|Publication number||US20050204438 A1|
|Application number||US 10/962,829|
|Publication date||15 Sep 2005|
|Filing date||11 Oct 2004|
|Priority date||26 Feb 2004|
|Also published as||US20100115418, US20110301759|
|Publication number||10962829, 962829, US 2005/0204438 A1, US 2005/204438 A1, US 20050204438 A1, US 20050204438A1, US 2005204438 A1, US 2005204438A1, US-A1-20050204438, US-A1-2005204438, US2005/0204438A1, US2005/204438A1, US20050204438 A1, US20050204438A1, US2005204438 A1, US2005204438A1|
|Inventors||Yulun Wang, Charles Jordan, Jonathan Southard, Marco Pinter|
|Original Assignee||Yulun Wang, Jordan Charles S., Jonathan Southard, Marco Pinter|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (120), Referenced by (51), Classifications (10), Legal Events (2)|
|External Links: USPTO, USPTO Assignment, Espacenet|
This application claims priority to Application No. 60/548,561 filed on Feb. 26, 2004.
1. Field of the Invention
The subject matter disclosed generally relates to the field of mobile two-way teleconferencing.
2. Background Information
There is a growing need to provide remote health care to patients that have a variety of ailments ranging from Alzheimers to stress disorders. To minimize costs it is desirable to-provide home care for such patients. Home care typically requires a periodic visit by a health care provider such as a nurse or some type of assistant. Due to financial and/or staffing issues the health care provider may not be there when the patient needs some type of assistance. Additionally, existing staff must be continuously trained, which can create a burden on training personnel. It would be desirable to provide a system that would allow a health care provider to remotely care for a patient without being physically present.
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. Pat. 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 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-Health, 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.
U.S. patent application Pub. No. US 2001/0054071 filed in the name of Loeb, discloses a video-conferencing system that includes a number of graphical user interfaces (“GUIs”) that can be used to establish a video-conference. One of the GUIs has an icon that can be selected to make a call. The Loeb application discloses stationary video-conferencing equipment such as a television. There is no discussion in Loeb about the use of robotics.
A robot system that includes a remote station and a robot. The remote station includes a display user interface that can be used to operate the system.
the robot 12 may have a direct connection to the network 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 or a mouse. 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 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 are a camera 38, a monitor 40, a 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 robot 12 through operation of the input device 32. The robot camera 38 is 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 may view the user. The microphones 28 and 42, and speakers 30 and 44, allow for audible communication between the patient and the user.
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.
The robot 12 may be coupled to one or more medical monitoring devices 50. The medical monitoring device 50 can take medical data from a patient. By of example, the medical monitoring device 50 may be a stethoscope, a pulse oximeter and/or an EKG monitor. The medical monitoring device 50 may contain a wireless transmitter 52 that transmits the patient data to the robot 12. The wirelessly transmitted data may be received by antennae 46, or a separate antennae (not shown). The robot 12 can then transmit the data to the remote station 16.
The wireless transmission from the medical monitoring device 50 may be in accord with various wireless standards such as IEEE. The standard used to transmit data from the medical monitoring device 50 should not interfere with the wireless communication between the robot 12 and the base station 14. Although wireless transmission is shown and described, it is to be understood that the medical monitoring device 50 can be coupled to the robot 12 by wires (not shown).
The remote station 16 may be coupled to a server 54 through the network 18. The server 54 may contain electronic medical records of a patient. By way of example, the electronic medical records may include written records of treatment, patient history, medication information, x-rays, EKGs, laboratory results, physician notes, etc. The medical records can be retrieved from the server 54 and displayed by the monitor 24 of the remote station. In lieu of, or in addition to, the medical records can be stored in the mobile robot 12. The remote station 16 may allow the physician to modify the records and then store the modified records back in the server 54 and/or robot 12.
The speaker 44 is coupled to the bus 66 by a digital to analog converter 74. The microphone 42 is coupled to the bus 66 by an analog to digital converter 76. The high level controller 60 may also contain random access memory (RAM) device 78, a non-volatile RAM device 80 and a mass storage device 82 that are all coupled to the bus 72. The mass storage device 82 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 82 may contain a picture of the patient. The user, particularly a health care provider, can recall the old 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 46 may be coupled to a wireless transceiver 84. By way of example, the transceiver 84 may transmit and receive information in accordance with IEEE 802.11b. The transceiver 84 may also process signals from the medical monitoring device in accordance with IEEE also known as Bluetooth. The robot may have a separate antennae to receive the wireless signals from the medical monitoring device.
