WO2007041038A2 - A multi-camera mobile teleconferencing platform - Google Patents
A multi-camera mobile teleconferencing platform Download PDFInfo
- Publication number
- WO2007041038A2 WO2007041038A2 PCT/US2006/037076 US2006037076W WO2007041038A2 WO 2007041038 A2 WO2007041038 A2 WO 2007041038A2 US 2006037076 W US2006037076 W US 2006037076W WO 2007041038 A2 WO2007041038 A2 WO 2007041038A2
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- WO
- WIPO (PCT)
- Prior art keywords
- robot
- camera
- stored
- remote
- control station
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
Definitions
- Patent No. 5,762,458 issued to Wang et al . discloses a
- Wang system moves an endoscope that has a camera.
- Tele-robots such as hazardous waste handlers and bomb
- detectors may contain a camera that allows the operator to
- Treviranus, et al . discloses a teleconferencing platform
- the platform includes mechanisms to both pivot and raise the camera and
- the Treviranus patent also discloses
- InTouch robot is controlled by a user at a remote station.
- the remote station may be a personal computer with a
- the robot camera for two-way video/audio communication.
- the robot camera
- a remote controlled robot system that includes a mobile
- the mobile robot moves to a remote control station.
- the mobile robot moves
- the monitor includes a monitor that displays a robot view field.
- remote control station has a graphical user function that
- Figure 1 is an illustration of a robotic system
- Figure 2 is a schematic of an electrical system of a
- Figure 3 is a further schematic of the electrical
- Figure 4 is a graphical user interface of a remote
- Figure 5 is similar to Fig. 4 showing a portion of a
- Figure 6 is similar to Fig. 4 showing a zoom image
- Figure 7 is similar to Fig. 4 showing a message that
- a mobile robot includes a mobile robot and a remote control station.
- the mobile robot includes a camera system
- the monitor includes a monitor that displays a robot view field.
- robot view field can display the non-zoom image.
- control station may also store camera positions that allow
- Figure 1 shows a robotic system 10 that
- the robotic system can be used to conduct a remote visit.
- the robotic system can be used to conduct a remote visit.
- 10 includes a robot 12, a base station 14 and a remote
- the remote control station 16 may be any remote control station 16.
- the remote control station 16 may be any remote control station 16.
- the network 18 may be either a packet
- PSTN Public Switched Telephone Network
- a modem 20 may be coupled to the network 18 by a modem 20 or other
- broadband network interface device By way of example, the
- base station 14 may be a wireless router. Alternatively,
- the robot 12 may have a direct connection to the network
- the remote control station 16 may include a computer 22
- the computer 22 may also contain an input
- a joystick such as a joystick and/or a mouse and a keyboard
- the control station 16 is typically located in a place
- control station 16 is shown, the system 10 may include a plurality of remote stations. In general any number of
- robots 12 may be controlled by any number of remote
- station 16 may be coupled to a plurality of robots 12, or
- one robot 12 may be coupled to a plurality of remote
- Each robot 12 includes a movement platform 34 that is
- housing 36 is a pair of cameras 38 and 39, a monitor 40, a
- the microphone 42 0 microphone (s) 42 and a speaker (s) 44.
- the microphone 42 0 microphone (s) 42 and a speaker (s) 44.
- the robot may create a stereophonic sound.
- the robot may create a stereophonic sound.
- robot cameras 38 and 39 are coupled to the remote monitor
- the robot monitor 40 is coupled to the
- remote camera 26 so that the patient can view the user.
- Camera 38 may provide a wide angle view.
- camera 39 may contain a zoom lens to provide a narrow angle
- Camera.39 can capture a zoom image that is
- Camera 38 can
- the remote station computer 22 may operate Microsoft OS
- the remote computer 22 may also operate a video
- the video images may be transmitted and received
- compression software such as MPEG CODEC.
- FIGS. 2 and 3 show an embodiment of a robot 12.
- robot 12 may include a high level control system 50 and a
- the high level control system 52.
