US20120283746A1

US20120283746A1 - Mobile Medical Robotic System

Info

Publication number: US20120283746A1
Application number: US13/461,687
Authority: US
Inventors: John Hu; Yi-Je Lim
Original assignee: Hstar Technology
Current assignee: Hstar Technology
Priority date: 2011-05-02
Filing date: 2012-05-01
Publication date: 2012-11-08
Also published as: US20120283872A1; US9440357B2

Abstract

A medical robotic system comprises a drive track unit being operable for moving the medical robotic system along a floor. An upper torso unit is joined to the drive track unit. The upper torso unit comprises at least one actuator assembly. At least one bimanual dexterous manipulator is joined to the actuator assembly in which the actuator assembly imparts torque and movement to the bimanual dexterous manipulator for lifting an object. The bimanual dexterous manipulator comprises a pair of dexterous manipulators. Each of the dexterous manipulators comprises a length being configured to support lifting an adult patient, and an end comprising a planar structure being configured for placing between the adult patient and a patient platform. The drive track unit is operable for moving the medical robotic system to the patient platform and the bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The present Utility patent application claims priority benefit of the U.S. provisional application for patent Ser. No. 61/518,096 filed on May 2, 2011 under 35 U.S.C. 119(e). The contents of this related provisional application are incorporated herein by reference for all purposes to the extent that such subject matter is not inconsistent herewith or limiting hereof.

FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

This patent is partially developed through US Army SBIR Phase II Project under Contract W81XWH-08-C-0002 with project title: An Advanced Medical Robotic System Augmenting Healthcare Capabilities.

REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER LISTING APPENDIX

Not applicable.

COPYRIGHT NOTICE

A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or patent disclosure as it appears in the Patent and Trademark Office, patent file or records, but otherwise reserves all copyright rights whatsoever.

FIELD OF THE INVENTION

One or more embodiments of the invention generally relate to robots. More particularly, one or more embodiments of the invention relate to medical robots.

BACKGROUND OF THE INVENTION

The following background information may present examples of specific aspects of the prior art (e.g., without limitation, approaches, facts, or common wisdom) that, while expected to be helpful to further educate the reader as to additional aspects of the prior art, is not to be construed as limiting the present invention, or any embodiments thereof, to anything stated or implied therein or inferred thereupon.
The following is an example of a specific aspect in the prior art that, while expected to be helpful to further educate the reader as to additional aspects of the prior art, is not to be construed as limiting the present invention, or any embodiments thereof, to anything stated or implied therein or inferred thereupon. By way of educational background, another aspect of the prior art generally useful to be aware of is that a robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is controlled by means of computer and electronic programming. By mimicking a lifelike appearance or automating movements, a robot may convey a sense that it has intent or agency of its own. More importantly, a robot working with nurse and supporting patient should be also have an intrinsically safe actuation and being able to cooperate with human safely which is significantly different from those industrial robots constrained in a protected area.
Typically, a wide range of mechanical lifting and transfer solutions have evolved to enable safe patient lifting and handling.
Typically, one can expect that the aging population will require greater medical assistance, which may result in inadequate health services. The human workforce does not have the same capacity to service the aging population as a robotic device would. The time and effort needed are great.
In view of the foregoing, it is clear that these traditional techniques are not perfect and leave room for more optimal approaches.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar elements and in which:

FIG. 1 illustrates an exemplary medical robotic system that displays an interface and is positioned to lift an object, in accordance with an embodiment of the present invention;

FIGS. 2 a and 2 b illustrate an exemplary medical robotic system performing medical services for a patient, in accordance with an embodiment of the present invention, where FIG. 2 a illustrates medical robotic system displaying an interface to communicate with the patient in an exemplary position, and FIG. 2 b illustrates the medical robotic system utilizing a pair of dexterous manipulators to lift the patient in an exemplary position;

FIG. 3 a illustrates exemplary dexterous manipulator in an extended position, in accordance with an embodiment of the present invention;

FIG. 3 b illustrates a blow up view of an exemplary dexterous manipulator in relation to medical robotic system, in accordance with an embodiment of the present invention;