The controller 64 may operate with a LINUX OS operating system. The controller 64 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 to the patient and vice versa, or allow the patient to access the Internet. In general the high level controller 60 operates to control communication between the robot 12 and the remote control station 16.
The high level controller 60 may be linked to the low level controller 62 by serial ports 86 and 88. The low level controller 62 includes a processor 90 that is coupled to a RAM device 92 and non-volatile RAM device 94 by a bus 96. Each robot 12 contains a plurality of motors 98 and motor encoders 100. The motors 98 can activate the movement platform and move other parts of the robot such as the monitor and camera. The encoders 100 provide feedback information regarding the output of the motors 98. The motors 98 can be coupled to the bus 96 by a digital to analog converter 102 and a driver amplifier 104. The encoders 100 can be coupled to the bus 96 by a decoder 106. Each robot 12 also has a number of proximity sensors 108 (see also
The low level controller 62 runs software routines that mechanically actuate the robot 12. For example, the low level controller 62 provides instructions to actuate the movement platform to move the robot 12. The low level controller 62 may receive movement instructions from the high level controller 60. 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) 114. The battery 114 may be recharged by a battery recharger station 116. The low level controller 62 may include a battery control circuit 118 that senses the power level of the battery 114. The low level controller 62 can sense when the power falls below a threshold and then send a message to the high level controller 60.
The system may be the same or similar to a robotic system provided by the assignee InTouch-Health, Inc. of Santa Barbara, Calif. under the name RP-6, which is hereby incorporated by reference. The system may also be the same or similar to the system disclosed in application No. 10/206,457 published on Jan. 29, 2004, which is hereby incorporated by reference.
The DUI 120 may include a graphic button 126 that can be selected to display an electronic medical record as shown in
The DUI 120 may have a monitor data field 128 that can display the data generated by the medical monitoring device(s) and transmitted to the remote station. The data can be added to the electronic medical record, either automatically or through user input. For example, the data can be added to a record by “dragging” a monitor data field 128 into the viewing field 122.
The DUI 120 may include alert input icons 130 and 132. Alert icon 130 can be selected by the user at the remote station to generate an alert indicator such as a sound from the speaker of the robot. Selection of the icon generates an alert input to the robot. The robot generates a sound through its speaker in response to the alert input. By way of example, the sound may simulate the noise of a horn. Consequently, the icon may have the appearance of a horn. The remote station user may select the horn shaped icon 130 while remotely moving the robot to alert persons to the presence of the moving robot.
Alert icon 132 can be selected to request access to the video images from the robot. The default state of the robot may be to not send video information to the remote station. Selecting the alert icon 132 sends an alert input such as an access request to the robot. The robot then generates an alert indicator. The alert indicator can be a sound generated by the robot speaker, and/or a visual prompt on the robot monitor. By way of example, the visual prompt may be a “flashing” graphical icon. The sound may simulate the knocking of a door. Consequently, the alert icon 128 may have the appearance of a door knocker.
In response to the alert indicator the user may provide a user input such as the depression of a button on the robot, or the selection of a graphical image on the robot monitor, to allow access to the robot camera. The robot may also have a voice recognition system that allows the user to grant access with a voice command. The user input causes the robot to begin transmitting video images from the robot camera to the remote station that requested access to the robot. A voice communication may be established before the cycle of the alert input and response, to allow the user at the remote station to talk to the caller recipient at the robot.
The DUI 120 may include a graphical “battery meter” 134 that indicates the amount of energy left in the robot battery. A graphical “signal strength meter” 136 may indicate the strength of the wireless signal transmitted between the robot and the base station (see
The DUI 120 may include a location display 138 that provides the location of the robot. The CHANGE button 140 can be selected to change the default robot in a new session. The CHANGE button 140 can be used to select and control a different robot in a system that has multiple robots. The user can initiate and terminate a session by selecting box 142. The box 142 changes from CONNECT to DISCONNECT when the user selects the box to initiate a session. System settings and support can be selected through buttons 144 and 146.
Both the robot view field 122 and the station view field 124 may have associated graphics to vary the video and audio displays. Each field may have an associated graphical audio slide bar 148 to vary the audio level of the microphone and another slide bar 152 to vary the volume of the speakers.