- 50 may include a processor 54 that is connected to a bus
- the bus 56 is coupled to the cameras 38 and 39 by an
- I/O input/output
- monitor 40 is coupled to the bus 56 by a serial output port 60 and a VGA driver 62.
- the monitor 40 may include a
- the speaker 44 is coupled to the bus 56 by a digital to
- the microphone 42 is coupled to the
- level controller 50 may also contain random access memory
- RAM random access memory
- D mass storage device 72 may contain medical files of the
- the mass storage device For example, the mass storage device
- the 72 may contain a picture of the patient. The user,
- the robot antennae 45 may be coupled to a
- wireless transceiver 74 the wireless transceiver 74.
- the wireless transceiver 74 the wireless transceiver 74.
- transceiver 74 may transmit and receive information in
- the controller 54 may operate with a LINUX OS operating
- the controller 54 may also operate MS WINDOWS along with video, camera and audio drivers for
- the software may allow the user to send e-mail
- the remote control station 16 may include a computer
- firmware, etc. for generating, transmitting, receiving and
- the high level controller 50 may be linked to the low
- level controller 52 includes a processor 80 that is coupled
- Each robot 12 contains a plurality of motors 88 and
- the motors 88 can actuate the movement
- the encoders 90 provide feedback
- the motors 88 can be coupled to the bus 86 by a digital to
- encoders 90 can be coupled to the bus 86 by a decoder 96.
- Each robot 12 also has a number of proximity sensors 98
- the position sensors 98 can be coupled
- the low level controller 52 runs software routines that
- level controller 52 provides instructions to actuate the
- controller 52 may receive movement instructions from the
- the movement instructions may be
- each robot 12 may have
- controllers controlling
- each robot 12 may be any type of electrical devices.
- the various electrical devices of each robot 12 may be any type of electrical devices.
- the battery 104 may be any type of battery (ies) 104.
- the battery 104 may be any type of battery (ies) 104.
- the battery 104 may be any type of battery (ies) 104.
- the low level controller 52 may include a battery control circuit 108 that senses the power level of the
- the low level controller 52 can sense when
- the system may be the same or similar to a robotic
- FIG. 4 shows a display user interface (“DUI") 120
- a robot view field 122 that displays a
- 120 may also include a station view field 124 that displays
- the DUI 120 may be part of an application program
- the robot view field 122 may display a non-zoom image
- Figures 5 and 6 the user can highlight a portion of the non-zoom image to display a zoom image that corresponds to
- the highlighted area 126 By way of example, the
- highlighted area 126 can be initiated by left-clicking a
- a user can utilize the non-zoom image while moving the
- the remote control station can store camera positions
- a camera location can be
- the F4 key may be depressed to store a camera position. As shown in
- Figure 7 a visual indication 130 may be displayed to
- F5 through F12 can be used to create 9 potential stored
- a new camera position can be stored by
- the mouse 32 can be used to move the cameras of the
- Movement of the mouse 32 may cause a corresponding
- the camera movements may be varied by the user. Movement
- the robot 12 may be placed in a home or a
- the facility may be a hospital or a
- the robot 12 moves to residential care facility.
- the robot 12 moves to residential care facility.
- the robot 12 moves to residential care facility.
- a health care provider may be placed in a home where a health care provider may be placed.
- family member may communicate with the patient.
- the robot 12 can be maneuvered through the home or a
- the robot 10 may be controlled by a number of
- the arbitration system may be any type of arbitration system.
- the arbitration system may be any type of arbitration system.
- the arbitration system may be any type of arbitration system.
- the arbitration technique may be embedded into the
- the users may be divided into
- the robot 12 may override input commands that
- the robot could have an input device that allows local
- the robot may incorporate a voice recognition system that receives and interprets audible
- a caregiver is someone who remotely monitors the
- a doctor is a medical professional who can
- the service user may
- the robot 12 may operate in one of two different modes;
- the priority may be in order of
- the sharing mode two or more users may share access with
- a caregiver may have access to the robot.
