using the first remote station to enable shared control such that both the first remote station and the second station share control of the robot.

53. The method of claim 45, further comprising using the first remote station to control a second robot.