The DUI 120 may have slide bars 150, 154 and 156 to vary the zoom, focus and brightness of the cameras, respectively. A still picture may be taken at either the robot or remote station by selecting one of the graphical camera icons 158. The still picture may be the image presented at the corresponding field 122 or 124 at the time the camera icon 158 is selected. Capturing and playing back video can be taken through graphical icons 160. A return to real time video can be resumed, after the taking of a still picture, captured video, or reviewing a slide show, by selecting a graphical LIVE button 162.
A still picture can be loaded from disk for viewing through selection of icon 164. Stored still images can be reviewed by selecting buttons 166. The number of the image displayed relative to the total number of images is shown by graphical boxes 168. The user can rapidly move through the still images in a slide show fashion or move through a captured video clip by moving the slide bar 170. A captured video image can be paused through the selection of circle 174. Play can be resumed through the same button 174. Video or still images may be dismissed from the active list through button 172. Video or still images may be transferred to the robot by selecting icon 176. For example, a doctor at the remote station may transfer an x-ray to the screen of the robot.
A graphical depiction of the base of the robot can be shown in sensor field 178. The sensor may have various sensors that sense contact with another object. The sensor field 178 can provide a visual display of the sensors that detect the object. By way of example, the field may have one or more graphical dots 180 that display where on the robot the sensors detected an object. This provides the user with a sense of the robot environment that is outside the view of the robot camera.
The graphical depiction of the robot base may contain a graphical vector overlay 182 that indicates the direction of robot movement. The direction of movement may be different than the direction the camera is facing. The vector can provide a visual aid when driving the robot.
The system may provide the ability to annotate 184 the image displayed in field 122 and/or 124. For example, a doctor at the remote station may annotate some portion of the image captured by the robot camera. The annotated image may be stored by the system. The system may also allow for annotation of images sent to the robot through icon 176. For example, a doctor may send an x-ray to the robot which is displayed by the robot screen. The doctor can annotate the x-ray to point out a portion of the x-ray to personnel located at the robot site. This can assist in allowing the doctor to instruct personnel at the robot site.
The display user interface may include graphical inputs 186 that allow the operator to turn the views of the remote station and remote cameras on and off.
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.
|Cited Patent||Filing date||Publication date||Applicant||Title|
|US4572594 *||8 Feb 1984||25 Feb 1986||Schwartz C Bruce||Arthroscopy support stand|
|US4638445 *||8 Jun 1984||20 Jan 1987||Mattaboni Paul J||Autonomous mobile robot|
|US4652204 *||2 Aug 1985||24 Mar 1987||Arnett Edward M||Apparatus for handling hazardous materials|
|US4733737 *||29 Aug 1985||29 Mar 1988||Reza Falamak||Drivable steerable platform for industrial, domestic, entertainment and like uses|
|US4797557 *||14 May 1987||10 Jan 1989||Aktiebolaget Electrolux||Position sensing system for a moving object wherein a lens focuses light onto a radiation sensitive matrix|
|US4803625 *||30 Jun 1986||7 Feb 1989||Buddy Systems, Inc.||Personal health monitor|
|US5084828 *||29 Sep 1989||28 Jan 1992||Healthtech Services Corp.||Interactive medication delivery system|
|US5182641 *||17 Jun 1991||26 Jan 1993||The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration||Composite video and graphics display for camera viewing systems in robotics and teleoperation|
|US5186270 *||24 Oct 1991||16 Feb 1993||Massachusetts Institute Of Technology||Omnidirectional vehicle|