- the caregiver may then enter the sharing mode to
- the arbitration scheme may have one of four mechanisms;
- notification mechanism may inform either a present user or
- the timeout mechanism gives certain types of
- the queue mechanism is an orderly waiting list for
- the call back mechanism informs a
- the robot 12 may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted. Additionally, the user may be encrypted.
- the robot 12 validates the key and returns
- the robot 12 and remote station 16 transmit commands
- the commands can be
- commands to move the robot may be generated by moving the
- the commands are preferably
- Table III provides a list of control commands that are
- Table IV provides a list of reporting commands that are
- the processor 54 of the robot high level controller 50 is the processor 54 of the robot high level controller 50
- monitoring feature could be implemented with hardware, or a
- the hardware may be any combination of hardware and software.
- the hardware may be any combination of hardware and software.
- the hardware may be any combination of hardware and software.
- the hardware may be any combination of hardware and software.
- the remote station computer 22 may monitor the receipt
- the computer 22 may generate and transmit a STOP command to the robot if
- the remote station does not receive or transmit an updated
- the hardware may include a timer
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.
Description
A MULTI-CAMERA MOBILE TELECONFERENCING PLATFORM
BACKGROUND OF THE INVENTION 5
1. Field of the Invention
The subject matter disclosed generally relates to the
field of mobile two-way teleconferencing.
2. Background Information
0 Robots have been used in a variety of applications
ranging from remote control of hazardous material to
assisting in the performance of surgery. For example, U. S
Patent No. 5,762,458 issued to Wang et al . discloses a
system that allows a surgeon to perform minimally invasive
medical procedures through the use of robotically
controlled instruments . One of the robotic arms in the
Wang system moves an endoscope that has a camera. The
camera allows a surgeon to view a surgical area of a
patient .
) Tele-robots such as hazardous waste handlers and bomb
detectors may contain a camera that allows the operator to
view the remote site. Canadian Pat. No. 2289697 issued to
Treviranus, et al . discloses a teleconferencing platform
that has both a camera and a monitor. The platform
includes mechanisms to both pivot and raise the camera and
the monitor. The Treviranus patent also discloses
embodiments with a mobile platform, and different
mechanisms to move the camera and the monitor.
There has been marketed a mobile robot introduced by
InTouch Technologies, Inc., the assignee of this
application, under the trademarks COMPANION and RP-6. The
InTouch robot is controlled by a user at a remote station.
The remote station may be a personal computer with a
joystick that allows the user to remotely control the
movement of the robot. Both the robot and remote station
have cameras, monitors, speakers and microphones to allow
for two-way video/audio communication. The robot camera
provides video images to a screen at the remote station so
that the user can view the robot's surroundings and move
the robot accordingly.
When moving the robot it is desirable to have a
relatively wide view angle so that the user is provided
with an optimal view of the robot's surroundings. It is
also desirable to provide the robot with a zoom lens
function so that the user can obtain a closer view of an
image. It would be desirable to provide an interface for a
remote controlled robot system that allows a user to easily
switch between zoom and non-zoom images. It would also be
desirable to provide memory functions so that the user can
return to certain camera positions .
5
BRIEF SUMMARY OF THE INVENTION
A remote controlled robot system that includes a mobile
robot and a remote control station. The mobile robot moves
in response to robot control commands transmitted by the
) remote control station. The remote control station
includes a monitor that displays a robot view field. The
remote control station has a graphical user function that
allows the robot view field to display either a zoom image
or a non-zoom image provided by the mobile robot.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is an illustration of a robotic system;
Figure 2 is a schematic of an electrical system of a
robot ;
) Figure 3 is a further schematic of the electrical
system of the robot;
Figure 4 is a graphical user interface of a remote
station;
Figure 5 is similar to Fig. 4 showing a portion of a
non-zoom image highlighted;
5 Figure 6 is similar to Fig. 4 showing a zoom image
being displayed by a robot view field;
Figure 7 is similar to Fig. 4 showing a message that
indicates a camera position has been stored.