FIG. 4 a illustrates a detailed perspective view of actuator assembly encased inside an upper torso, in accordance with an embodiment of the present invention;

FIG. 4 b illustrates a blow up view of actuator assembly that powers bimanual dexterous manipulator, in accordance with an embodiment of the present invention;

FIG. 4 c illustrates a sectioned view of actuator assembly that moves the bimanual dexterous manipulators, in accordance with an embodiment of the present invention;

FIGS. 4 d and 4 e illustrate an exemplary output shaft, where FIG. 4 d illustrates a blow up view of output shaft, and FIG. 4 e illustrates a side view of three separate sets of torsional springs positioned for modular design by removing or adding rods, in accordance with an embodiment of the present invention;

FIG. 5 illustrates an exemplary upper torso that attaches to dexterous manipulator and receives an interface, in accordance with an embodiment of the present invention;

FIGS. 6 a and 6 b illustrates a detailed perspective view of an exemplary mobile platform that provides an enhanced stability with zero moment point extender for the medical robotic system, in accordance with an embodiment of the present invention, where FIG. 6 a provides a mobile platform for movement of the medical robotic system, and FIG. 6 b expands to provide a wide base for stability for the medical robotic system; and

FIG. 7 illustrates an exemplary navigation control system on mobile medical robotic system that traverses through a medical facility, in accordance with an embodiment of the present invention.

Unless otherwise indicated illustrations in the figures are not necessarily drawn to scale.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