|US5193143 *||7 Nov 1989||9 Mar 1993||Honeywell Inc.||Problem state monitoring|
|US5486853 *||13 Dec 1994||23 Jan 1996||Picturetel Corporation||Electrical cable interface for electronic camera|
|US5544649 *||15 Mar 1995||13 Aug 1996||Cardiomedix, Inc.||Ambulatory patient health monitoring techniques utilizing interactive visual communication|
|US5553609 *||9 Feb 1995||10 Sep 1996||Visiting Nurse Service, Inc.||Intelligent remote visual monitoring system for home health care service|
|US5594859 *||21 Feb 1995||14 Jan 1997||Digital Equipment Corporation||Graphical user interface for video teleconferencing|
|US5600573 *||2 Dec 1994||4 Feb 1997||Discovery Communications, Inc.||Operations center with video storage for a television program packaging and delivery system|
|US5657246 *||7 Mar 1995||12 Aug 1997||Vtel Corporation||Method and apparatus for a video conference user interface|
|US5758079 *||7 Jun 1996||26 May 1998||Vicor, Inc.||Call control in video conferencing allowing acceptance and identification of participants in a new incoming call during an active teleconference|
|US5857534 *||5 Jun 1997||12 Jan 1999||Kansas State University Research Foundation||Robotic inspection apparatus and method|
|US5867653 *||18 Apr 1996||2 Feb 1999||International Business Machines Corporation||Method and apparatus for multi-cast based video conferencing|
|US5871451 *||30 Jun 1997||16 Feb 1999||Siemens Medical Systems, Inc.||Apparatus and method for providing dual output signals in a telemetry transmitter|
|US5876325 *||30 Sep 1997||2 Mar 1999||Olympus Optical Co., Ltd.||Surgical manipulation system|
|US5983263 *||2 Jan 1998||9 Nov 1999||Intel Corporation||Method and apparatus for transmitting images during a multimedia teleconference|
|US6036812 *||8 Dec 1997||14 Mar 2000||Automated Prescription Systems, Inc.||Pill dispensing system|
|US6170929 *||2 Dec 1998||9 Jan 2001||Ronald H. Wilson||Automated medication-dispensing cart|
|US6175779 *||29 Sep 1998||16 Jan 2001||J. Todd Barrett||Computerized unit dose medication dispensing cart|
|US6201984 *||26 Jan 1995||13 Mar 2001||International Business Machines Corporation||System and method for augmentation of endoscopic surgery|
|US6346950 *||20 May 1999||12 Feb 2002||Compaq Computer Corporation||System and method for display images using anamorphic video|
|US6346962 *||27 Feb 1998||12 Feb 2002||International Business Machines Corporation||Control of video conferencing system with pointing device|
|US6507773 *||14 Jun 2001||14 Jan 2003||Sharper Image Corporation||Multi-functional robot with remote and video system|
|US6522906 *||14 Dec 1999||18 Feb 2003||Intuitive Surgical, Inc.||Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure|
|US6523629 *||21 Dec 2000||25 Feb 2003||Sandia Corporation||Tandem mobile robot system|
|US6526332 *||10 Jun 2002||25 Feb 2003||Sony Corporation||Robot control system and method for introducing robot control software|
|US6529765 *||24 May 1999||4 Mar 2003||Neutar L.L.C.||Instrumented and actuated guidance fixture for sterotactic surgery|
|US6529802 *||23 Jun 1999||4 Mar 2003||Sony Corporation||Robot and information processing system|
|US6532404 *||1 Mar 2002||11 Mar 2003||Colens Andre||Mobile robots and their control system|
|US6535182 *||7 Dec 1998||18 Mar 2003||Koninklijke Philips Electronics N.V.||Head-mounted projection display system|
|US6535793 *||1 May 2001||18 Mar 2003||Irobot Corporation||Method and system for remote control of mobile robot|
|US6684129 *||11 Apr 2002||27 Jan 2004||Intuitive Surgical, Inc.||Master having redundant degrees of freedom|
|US6691000 *||25 Jul 2002||10 Feb 2004||Communications Research Laboratory, Independent Administrative Institution||Robot-arm telemanipulating system presenting auditory information|
|US6839612 *||7 Dec 2001||4 Jan 2005||Institute Surgical, Inc.||Microwrist system for surgical procedures|
|US6840904 *||11 Oct 2001||11 Jan 2005||Jason Goldberg||Medical monitoring device and system|
|US6845297 *||9 Jan 2003||18 Jan 2005||Irobot Corporation||Method and system for remote control of mobile robot|