3 DETAILED DESCRIPTION
Disclosed is 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
5 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 positions that allow
a user to move the camera system to preset positions.
Referring to the drawings more particularly by
reference numbers, Figure 1 shows a robotic system 10 that
can be used to conduct a remote visit. The robotic system
10 includes a robot 12, a base station 14 and a remote
5 control station 16. The remote control station 16 may be
coupled to the base station 14 through a network 18. By
way of example, the network 18 may be either a packet
switched network such as the Internet, or a circuit
switched network such has a Public Switched Telephone
0 Network (PSTN) or other broadband system. The base station
14 may be coupled to the network 18 by a modem 20 or other
broadband network interface device. By way of example, the
base station 14 may be a wireless router. Alternatively,
the robot 12 may have a direct connection to the network
5 thru for example a satellite.
The remote control station 16 may include a computer 22
that has a monitor 24, a camera 26, a microphone 28 and a
speaker 30. The computer 22 may also contain an input
device 32 such as a joystick and/or a mouse and a keyboard
) 33. The control station 16 is typically located in a place
that is remote from the robot 12. Although only one remote
control station 16 is shown, the system 10 may include a
plurality of remote stations. In general any number of
robots 12 may be controlled by any number of remote
stations 16 or other robots 12. For example, one remote
station 16 may be coupled to a plurality of robots 12, or
5 one robot 12 may be coupled to a plurality of remote
stations 16, or a plurality of robots 12.
Each robot 12 includes a movement platform 34 that is
attached to a robot housing 36. Also attached to the robot
housing 36 is a pair of cameras 38 and 39, a monitor 40, a
0 microphone (s) 42 and a speaker (s) 44. The microphone 42
and speaker 30 may create a stereophonic sound. The robot
12 may also have an antenna 46 that is wirelessly coupled
to an antenna 48 of the base station 14. The system 10
allows a user at the remote control station 16 to move the
5 robot 12 through operation of the input device 32. The
robot cameras 38 and 39 are coupled to the remote monitor
24 so that a user at the remote station 16 can view a
patient. Likewise, the robot monitor 40 is coupled to the
remote camera 26 so that the patient can view the user.
) The microphones 28 and 42, and speakers 30 and 44, allow
for audible communication between the patient and the user.
Camera 38 may provide a wide angle view. Conversely,
camera 39 may contain a zoom lens to provide a narrow angle
view. Camera.39 can capture a zoom image that is
transmitted to the remote control station. Camera 38 can
capture a non-zoom image that can be transmitted to the
remote control station. Although two cameras are shown and
described, it is to be understood that the robot may
contain only one camera that has the capability to provide
a zoom image and a non-zoom image.
The remote station computer 22 may operate Microsoft OS
software and WINDOWS XP or other operating systems such as
LINUX. The remote computer 22 may also operate a video
driver, a camera driver, an audio driver and a joystick
driver. The video images may be transmitted and received
with compression software such as MPEG CODEC.
Figures 2 and 3 show an embodiment of a robot 12. Each
robot 12 may include a high level control system 50 and a
low level control system 52. The high level control system
50 may include a processor 54 that is connected to a bus
56. The bus 56 is coupled to the cameras 38 and 39 by an
input/output (I/O) ports 58 and 59, respectively. The
monitor 40 is coupled to the bus 56 by a serial output port
60 and a VGA driver 62. The monitor 40 may include a
touchscreen function that allows the patient to enter input
by touching the monitor screen.
The speaker 44 is coupled to the bus 56 by a digital to
5 analog converter 64. The microphone 42 is coupled to the
bus 56 by an analog to digital converter 66. The high
level controller 50 may also contain random access memory
(RAM) device 68, a non-volatile RAM device 70 and a mass
storage device 72 that are all coupled to the bus 62. The
D mass storage device 72 may contain medical files of the
patient that can be accessed by the user at the remote
control station 16. For example, the mass storage device
72 may contain a picture of the patient. The user,
particularly a health care provider, can recall the old
5 picture and make a side by side comparison on the monitor
24 with a present video image of the patient provided by
the camera 38. The robot antennae 45 may be coupled to a
wireless transceiver 74. By way of example, the
transceiver 74 may transmit and receive information in
D accordance with IEEE 802.11b.