Embodiments of the present invention are best understood by reference to the detailed figures and description set forth herein.
Embodiments of the invention are discussed below with reference to the Figures. However, those skilled in the art will readily appreciate that the detailed description given herein with respect to these figures is for explanatory purposes as the invention extends beyond these limited embodiments. For example, it should be appreciated that those skilled in the art will, in light of the teachings of the present invention, recognize a multiplicity of alternate and suitable approaches, depending upon the needs of the particular application, to implement the functionality of any given detail described herein, beyond the particular implementation choices in the following embodiments described and shown. That is, there are numerous modifications and variations of the invention that are too numerous to be listed but that all fit within the scope of the invention. Also, singular words should be read as plural and vice versa and masculine as feminine and vice versa, where appropriate, and alternative embodiments do not necessarily imply that the two are mutually exclusive.
It is to be further understood that the present invention is not limited to the particular methodology, compounds, materials, manufacturing techniques, uses, and applications, described herein, as these may vary. It is also to be understood that the terminology used herein is used for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention. It must be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include the plural reference unless the context clearly dictates otherwise. Thus, for example, a reference to “an element” is a reference to one or more elements and includes equivalents thereof known to those skilled in the art. Similarly, for another example, a reference to “a step” or “a means” is a reference to one or more steps or means and may include sub-steps and subservient means. All conjunctions used are to be understood in the most inclusive sense possible. Thus, the word “or” should be understood as having the definition of a logical “or” rather than that of a logical “exclusive or” unless the context clearly necessitates otherwise. Structures described herein are to be understood also to refer to functional equivalents of such structures. Language that may be construed to express approximation should be so understood unless the context clearly dictates otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which this invention belongs. Preferred methods, techniques, devices, and materials are described, although any methods, techniques, devices, or materials similar or equivalent to those described herein may be used in the practice or testing of the present invention. Structures described herein are to be understood also to refer to functional equivalents of such structures. The present invention will now be described in detail with reference to embodiments thereof as illustrated in the accompanying drawings.
From reading the present disclosure, other variations and modifications will be apparent to persons skilled in the art. Such variations and modifications may involve equivalent and other features which are already known in the art, and which may be used instead of or in addition to features already described herein.
Although Claims have been formulated in this Application to particular combinations of features, it should be understood that the scope of the disclosure of the present invention also includes any novel feature or any novel combination of features disclosed herein either explicitly or implicitly or any generalization thereof, whether or not it relates to the same invention as presently claimed in any Claim and whether or not it mitigates any or all of the same technical problems as does the present invention.
Features which are described in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, various features which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination. The Applicants hereby give notice that new Claims may be formulated to such features and/or combinations of such features during the prosecution of the present Application or of any further Application derived therefrom.
References to “one embodiment,” “an embodiment,” “example embodiment,” “various embodiments,” etc., may indicate that the embodiment(s) of the invention so described may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Further, repeated use of the phrase “in one embodiment,” or “in an exemplary embodiment,” do not necessarily refer to the same embodiment, although they may.
As is well known to those skilled in the art many careful considerations and compromises typically must be made when designing for the optimal manufacture of a commercial implementation any system, and in particular, the embodiments of the present invention. A commercial implementation in accordance with the spirit and teachings of the present invention may configured according to the needs of the particular application, whereby any aspect(s), feature(s), function(s), result(s), component(s), approach(es), or step(s) of the teachings related to any described embodiment of the present invention may be suitably omitted, included, adapted, mixed and matched, or improved and/or optimized by those skilled in the art, using their average skills and known techniques, to achieve the desired implementation that addresses the needs of the particular application.
In the following description and claims, the terms “coupled” and “connected,” along with their derivatives, may be used. It should be understood that these terms are not intended as synonyms for each other. Rather, in particular embodiments, “connected” may be used to indicate that two or more elements are in direct physical or electrical contact with each other. “Coupled” may mean that two or more elements are in direct physical or electrical contact. However, “coupled” may also mean that two or more elements are not in direct contact with each other, but yet still cooperate or interact with each other.
It is to be understood that any exact measurements/dimensions or particular construction materials indicated herein are solely provided as examples of suitable configurations and are not intended to be limiting in any way. Depending on the needs of the particular application, those skilled in the art will readily recognize, in light of the following teachings, a multiplicity of suitable alternative implementation details.