|US6852107 *||16 Jan 2002||8 Feb 2005||Computer Motion, Inc.||Minimally invasive surgical training using robotics and tele-collaboration|
|US6853878 *||8 Feb 2001||8 Feb 2005||Kabushiki Kaisha Yaskawa Denki||Robot controller|
|US6853880 *||22 Aug 2002||8 Feb 2005||Honda Giken Kogyo Kabushiki Kaisha||Autonomous action robot|
|US6995664 *||20 Jun 2001||7 Feb 2006||Jeffrey Darling||Remote supervision system and method|
|US7156809 *||17 Jun 2005||2 Jan 2007||Q-Tec Systems Llc||Method and apparatus for health and disease management combining patient data monitoring with wireless internet connectivity|
|US7158859 *||14 May 2003||2 Jan 2007||Intouch Technologies, Inc.||5 degrees of freedom mobile robot|
|US7158860 *||12 Sep 2003||2 Jan 2007||Intouch Technologies, Inc.||Healthcare tele-robotic system which allows parallel remote station observation|
|US7158861 *||18 Sep 2003||2 Jan 2007||Intouch Technologies, Inc.||Tele-robotic system used to provide remote consultation services|
|US7161322 *||18 Nov 2003||9 Jan 2007||Intouch Technologies, Inc.||Robot with a manipulator arm|
|US7162338 *||17 Dec 2003||9 Jan 2007||Evolution Robotics, Inc.||Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system|
|US7164969 *||2 Jan 2004||16 Jan 2007||Intouch Technologies, Inc.||Apparatus and method for patient rounding with a remote controlled robot|
|US7171286 *||12 Sep 2003||30 Jan 2007||Intouch Technologies, Inc.||Healthcare tele-robotic system with a robot that also functions as a remote station|
|US7174238 *||2 Sep 2003||6 Feb 2007||Stephen Eliot Zweig||Mobile robotic system with web server and digital radio links|
|US7184559 *||23 Feb 2001||27 Feb 2007||Hewlett-Packard Development Company, L.P.||System and method for audio telepresence|
|US7321807 *||22 Nov 2006||22 Jan 2008||Abb Inc.||Robotic wash cell using recycled pure water|
|US7391432 *||5 Feb 2002||24 Jun 2008||Fujifilm Corporation||Videoconference system|
|US7421470 *||26 Nov 2003||2 Sep 2008||Avistar Communications Corporation||Method for real-time communication between plural users|
|US7433921 *||26 Nov 2003||7 Oct 2008||Avistar Communications Corporation||System for real-time communication between plural users|
|US7643051 *||9 Sep 2005||5 Jan 2010||Roy Benjamin Sandberg||Mobile video teleconferencing system and control method|
|US7647320 *||31 May 2002||12 Jan 2010||Peoplechart Corporation||Patient directed system and method for managing medical information|
|US7956894 *||19 Feb 2003||7 Jun 2011||William Rex Akers||Apparatus and method for computerized multi-media medical and pharmaceutical data organization and transmission|
|US8116910 *||23 Aug 2007||14 Feb 2012||Intouch Technologies, Inc.||Telepresence robot with a printer|
|US20010010541 *||29 Mar 2001||2 Aug 2001||Fernandez Dennis Sunga||Integrated network for monitoring remote objects|
|US20010051881 *||22 Dec 2000||13 Dec 2001||Aaron G. Filler||System, method and article of manufacture for managing a medical services network|
|US20020010596 *||13 Apr 2001||24 Jan 2002||Matory Yvedt L.||Remote patient care|
|US20020015296 *||22 Dec 2000||7 Feb 2002||Howell Charles A.||Surgical theater system having light, monitors, and cameras|
|US20020027597 *||5 Sep 2001||7 Mar 2002||John Sachau||System for mobile videoconferencing|
|US20020033880 *||27 Dec 2000||21 Mar 2002||Dong-Myung Sul||Method for performing multipoint video conference in video conferencing system|
|US20020044201 *||18 Oct 2001||18 Apr 2002||Intel Corporation||Method and apparatus for controlling a remote video camera in a video conferencing system|
|US20020109770 *||5 Feb 2002||15 Aug 2002||Masahiro Terada||Videoconference system|
|US20020183598 *||30 May 2002||5 Dec 2002||Nobuyuki Teraura||Remote care service technique, care recipient monitoring terminal for use in the technique, and program for use in the terminal|
|US20030030397 *||20 Sep 2001||13 Feb 2003||Simmons John Castle||Natural robot control|
|US20030048481 *||23 Aug 2002||13 Mar 2003||Takashi Kobayashi||Electronic apparatus|