The controller 54 may operate with a LINUX OS operating
system. The controller 54 may also operate MS WINDOWS
along with video, camera and audio drivers for
communication with the remote control station 16. Video
information may be transceived using MPEG CODEC compression
techniques. The software may allow the user to send e-mail
5 to the patient and vice versa, or allow the patient to
access the Internet. In general the high level controller
50 operates to control communication between the robot 12
and the remote control station 16.
The remote control station 16 may include a computer
D that is similar to the high level controller 50. The
computer would have a processor, memory, I/O, software,
firmware, etc. for generating, transmitting, receiving and
processing information.
The high level controller 50 may be linked to the low
5 level controller 52 by serial ports 76 and 78. The low
level controller 52 includes a processor 80 that is coupled
to a RAM device 82 and non-volatile RAM device 84 by a bus
86. Each robot 12 contains a plurality of motors 88 and
motor encoders 90. The motors 88 can actuate the movement
> platform and move other parts of the robot such as the
monitor and camera. The encoders 90 provide feedback
information regarding the output of the motors 88. The
motors 88 can be coupled to the bus 86 by a digital to
analog converter 92 and a driver amplifier 94. The
encoders 90 can be coupled to the bus 86 by a decoder 96.
Each robot 12 also has a number of proximity sensors 98
(see also Fig. 1) . The position sensors 98 can be coupled
to the bus 86 by a signal conditioning circuit 100 and an
analog to digital converter 102.
The low level controller 52 runs software routines that
mechanically actuate the robot 12. For example, the low
level controller 52 provides instructions to actuate the
movement platform to move the robot 12. The low level
controller 52 may receive movement instructions from the
high level controller 50. The movement instructions may be
received as movement commands from the remote control
station or another robot. Although two controllers are
shown, it is to be understood that each robot 12 may have
one controller, or more than two controllers, controlling
the high and low level functions .
The various electrical devices of each robot 12 may be
powered by a battery (ies) 104. The battery 104 may be
recharged by a battery recharger station 106 (see also Fig.
1) . The low level controller 52 may include a battery
control circuit 108 that senses the power level of the
battery 104. The low level controller 52 can sense when
the power falls below a threshold and then send a message
to the high level controller 50.
The system may be the same or similar to a robotic
system provided by the assignee InTouch-Health, Inc. of
Santa Barbara, California under the name RP-6. The system
may also be the same or similar to the system disclosed in
Application No. 10/206,457 published on January 29, 2004,
which is hereby incorporated by reference.
Figure 4 shows a display user interface ("DUI") 120
that can be displayed at the remote station 16. The DUI
120 may include a robot view field 122 that displays a
video image provided by the camera of the robot . The DUI
120 may also include a station view field 124 that displays
a video image provided by the camera of the remote station
16. The DUI 120 may be part of an application program
stored and operated by the computer 22 of the remote
station 16.
The robot view field 122 may display a non-zoom image
provided by the camera system of the robot. As shown by
Figures 5 and 6, the user can highlight a portion of the
non-zoom image to display a zoom image that corresponds to
the highlighted area 126. By way of example, the
highlighted area 126 can be initiated by left-clicking a
mouse. The user can then drag the cursor 128, while
5 holding down the left-click, to create the highlighted area
126. When the user releases the left-click, the remote
station transmits commands to move the robot camera to
point at the center of the highlighted area 126 and provide
the zoom image corresponding to the area. Alternatively,
0 the user can click on the mouse and a zoom area centered
about the cursor will be displayed. The user can switch
back to the non-zoom image by manipulating graphical icon
128 to move the slide bar to a far left position. This
feature allows a user to readily switch between zoom and
5 non-zoom images provided by the robot camera system. Thus
a user can utilize the non-zoom image while moving the
robot, and the zoom image feature to take a closer look at
people or objects in the field of view.