Those skilled in the art will readily recognize, in light of and in accordance with the teachings of the present invention, that any of the foregoing steps and/or system modules may be suitably replaced, reordered, removed and additional steps and/or system modules may be inserted depending upon the needs of the particular application, and that the systems of the foregoing embodiments may be implemented using any of a wide variety of suitable processes and system modules, and is not limited to any particular computer hardware, software, middleware, firmware, microcode and the like. For any method steps described in the present application that can be carried out on a computing machine, a typical computer system can, when appropriately configured or designed, serve as a computer system in which those aspects of the invention may be embodied.
Those skilled in the art will readily recognize, in light of and in accordance with the teachings of the present invention, that any of the foregoing steps may be suitably replaced, reordered, removed and additional steps may be inserted depending upon the needs of the particular application. Moreover, the prescribed method steps of the foregoing embodiments may be implemented using any physical and/or hardware system that those skilled in the art will readily know is suitable in light of the foregoing teachings. For any method steps described in the present application that can be carried out on a computing machine, a typical computer system can, when appropriately configured or designed, serve as a computer system in which those aspects of the invention may be embodied.
FIGS. 1 through 7 illustrate some exemplary embodiments and various views of a medical robotic system 100 and numerous components of medical robotic system, in accordance with at least one embodiment of the present invention. One embodiment of the present invention may include a robotic system that services a patient 200 in a medical facility. The medical robotic system may service patient, and traverse through the medical facility under direct or telepresence control by a medical professional 210. Some embodiments of the present invention may have a holonomic drive system for easy maneuverability in a hospital setting, an intuitive interface for human-robot interaction, and dexterous manipulation having sufficient strength to lift and move patients and heavy loads up to, but not limited to, 300 lbs. In some embodiments, medical robotic system may include numerous components that are integrated together. Some of the major components may include, without limitation, at least one bimanual dexterous manipulator 110, an innovative humanoid upper torso 125, a drive track 130 with a stability enhancement device 132 and holonomic drive capabilities, a navigation control system with 3D sensing and perception capability, an interface 128 for human-robot interaction, and a highly integrated plan for healthcare system integration.
FIG. 1 illustrates an exemplary mobile medical robotic system that displays an interface and is positioned to lift an object, in accordance with an embodiment of the present invention. In embodiment shown, the medical robotic system assists a medical professional with servicing the patient's medical needs, reducing the medical professional's exposure to back pain from heavy lifting, entertaining the patient, moving heavy objects, carrying medical supplies, acting as a conduit for remote medical professionals, and inventory management. The medical robotic system may also provide numerous capabilities efficacious for servicing patients in a medical facility, including but not limited to: a) navigating intelligently in hospital environments with a mobile holonomic drive track, b) supporting an intuitive interface guided by human-robot interaction, c) performing through direct control by a health professional through a telepresence operation, and d) providing dexterous manipulation and sufficient strength to lift/move patients and heavy loads. In alternative embodiment, the medical robotic system may perform functions in a medical facility store house, such as, but not limited to, stocking medication, discarding waste, and taking inventory.
FIGS. 2 a and 2 b illustrate an exemplary medical robotic system performing medical services for a patient, in accordance with an embodiment of the present invention, where FIG. 2 a illustrates medical robotic system displaying an interface to communicate with the patient in an exemplary position, and FIG. 2 b illustrates the medical robotic system utilizing a pair of dexterous manipulators to lift the patient in an exemplary position. In the embodiment shown, the medical robotic system may approach the patient in bed. The medical robotic system may adjust the elevation of the torso so that the interface is at eye level with the patient. A drive train may raise or lower to adjust the height of the torso. In the present embodiment, a medical professional including, but not limited to, a doctor, nurse, and technician may communicate through visual and audio means to the patient. In one alternative embodiment, the medical professional may be remotely located from the medical facility. The patient may also write instructions and questions on a touch screen positioned on the interface. In some embodiments, the medical professional may transmit instructions to medical robotic system to approach and lift the patient. Medical robotic system may increase the base with a stability enhancement device on the drive train to ensure secure control of patient. A pair of dexterous manipulators may lift the patient with sufficient torque so that up to, but not limited to three hundred pounds may be lifted. In some embodiments, the dexterous manipulators may comprise of a fabric efficacious for providing sensitive contact with human skin.