|US20030050733 *||7 Sep 2001||13 Mar 2003||Yulun Wang||Modularity system for computer assisted surgery|
|US20030060808 *||22 Feb 2001||27 Mar 2003||Wilk Peter J.||Telemedical method and system|
|US20040010344 *||9 Jul 2003||15 Jan 2004||Kawasaki Jukogyo Kabushiki Kaisha||Remote control method and system for robot controller|
|US20040012362 *||26 Mar 2003||22 Jan 2004||Shingo Tsurumi||Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium|
|US20040013295 *||13 Mar 2003||22 Jan 2004||Kohtaro Sabe||Obstacle recognition apparatus and method, obstacle recognition program, and mobile robot apparatus|
|US20040017475 *||19 Feb 2003||29 Jan 2004||Akers William Rex||Apparatus and method for computerized multi-media data organization and transmission|
|US20040019406 *||25 Jul 2002||29 Jan 2004||Yulun Wang||Medical tele-robotic system|
|US20040024490 *||16 Apr 2003||5 Feb 2004||Mclurkin James||System amd methods for adaptive control of robotic devices|
|US20040041604 *||25 Feb 2003||4 Mar 2004||Kizer Jade M.||Phase jumping locked loop circuit|
|US20040107254 *||26 Nov 2003||3 Jun 2004||Collaboration Properties, Inc.||Method for real-time communication between plural users|
|US20040107255 *||26 Nov 2003||3 Jun 2004||Collaboration Properties, Inc.||System for real-time communication between plural users|
|US20040150725 *||27 Oct 2003||5 Aug 2004||Canon Kabushiki Kaisha||Video system for use with video telephone and video conferencing|
|US20050000330 *||1 Jul 2003||6 Jan 2005||Schimmels William J.||Adjustable blind trimming apparatus and method of operating the same|
|US20050003330 *||2 Jul 2003||6 Jan 2005||Mehdi Asgarinejad||Interactive virtual classroom|
|US20050004708 *||5 May 2004||6 Jan 2005||Goldenberg Andrew A.||Mobile robot hybrid communication link|
|US20050007445 *||11 Jul 2003||13 Jan 2005||Foote Jonathan T.||Telepresence system and method for video teleconferencing|
|US20050013149 *||20 May 2004||20 Jan 2005||David Trossell||Library partitioning module operable to modify a request to move the medium|
|US20050021182 *||6 Aug 2004||27 Jan 2005||Yulun Wang||Medical tele-robotic system|
|US20050021183 *||6 Aug 2004||27 Jan 2005||Yulun Wang||Medical tele-robotic system|
|US20050021187 *||6 Aug 2004||27 Jan 2005||Yulun Wang||Medical tele-robotic system|
|US20050021309 *||6 Apr 2004||27 Jan 2005||Vigilos, Inc.||Method and process for configuring a premises for monitoring|
|US20050024485 *||31 Jul 2003||3 Feb 2005||Polycom, Inc.||Graphical user interface for system status alert on videoconference terminal|
|US20050027567 *||28 Jul 2004||3 Feb 2005||Taha Amer Jamil||System and method for health care data collection and management|
|US20050027794 *||29 Jul 2003||3 Feb 2005||Far Touch Inc.||Remote control of a wireless device using a web browser|
|US20050028221 *||28 Jul 2003||3 Feb 2005||Fuji Xerox Co., Ltd.||Video enabled tele-presence control host|
|US20050035862 *||12 Apr 2004||17 Feb 2005||Wildman Timothy D.||Article locating and tracking apparatus and method|
|US20050038416 *||23 Sep 2004||17 Feb 2005||Computer Motion, Inc.||Minimally invasive surgical training using robotics and telecollaboration|
|US20050038564 *||11 Aug 2004||17 Feb 2005||Burick Thomas J.||Robot with removable mounting elements|
|US20060007943 *||7 Jul 2005||12 Jan 2006||Fellman Ronald D||Method and system for providing site independent real-time multimedia transport over packet-switched networks|
|US20060013263 *||19 Jul 2005||19 Jan 2006||Fellman Ronald D||System and method for clock synchronization over packet-switched networks|
|US20060013469 *||13 Jul 2004||19 Jan 2006||Yulun Wang||Mobile robot with a head-based movement mapping scheme|
|US20060013488 *||8 Aug 2003||19 Jan 2006||Hisashi Inoue||Information-embedding apparatus, encoder, tamper-detecting apparatus, information-embedding method, tamper-detecting method, and recording medium having program recorded therein for executing both of the methods|
|US20060020694 *||14 Jul 2005||26 Jan 2006||Prominence Networks, Inc.||Administering a communication network|