The remote control station can store camera positions
) so that the user can readily go to a desired camera
position. By way of example, a camera location can be
stored by depressing a key on the keyboard. The F4 key may
be depressed to store a camera position. As shown in
Figure 7 a visual indication 130 may be displayed to
indicate to the user that the camera position has been
stored. Subsequently pressing the key will cause the
5 remote station to transmit a command (s) to move the robot
camera system to the desired position. Other keys such as
F5 through F12 can be used to create 9 potential stored
camera locations. A new camera position can be stored by
pressing and holding down one of the keys F4-F12.
0 The mouse 32 can be used to move the cameras of the
robot. Movement of the mouse 32 may cause a corresponding
movement of the cameras . The scale between the mouse and
the camera movements may be varied by the user. Movement
of the mouse may also cause the system to display zoom and
5 non-zoom images.
In operation, the robot 12 may be placed in a home or a
facility where one or more patients are to be monitored
and/or assisted. The facility may be a hospital or a
residential care facility. By way of example, the robot 12
) may be placed in a home where a health care provider may
monitor and/or assist the patient. Likewise, a friend or
family member may communicate with the patient. The
cameras and monitors at both the robot and remote control
stations allow for teleconferencing between the patient and
the person at the remote station (s) .
The robot 12 can be maneuvered through the home or a
facility by manipulating the input device 32 at a remote
station 16. The robot 10 may be controlled by a number of
different users. To accommodate for this the robot may
have an arbitration system. The arbitration system may be
integrated into the operating system of the robot 12. For
example, the arbitration technique may be embedded into the
operating system of the high-level controller 50.
By way of example, the users may be divided into
classes that include the robot itself, a local user, a
caregiver, a doctor, a family member, or a service
provider. The robot 12 may override input commands that
conflict with robot operation. For example, if the robot
runs into a wall, the system may ignore all additional
commands to continue in the direction of the wall. A local
user is a person who is physically present with the robot.
The robot could have an input device that allows local
operation. For example, the robot may incorporate a voice
recognition system that receives and interprets audible
commands .
A caregiver is someone who remotely monitors the
patient. A doctor is a medical professional who can
remotely control the robot and also access medical files
contained in the robot memory. The family and service
users remotely access the robot . The service user may
service the system such as by upgrading software, or
setting operational parameters.
The robot 12 may operate in one of two different modes;
an exclusive mode, or a sharing mode. In the exclusive
mode only one user has access control of the robot. The
exclusive mode may have a priority assigned to each type of
user. By way of example, the priority may be in order of
local, doctor, caregiver, family and then service user. In
the sharing mode two or more users may share access with
the robot. For example, a caregiver may have access to the
robot, the caregiver may then enter the sharing mode to
allow a doctor to also access the robot. Both the
caregiver and the doctor can conduct a simultaneous tele¬
conference with the patient .
The arbitration scheme may have one of four mechanisms;
notification, timeouts, queue and call back. The
notification mechanism may inform either a present user or
a requesting user that another user has, or wants, access
to the robot. The timeout mechanism gives certain types of
users a prescribed amount of time to finish access to the
robot. The queue mechanism is an orderly waiting list for
access to the robot. The call back mechanism informs a
user that the robot can be accessed. By way of example, a
family user may receive an e-mail message that the robot is
free for usage. Tables I and II, show how the mechanisms
resolve access request from the various users.
Table I
The information transmitted between the station 16 and
the robot 12 may be encrypted. Additionally, the user may
have to enter a password to enter the system 10. A
selected robot is then given an electronic key by the
station 16. The robot 12 validates the key and returns
another key to the station 16. The keys are used to
encrypt information transmitted in the session.