FIG. 3 a illustrates exemplary dexterous manipulator in an extended position, in accordance with an embodiment of the present invention. In the embodiment shown, the dexterous manipulator may extend from an upper torso and serve as an arm for lifting and manipulating an object, including, but not limited to a medical device, a container of medication, a writing utensil, and a container of food. In some embodiments, dexterous manipulator includes a planar extreme end sufficient for positioning between patient and a bed. Dexterous manipulator may also include, without limitation, thermal sensors and vibration sensors to provide enhanced sensitivity. The dexterous manipulator comprises sufficient strength to lift a heavy object and sufficient dexterity to manipulate sensitive medical devices. An actuator assembly attached to dexterous manipulator provides sufficient torque to lift a heavy object, including but not limited to, an adult patient. In some embodiments, the dexterous manipulator may comprise of a multiplicity of joints to provide enhanced mobility and grasping. In one alternative embodiment, the medical robotic system may include sufficient dexterity and sensitivity to perform a surgical procedure with dexterous manipulator.
In some embodiments, the dexterous manipulator may comprise of compliant actuator to better mimic the manipulation capabilities of human arms. In one alternative embodiment, a compliant actuator provides a means of force control and soft interaction with human for enhanced manipulation. Those skilled in the art, in light of the present teachings, recognize that patient may feel more relaxed if the arm that encompasses dexterous manipulator has tactile properties similar to the human arm.
FIG. 3 b illustrates a blow up view of an exemplary dexterous manipulator in relation to medical robotic system, in accordance with an embodiment of the present invention. Dexterous manipulator extends from upper torso, providing sufficient length to fully support an adult patient. In one alternative embodiment, dexterous manipulator may detach from upper torso. An eclectic variety of dexterous manipulator extreme ends (i.e., end-effector) may replace the original, including but not limited to, with drills, magnets, human shaped hands, clamps, writing utensils, laser heads, or saws.
FIG. 4 a illustrates a detailed perspective view of actuator assembly encased inside an upper torso, in accordance with an embodiment of the present invention. Such actuator assembly may be utilized in dexterous manipulator to provide torque and movement for lifting a heavy object. In some embodiments, actuator assembly may be electrical and provide manipulator compliance, safety, flexibility and the strength to lifting a heavy patient. In the present embodiment, actuator assembly creates sufficient power to lift heavy objects, and sufficient sensitivity to avoid harming patient, and sufficient dexterity to manipulate smaller, more delicate objects. In some embodiments, actuator assembly may include characteristics that are, without limit, strong and reliable to meet the demands of heavy lifting tasks; 2) inherently safe by limiting output force through use of compliance and force feedback actuation; 3) efficient to prolong battery life; 4) and compact and lightweight to be easily handled. Those skilled in the art, in light of the present teachings, will recognize that to ensure that medical robotic system does not drop the object if a power failure occurs, actuator assembly must be non-backdriveable. This requirement may be met by utilizing a worm drive gear and harmonic drive system.
FIG. 4 b illustrates a blow up view of actuator assembly that powers bimanual dexterous manipulator, in accordance with an embodiment of the present invention. In the present embodiment, actuator assembly may comprise of a motor for transferring torque to a gear box. Actuator assembly utilizes components of elastic materials and properties to provide enhanced torque in a limited area. An output shaft drives the manipulator joint, and includes a multiplicity of torsional springs. In the present embodiment, torsional springs utilize urethane rods to provide large torque in a small area. The urethane rods may be positioned in matched grooves in the actuator assembly housing and output shaft. Relative angular motion between assembly housing and output shaft acts to deform the urethane, creating high torsional spring rates in minimal space.
FIG. 4 c illustrates a sectioned view of actuator assembly that moves the bimanual dexterous manipulators, in accordance with an embodiment of the present invention. In the embodiment shown, torso may include a modular structure composed of three actuator assemblies attached to each other. Those skilled in the art will recognize that designing in this way may simplify the manufacturing process and allow for quick and easy repairs. Problematic actuators may be changed out quickly or rebuilt with a minimal stock of spare components. The lower two actuator assemblies that form a bicep from FIG. 3 a are connected by an interlocking bracket at the rear. Attaching the third actuator at a right angle completes the 3-degree of freedom upper arm.
FIGS. 4 d and 4 e illustrate an exemplary output shaft, where FIG. 4 d illustrates a blow up view of output shaft, and FIG. 4 e illustrates a side view of three separate sets of torsional springs positioned in three separate output shafts, in accordance with an embodiment of the present invention. In some embodiments, torsional springs work in unison to provide sufficient torque. Those skilled in the art will recognize that actuator assembly should be a self-contained actuator, capable of continuous rotation.
FIG. 5 illustrates an exemplary upper torso that attaches to dexterous manipulator and receives an interface, in accordance with an embodiment of the present invention. In the embodiment shown, upper torso may resemble a human torso to increase functions and to comfort patient. Upper torso may be capable of advanced dexterous manipulation and patient lifting, haptic feedback and natural human-robot interaction. In some embodiments, upper torso may carry an interface for remote communication between health care professional and patient. In the present embodiment, a nurse may remotely interact with medical robotic system through a wireless system. The medical robotic system may include a receiver, and the remote health professional may have access to a transmitter.