|US20060029065 *||19 Jul 2005||9 Feb 2006||Fellman Ronald D||System and method for low-latency content-sensitive forward error correction|
|US20070021871 *||27 Sep 2006||25 Jan 2007||Yulun Wang||Medical tele-robotic system|
|US20080011904 *||5 Feb 2007||17 Jan 2008||United States Of America As Represented By The Administrator Of The Nasa||Method and Associated Apparatus for Capturing, Servicing, and De-Orbiting Earth Satellites Using Robotics|
|US20090030552 *||12 Feb 2003||29 Jan 2009||Japan Science And Technology Agency||Robotics visual and auditory system|
|US20090055023 *||23 Aug 2007||26 Feb 2009||Derek Walters||Telepresence robot with a printer|
|US20100010672 *||10 Jul 2008||14 Jan 2010||Yulun Wang||Docking system for a tele-presence robot|
|US20100010673 *||11 Jul 2008||14 Jan 2010||Yulun Wang||Tele-presence robot system with multi-cast features|
|US20100019715 *||17 Apr 2008||28 Jan 2010||David Bjorn Roe||Mobile tele-presence system with a microphone system|
|US20120023506 *||20 Jul 2010||26 Jan 2012||Apple Inc.||Maintaining Data States Upon Forced Exit|
|AU1216200A *||Title not available|
|JP2002321180A *||Title not available|
|WO2000025516A1 *||22 Oct 1999||4 May 2000||Vtel Corp||Graphical menu items for a user interface menu of a video teleconferencing system|
|Citing Patent||Filing date||Publication date||Applicant||Title|
|US7211980||5 Jul 2006||1 May 2007||Battelle Energy Alliance, Llc||Robotic follow system and method|
|US7584020||5 Jul 2006||1 Sep 2009||Battelle Energy Alliance, Llc||Occupancy change detection system and method|
|US7587260||5 Jul 2006||8 Sep 2009||Battelle Energy Alliance, Llc||Autonomous navigation system and method|
|US7620477||5 Jul 2006||17 Nov 2009||Battelle Energy Alliance, Llc||Robotic intelligence kernel|
|US7643051||9 Sep 2005||5 Jan 2010||Roy Benjamin Sandberg||Mobile video teleconferencing system and control method|
|US7668621||5 Jul 2006||23 Feb 2010||The United States Of America As Represented By The United States Department Of Energy||Robotic guarded motion system and method|
|US7761185 *||3 Oct 2006||20 Jul 2010||Intouch Technologies, Inc.||Remote presence display through remotely controlled robot|
|US7769492||22 Feb 2006||3 Aug 2010||Intouch Technologies, Inc.||Graphical interface for a remote presence system|
|US7801644||5 Jul 2006||21 Sep 2010||Battelle Energy Alliance, Llc||Generic robot architecture|
|US7974738||5 Jul 2006||5 Jul 2011||Battelle Energy Alliance, Llc||Robotics virtual rail system and method|
|US8073564 *||5 Jul 2006||6 Dec 2011||Battelle Energy Alliance, Llc||Multi-robot control interface|
|US8116910||23 Aug 2007||14 Feb 2012||Intouch Technologies, Inc.||Telepresence robot with a printer|
|US8170241||17 Apr 2008||1 May 2012||Intouch Technologies, Inc.||Mobile tele-presence system with a microphone system|
|US8179418||14 Apr 2008||15 May 2012||Intouch Technologies, Inc.||Robotic based health care system|
|US8271132||13 Mar 2008||18 Sep 2012||Battelle Energy Alliance, Llc||System and method for seamless task-directed autonomy for robots|
|US8306638 *||30 Nov 2005||6 Nov 2012||The Invention Science Fund I, Llc||Mote presentation affecting|
|US8340819||16 Sep 2009||25 Dec 2012||Intouch Technologies, Inc.||Mobile videoconferencing robot system with network adaptive driving|
|US8352072 *||7 Aug 2008||8 Jan 2013||Wave Group Ltd.||System for extending the observation, surveillance, and navigational capabilities of a robot|
|US8355818||3 Sep 2009||15 Jan 2013||Battelle Energy Alliance, Llc||Robots, systems, and methods for hazard evaluation and visualization|
|US8384755||26 Aug 2009||26 Feb 2013||Intouch Technologies, Inc.||Portable remote presence robot|
|US8401275||27 Mar 2009||19 Mar 2013||Intouch Technologies, Inc.||Mobile robot with a head-based movement mapping scheme|
|US8463435||6 Jan 2009||11 Jun 2013||Intouch Technologies, Inc.||Server connectivity control for tele-presence robot|
|US8515577||5 Nov 2007||20 Aug 2013||Yulun Wang||Medical tele-robotic system with a master remote station with an arbitrator|