The robot 12 and remote station 16 transmit commands
through the broadband network 18. The commands can be
generated by the user in a variety of ways. For example,
commands to move the robot may be generated by moving the
joystick 32 (see Fig. 1) . The commands are preferably
assembled into packets in accordance with TCP/IP protocol.
Table III provides a list of control commands that are
generated at the remote station and transmitted to the
robot through the network.
Table III
generated by the robot and transmitted to the remote
station through the network.
Table IV
The processor 54 of the robot high level controller 50
may operate a program that determines whether the robot 12
has received a robot control command within a time
interval. For example, if the robot 12 does not receive a
control command within 2 seconds then the processor 54
provides instructions to the low level controller 50 to
stop the robot 12. Although a software embodiment is
described, it is to be understood that the control command
monitoring feature could be implemented with hardware, or a
combination of hardware and software. The hardware may
include a timer that is reset each time a control command
is received and generates, or terminates, a command or
signal, to stop the robot.
The remote station computer 22 may monitor the receipt
of video images provided by the robot camera. The computer
22 may generate and transmit a STOP command to the robot if
the remote station does not receive or transmit an updated
video image within a time interval. The STOP command
causes the robot to stop. By way of example, the computer
22 may generate a STOP command if the remote control
station does not receive a new video image within 2
seconds . Although a software embodiment is described, it
is to be understood that the video image monitoring feature
could be implemented with hardware, or a combination of
hardware and software. The hardware may include a timer
that is reset each time a new video image is received and
generates, or terminates, a command or signal, to generate
the robot STOP command.
While certain exemplary embodiments have been described
and shown in the accompanying drawings, it is to be
understood that such embodiments are merely illustrative of
and not restrictive on the broad invention, and that this
invention not be limited to the specific constructions and
arrangements shown and described, since various other
modifications may occur to those ordinarily skilled in the
art .
Claims
What is claimed is :
1 1. A remote controlled robot system, comprising:
2 a mobile robot with a camera system that can capture a
3 zoom image and a non-zoom image; and,
1 a remote control station that transmits commands to
5 control said mobile robot, said remote control station
5 includes a monitor that displays a robot view field and a
7 graphical user interface function that switches said robot
3 view field to display said zoom image or said non-zoom
3 image .
L 2. The system of claim 1, wherein said graphical user
2 interface function includes a highlighted area.
L 3. The system of claim 2, wherein said highlighted
. area is initiated by depressing a mouse.
L
4. The system of claim 1, wherein said camera system
_ includes a first camera that provides said zoom image and a
I second camera that provides said non-zoom image.
1 5. The system of claim 2, wherein said camera system
2 moves to a center of said highlighted area.
1 6. The system of claim 1, wherein said remote control
2 station includes at least one stored camera position.
1 7. The system of claim 6, wherein said remote control
2 station includes a keyboard and said stored camera position
3 is stored by depressing a key on said keyboard.
L
8. The system of claim 7, wherein said mobile robot
2 moves said camera system to said stored camera position in
i response to said key being depressed.
9. The system of claim 6, wherein said monitor
! displays an indication that said stored camera position has
! been stored.
10. A remote controlled robot system, comprising:
a mobile robot with a movable camera system; and,
a remote control station that transmits commands to
control said mobile robot, said remote control station
stores a camera position and transmits a command to said 6 mobile robot to move said camera system to said stored
7 camera position.
1 11. The system of claim 10, wherein said remote
2 control station includes a keyboard and said stored camera
3 position is stored by depressing a key on said keyboard.
1 12. The system of claim 11, wherein said robot moves
2 said camera system to said stored camera position in
3 response to said key being depressed.
1 13. The system of claim 10, wherein said monitor
2 displays an indication that said stored camera position has
3 been stored.
1 14. A remote controlled robot system, comprising:
2 a mobile robot with camera means for capturing a zoom
3 image and a non-zoom image; and,
1 a remote control station that transmits commands to
5 control said mobile robot, said remote control station
S includes a monitor that displays a robot view field and
1 switching means for switching said robot view field to
I display said zoom image or said non-zoom image.