In yet another embodiment, interface may provide a conduit for a telepresence for health care professional to perform numerous functions, including without limitation, remotely control medical robotic system, allow health care professional to view the scene from interface, provide data to customer, and communicate with patients. Those skilled in the art, in light of the present teachings, recognize that an advanced human robot interaction module is a key component of medical robotic system. An efficient human-robot interaction module that supports effective direct control and cooperative operation procedures. In a yet another embodiment, medical robotic system utilizes a direct human-robot interaction system. The direct human-robot interaction system may adopt a human-in-the-loop robot control scheme—either under direct commands or in telepresence operation. In some embodiments, the present invention may be used for nursing at hospitals as a nurse assistant or serves as remote service provider at nursing home.
FIGS. 6 a and 6 b illustrates a detailed perspective view of an exemplary robotic mobile platform that provides an enhanced stability with zero moment point extender for the medical robotic system, in accordance with an embodiment of the present invention, where FIG. 6 a provides a mobile platform for movement of the medical robotic system, and FIG. 6 b expands to provide a wide base for stability for the medical robotic system. In the present embodiment, drive track provides a foundation for the medical robotic system. By expanding the dimensions of drive track, a larger foundation for drive track creates increased stability for medical robotic system. This may be beneficial for supporting heavy objects. In yet another embodiment, robotic drive track utilizes zero moment point control for enhanced stability. Zero moment point specifies a point with respect to a dynamic reaction force at the contact of the drive train with the ground does not produce any moment in the horizontal direction, i.e. the point where total of vertical inertia and gravity forces equals zero. In the present embodiments, it is this point that may produce the greatest stability, and medical robotic system may intelligently recognize this point.
In some embodiments, robotic drive track may navigate intelligently through a medical facility, including without limit tight spaces in proximity to a bed, with unique perceptive software and a holonomic drive. Those skilled in the art, in light of the present teachings, will recognize that a holonomic drive is useful for situations requiring higher mobility and lower traction than a standard drive system. The holonomic drive allows drive track to translate in any direction, independent of rotation. This movement may utilize, without limitation, omni-wheels or mecanum wheels.
FIG. 7 illustrates an exemplary navigation control system on mobile medical robotic system that traverses through a medical facility, in accordance with an embodiment of the present invention. In the present embodiment, navigation control system may be remotely controlled by health care professional. Navigation control system utilizes intelligent software for sensing, perception, obstacle avoidance, and semi autonomy. Those skilled in the art, in light of the present teachings, recognize that high performance navigation control in a humanoid world like a hospital environment requires advanced sensory perception and intelligent control/decision to ensure system and operation safety. Specifically, the ability to detect a moving object in real-time is crucial and unique to system safety.
In the present embodiment, nurse directs the anthropomorphic, omni-directional robot by moving the robot's compliant arms and applying forces to the robot's hands to guide a robot during navigation around a cluttered bed and placement of its arms underneath a patient.
In some alternative embodiments, medical robotic system may utilize speech recognition software to recognize patient, or identify patient in distress. Medical robotic system may also speak to patient in a soothing human voice to alleviate trepidation from patient. In yet another alternative embodiment, dexterous manipulators perform patient monitoring and medicine delivery through direction from a remote health professional.
In some alternative embodiments, medical robotic system may be powered by electric fully or partially, by pneumatic fully or partially, by hydraulic fully or partially or other power forms.
All the features or embodiment components disclosed in this specification, including any accompanying abstract and drawings, unless expressly stated otherwise, may be replaced by alternative features or components serving the same, equivalent or similar purpose as known by those skilled in the art to achieve the same, equivalent, suitable, or similar results by such alternative feature(s) or component(s) providing a similar function by virtue of their having known suitable properties for the intended purpose. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent, or suitable, or similar features known or knowable to those skilled in the art without requiring undue experimentation.
Having fully described at least one embodiment of the present invention, other equivalent or alternative methods of implementing medical services to patients in a health care facility through a medical robot according to the present invention will be apparent to those skilled in the art. Various aspects of the invention have been described above by way of illustration, and the specific embodiments disclosed are not intended to limit the invention to the particular forms disclosed. The particular implementation of the medical robotic system may vary depending upon the particular context or application. By way of example, and not limitation, the medical robotic system described in the foregoing were principally directed to assisting a nurse by lifting the patient, communicating with the patient through telepresence interface, and maneuvering through a medical facility; however, similar techniques may instead be applied to a military robotic system for assisting soldiers in a battle scenario, which implementations of the present invention are contemplated as within the scope of the present invention. The invention is thus to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the following claims. It is to be further understood that not all of the disclosed embodiments in the foregoing specification will necessarily satisfy or achieve each of the objects, advantages, or improvements described in the foregoing specification.
Claim elements and steps herein may have been numbered and/or lettered solely as an aid in readability and understanding. Any such numbering and lettering in itself is not intended to and should not be taken to indicate the ordering of elements and/or steps in the claims.