|US8525853||24 Jul 2012||3 Sep 2013||Google Inc.||Methods and systems for generating a layered display of a device|
|US8670017||4 Mar 2010||11 Mar 2014||Intouch Technologies, Inc.||Remote presence system including a cart that supports a robot face and an overhead camera|
|US8718837||27 Jan 2012||6 May 2014||Intouch Technologies||Interfacing with a mobile telepresence robot|
|US8836751||8 Nov 2011||16 Sep 2014||Intouch Technologies, Inc.||Tele-presence system with a user interface that displays different communication links|
|US8849679||25 Nov 2008||30 Sep 2014||Intouch Technologies, Inc.||Remote controlled robot system that provides medical images|
|US8849680||29 Jan 2009||30 Sep 2014||Intouch Technologies, Inc.||Documentation through a remote presence robot|
|US8892260||30 Sep 2013||18 Nov 2014||Irobot Corporation||Mobile robot for telecommunication|
|US8897920||17 Apr 2009||25 Nov 2014||Intouch Technologies, Inc.||Tele-presence robot system with software modularity, projector and laser pointer|
|US8902278||25 Jul 2012||2 Dec 2014||Intouch Technologies, Inc.||Systems and methods for visualizing and managing telepresence devices in healthcare networks|
|US8930019||23 Sep 2011||6 Jan 2015||Irobot Corporation||Mobile human interface robot|
|US8935005||22 Feb 2011||13 Jan 2015||Irobot Corporation||Operating a mobile robot|
|US8965578||16 Mar 2011||24 Feb 2015||Battelle Energy Alliance, Llc||Real time explosive hazard information sensing, processing, and communication for autonomous operation|
|US8965579||27 Jan 2012||24 Feb 2015||Intouch Technologies||Interfacing with a mobile telepresence robot|
|US8983174||19 Feb 2013||17 Mar 2015||Intouch Technologies, Inc.||Mobile robot with a head-based movement mapping scheme|
|US8996165||21 Oct 2008||31 Mar 2015||Intouch Technologies, Inc.||Telepresence robot with a camera boom|
|US9014848||22 Feb 2011||21 Apr 2015||Irobot Corporation||Mobile robot system|
|US9089972||16 Jan 2014||28 Jul 2015||Intouch Technologies, Inc.||Remote presence system including a cart that supports a robot face and an overhead camera|
|US9098611||14 Mar 2013||4 Aug 2015||Intouch Technologies, Inc.||Enhanced video interaction for a user interface of a telepresence network|
|US9138891||25 Nov 2008||22 Sep 2015||Intouch Technologies, Inc.||Server connectivity control for tele-presence robot|
|US20060259193 *||12 May 2005||16 Nov 2006||Yulun Wang||Telerobotic system with a dual application screen presentation|
|US20070122783 *||10 Oct 2006||31 May 2007||Habashi Nader M||On-line healthcare consultation services system and method of using same|
|US20100010673 *||11 Jul 2008||14 Jan 2010||Yulun Wang||Tele-presence robot system with multi-cast features|
|US20110035054 *||7 Aug 2008||10 Feb 2011||Wave Group Ltd.||System for Extending The Observation, Surveillance, and Navigational Capabilities of a Robot|
|US20110246551 *||20 Jun 2008||6 Oct 2011||Space Software Italia S.P.A.||Adaptive multifunction mission system|
|US20120209431 *||16 Aug 2012||Wright Timothy C||Robotic based health care system|
|US20130218346 *||21 Aug 2012||22 Aug 2013||Timothy D. Root||Method & apparatus for remotely operating a robotic device linked to a communications network|
|WO2006127297A2 *||11 May 2006||30 Nov 2006||Intouch Technologies Inc||Telerobotic system with a dual application screen presentation|
|WO2009128997A1 *||9 Mar 2009||22 Oct 2009||Intouch Technologies, Inc.||A robotic based health care system|
|U.S. Classification||455/67.7, 901/1|
|International Classification||H04B17/00, B25J5/00|
|Cooperative Classification||B25J9/1689, B25J5/00, B25J11/009|
|European Classification||B25J11/00S2, B25J9/16T4, B25J5/00|
|5 May 2005||AS||Assignment|
Owner name: INTOUCH-HEALTH, INC., CALIFORNIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:WANG, YULAN;JORDAN, CHARLES S.;SOUTHARD, JONATHAN;AND OTHERS;REEL/FRAME:016529/0987;SIGNING DATES FROM 20050405 TO 20050414
|15 Jun 2005||AS||Assignment|
Owner name: INTOUCH TECHNOLOGIES, INC., CALIFORNIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:INTOUCH HEALTH, INC.;REEL/FRAME:016686/0356
Effective date: 20050531