1 15. The system of claim 14, wherein said switching
2 means includes a highlighted area.
1 16. The system of claim 15, wherein said highlighted
2 area is initiated by depressing a mouse.
1 17. The system of claim 14, wherein said camera means
2 includes a first camera that provides said zoom image and a
3 second camera that provides said non-zoom image.
L
18. The system of claim 15, wherein said camera means
2 moves to a center of said highlighted area.
L
19. The system of claim 14, wherein said remote
2 control station includes at least one stored camera
3 position.
L
20. The system of claim 19, wherein said remote
2 control station includes a keyboard and said stored camera
3 position is stored by depressing a key on said keyboard.
1 21. The system of claim 20, wherein said robot moves
2 said camera system to said stored camera position in
3 response to said key being depressed.
1 22. The system of claim 19, wherein said monitor
displays an 'indication that said stored camera position has
been stored.
23. A remote controlled robot system, comprising:
2 a mobile robot with a movable camera system; and,
3 a remote control station that transmits commands to
1 control said mobile robot, said remote control station
5 having storing means for storing a camera position, and
'■> transmits a command to said mobile robot to move said
i camera system to said stored camera position.
24. The system of claim 23, wherein said remote
: control station includes a keyboard and said stored camera
position is stored by depressing a key on said keyboard.
1 25. The system of claim 24, wherein said robot moves
2 said camera system to said stored camera position in
3 response to said key being depressed.
1 26. The system of claim 23, wherein said monitor
2 displays an indication that said stored camera position has
3 been stored.
1 27. A method for remotely controlling a robot that has
2 a camera, comprising:
3 transmitting a robot control command from a remote
4 control station;
5 receiving the robot control command at a robot that has
5 a camera;
7 moving the robot in accordance with the robot control
3 command;
3 displaying on a monitor of the remote control station a
) non-zoom image in a robot view field; and,
switching the robot view field to display a zoom image.
1 28. The method of claim 27, wherein the zoom image
2 corresponds to an area of the non-zoom image that is
3 highlighted.
1 29. The method of claim 27, further comprising storing
2 a camera position.
1 30. A method for remotely controlling a robot that has
2 a camera, comprising:
3 transmitting a robot control command from a remote
4 control station;
5 receiving the robot control command at a robot that has
5 a camera;
7 moving the robot in accordance with the robot control
3 command;
3 storing a camera position in the remote control
D station;
L transmitting the camera position to the robot; and,
- moving the camera to the stored camera position.
L 31. The method of claim 30, wherein the camera
I position is stored by depressing a key of a keyboard.
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CN2006800446980A CN101316550B (en) | 2005-09-30 | 2006-09-22 | A multi-camera mobile teleconferencing platform |
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US11/240,941 US9198728B2 (en) | 2005-09-30 | 2005-09-30 | Multi-camera mobile teleconferencing platform |
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---|---|
WO2007041038A2 true WO2007041038A2 (en) | 2007-04-12 |
WO2007041038A3 WO2007041038A3 (en) | 2007-06-28 |
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PCT/US2006/037076 WO2007041038A2 (en) | 2005-09-30 | 2006-09-22 | A multi-camera mobile teleconferencing platform |
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EP (1) | EP1928310B1 (en) |
CN (1) | CN101316550B (en) |
WO (1) | WO2007041038A2 (en) |
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Also Published As
Publication number | Publication date |
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CN101316550A (en) | 2008-12-03 |
US10259119B2 (en) | 2019-04-16 |
EP1928310B1 (en) | 2020-04-08 |
US20070078566A1 (en) | 2007-04-05 |
EP1928310A4 (en) | 2017-07-05 |
US20160046024A1 (en) | 2016-02-18 |
CN101316550B (en) | 2013-05-29 |
EP1928310A2 (en) | 2008-06-11 |
US9198728B2 (en) | 2015-12-01 |
WO2007041038A3 (en) | 2007-06-28 |
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