Claims

1. A medical robotic system comprising:

a drive track unit being operable for moving the medical robotic system along a floor;

an upper torso unit being joined to said drive track unit, said upper torso unit comprising at least one actuator assembly; and

at least one bimanual dexterous manipulator being joined to said actuator assembly in which said actuator assembly imparts torque and movement to said bimanual dexterous manipulator for lifting an object, said bimanual dexterous manipulator comprising a pair of dexterous manipulators, each of said dexterous manipulators comprising a plurality of joints, a length being configured to support lifting an adult patient, and an extreme end comprising a planar structure being configured for placing between the adult patient and a patient platform, in which said drive track unit is operable for moving the medical robotic system to the patient platform and said bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.

2. The medical robotic system as recited in claim 1, further comprising a stability device being joined to said drive track unit, said stability device being configured to increase dimensions of said drive track unit to increase stability of the medical robotic system while lifting objects.

3. The medical robotic system as recited in claim 2, in which said stability device is retractable within said drive track unit.

4. The medical robotic system as recited in claim 2, in which said stability device further comprises a plurality of wheels or supporting legs.

5. The medical robotic system as recited in claim 1, in which said drive track unit is further configured to be holonomic.

6. The medical robotic system as recited in claim 5, in which said drive track unit further comprises a plurality of mecanum wheels.

7. The medical robotic system as recited in claim 1, in which said drive track unit utilizes zero moment point methodology for enhanced stability.

8. The medical robotic system as recited in claim 1, further comprising an interface for remote communication between a health care professional and the adult patient.

9. The medical robotic system as recited in claim 8, in which said interface is joined to said upper torso unit.

10. The medical robotic system as recited in claim 9, further comprising means for adjusting a height of said upper torso unit to place said interface at eye level with the adult patient on the patient platform.

11. The medical robotic system as recited in claim 1, in which said extreme end is configured to be removable and replaced by another extreme end comprising a different structure.

12. The medical robotic system as recited in claim 1, said bimanual dexterous manipulator further comprises a fabric efficacious for providing sensitive contact with human skin.

13. The medical robotic system as recited in claim 1, in which said actuator assembly further comprises elastic materials to produce high torsional spring rates in a minimal space.

14. The medical robotic system as recited in claim 1, in which said upper torso is further configured to resemble a human torso.

15. A medical robotic system comprising:

means for moving the medical robotic system along a floor;

means, being joined to said moving means, for imparting torque and movement; and

means, receiving said torque and movement, being configured for lifting an adult patient from a patient platform, in which said moving means is operable for moving the medical robotic system to the patient platform and said lifting means is operable for lifting the adult patient from the patient platform.

16. The medical robotic system as recited in claim 15, further comprising means, being joined to said moving means, for increasing stability of the medical robotic system while lifting objects.

17. The medical robotic system as recited in claim 15, further comprising means for remote communicating between a health care professional and the adult patient.

18. The medical robotic system as recited in claim 17, further comprising means for adjusting a height of said communicating means to be at eye level with the adult patient on the patient platform.

19. A medical robotic system comprising:

a drive track unit being operable for moving the medical robotic system along a floor, said drive track unit being configured to be holonomic and comprising a plurality of mecanum wheels, said drive track unit utilizing zero moment point mechanism for enhanced stability of the medical robotic system;

an upper torso unit being joined to said drive track unit, said upper torso unit comprising at least one actuator assembly, said actuator assembly comprising elastic materials to produce high torsional spring rates in a minimal space;

at least one bimanual dexterous manipulator being joined to said actuator assembly in which said actuator assembly imparts torque and movement to said bimanual dexterous manipulator for lifting an object, said bimanual dexterous manipulator comprising a pair of dexterous manipulators, each of said dexterous manipulators comprising a fabric efficacious for providing sensitive contact with human skin, a plurality of joints, a length being configured to support lifting an adult patient, and an extreme end comprising a planar structure being configured for placing between the adult patient and a patient platform, said extreme end being configured to be removable and replaced by another extreme end comprising a different structure;

an interface for remote communication between a health care professional and the adult patient, said interface being joined to said upper torso unit;

means for adjusting a height of said upper torso unit to place said interface at eye level with the adult patient on the patient platform; and

a stability device being retractably joined to said drive track unit, said stability device comprising a plurality of wheels and being configured to increase dimensions of said drive track unit to increase stability of the medical robotic system while lifting, in which said drive track unit is operable for moving the medical robotic system to the patient platform and said bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.

20. The medical robotic system as recited in claim 19, in which said upper torso is further configured to resemble a human torso.