CN101507260A - 投影由移动机器人提供的图像的移动电话会议系统 - Google Patents

投影由移动机器人提供的图像的移动电话会议系统 Download PDF

Info

Publication number
CN101507260A
CN101507260A CNA2007800304062A CN200780030406A CN101507260A CN 101507260 A CN101507260 A CN 101507260A CN A2007800304062 A CNA2007800304062 A CN A2007800304062A CN 200780030406 A CN200780030406 A CN 200780030406A CN 101507260 A CN101507260 A CN 101507260A
Authority
CN
China
Prior art keywords
robot
image
camera
long
distance control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CNA2007800304062A
Other languages
English (en)
Inventor
Y·王
C·S·乔丹
M·平特
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IN TOUCH HEALTH Inc
InTouch Technologies Inc
Original Assignee
IN TOUCH HEALTH Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by IN TOUCH HEALTH Inc filed Critical IN TOUCH HEALTH Inc
Publication of CN101507260A publication Critical patent/CN101507260A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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

Abstract

一种远程控制的机器人系统，包括移动机器人和远程控制站。该移动机器人包括捕获图像的摄像机。该远程控制站包括监视器，其显示由机器人摄像机捕获的图像。投影仪被耦合到远程控制站以投影该图像。该系统允许将机器人捕获的图像投影给相对较多的观众。观众因此可以观看由移动机器人提供的图像。

Description

投影由移动机器人提供的图像的移动电话会议系统
技术领域
本公开的主题通常涉及移动双向电话会议的领域。
背景技术
机器人已经被用于从远程控制危险材料到辅助执行手术的各种应用中。例如，授予Wang等人的美国专利No.5,762,458公开了一种系统，该系统通过使用机器人控制的器具，允许外科医生执行侵入最小的医疗程序。在Wang的系统中其中一个机器人臂移动具有摄像机的内窥镜。该摄像机允许外科医生观看患者的手术区域。
例如危险废物处理器和炸弹检测器的遥控机器人可包含允许操作者观看远程场所的摄像机。授予Treviranus等人的加拿大专利No.2289697公开了一种具有摄像机和监视器的电话会议平台。该平台包括可转动和升高该摄像机和监视器的机构。Treviranus的专利还公开了具有移动平台的实施例，以及移动摄像机和监视器的不同的机构。
市场上已经存在一种由本申请的受让人InTouch Technologies公司在COMPANION和RP-6商标下引进的移动机器人。该InTouch机器人由位于远程站的用户控制。该远程站可以是具有操纵杆的个人计算机，其允许用户远程控制机器人的移动。该机器人和远程站都具有摄像机、监视器、扬声器和麦克风以允许双向视频/音频通信。机器人摄像机提供视频图像给远程站的屏幕从而使得用户可以观看机器人的周围环境并相应移动机器人。
远程站的屏幕是计算机监视器或膝上型计算机的平面屏幕。这种屏具有有限的视界。希望增加远程站屏幕的视角从而使得多个人可以看到移动机器人的摄像机正在捕获什么。
发明内容
一种远程控制的机器人系统，包括移动机器人和远程控制站。该远程控制站发送命令以控制该移动机器人。该移动机器人具有捕获图像的摄像机。该远程控制站包括显示由机器人摄像机捕获的图像的监视器。该系统还包括耦合到远程控制站并投影该图像的投影仪。
附图说明
图1是机器人系统的图解；
图2是机器人的电气系统的示意图；
图3是机器人的电气系统的另一示意图；
图4是远程站的图形用户界面；
图5类似于图4，显示了高亮显示的一部分非变焦图像；
图6类似于图4，显示了由机器人视野区域显示的变焦图像；
图7类似于图4，显示了指示摄像机位置已被存储的消息。
具体实施方式
公开了一种远程控制的机器人系统，该机器人系统包括移动机器人和远程控制站。该移动机器人包括捕获图像的摄像机。该远程控制站可以包括显示由机器人摄像机捕获的图像的监视器。投影仪耦合到远程控制站以投影该图像。该系统允许将机器人捕获的图像投影给相对较多的观众。从而观众可以观看由运动的机器人提供的图像。
参考附图，尤其是通过参考数字参考附图，图1显示可以用于进行远程参观的机器人系统10。机器人系统10包括机器人12、基站14和远程控制站16。远程控制站16可以通过网络18耦合到基站14。举例来说，网络18可以是诸如因特网的分组交换网络，或者诸如公共交换电话网络(PSTN)或其他宽带系统的电路交换网络。基站14可以通过调制解调器20或其他宽带网络接口装置耦合到网络18。举例来说，基站14可以是无线路由器。可选地，机器人12可以经过例如卫星直接连接到网络。
远程控制站16可包括计算机22，其具有监视器24、摄像机26、麦克风28和扬声器30。计算机22还可以包括输入装置32，例如操纵杆和/或鼠标和键盘34。控制站16通常位于远离机器人12的地方。尽管只显示了一个远程控制站16，系统10可以包括多个远程站。通常任意数目的机器人12可以由任意数目的远程站16或其他机器人12控制。例如，一个远程站16可以耦合到多个机器人12，或一个机器人12可以耦合到多个远程站16或者多个机器人12。
每个机器人12包括附着到机器人外壳38的移动平台36。同样附接到机器人外壳36的是一对摄像机40和42、监视器44、(多个)麦克风46和(多个)扬声器48。麦克风46和扬声器30可以产生立体声。机器人12还可以具有无线耦合到基站14的天线50的天线49。系统10允许位于远程控制站16的用户通过操作输入装置32移动机器人12。该机器人摄像机40和42耦合到远程监视器24从而使得位于远程站16的用户可以观察患者。同样，机器人监视器44耦合到远程摄像机26从而使得患者可以观看用户。麦克风28和46，以及扬声器30和48允许患者和用户之间的可听通信。
摄像机40可提供宽角度的视野。相反地，摄像机42可包括变焦透镜以提供窄角度的视野。摄像机42可捕获被发送到远程控制站的变焦图像。摄像机40可捕获被发送到远程控制站的非变焦图像。尽管显示和描述了两个摄像机，可以理解的是机器人可以仅包含一个具有提供变焦图像和非变焦图像的能力的摄像机。
远程站计算机22可以运行微软操作系统软件和WINDOWS XP或者例如LINUX的其他操作系统。远程计算机22也可以运行视频驱动、摄像机驱动、音频驱动和操纵杆驱动。可以用例如MPEG CODEC的压缩软件发送和接收视频图像。
投影仪60被连接到远程控制站16。举例来说，投影仪60可以是由惠普出售的名为HP xp7010数字投影仪的产品。投影仪60可被连接到计算机22的视频输出端口。
投影仪60将由机器人的摄像机40和/或42捕获的图像62进行投影。举例来说，图像62可以被投影到屏幕64上。操作者可以移动机器人以提供被投影到屏幕64的不断变化的图像62。举例来说，医生可以将机器人移动到健康护理所的各个患者房间。观众可以是能够与医生观察患者的学生。同样，商务人员可以在商业设施内移动该机器人以使得观众也可以观看该设施。
该系统还允许有人提供“远程移动陈述”。例如，位于机器人位置处的人可以走来走去，同时向观看投影仪60投影的图像的观众进行说明以其他方式做介绍。
机器人12可包括一个或多个I/O输入70，例如USB、VGA、Y-视频/音频电连接器。例如膝上型计算机或电子摄像机的电子装置72可以被连接到一个或多个端口70。通过移动机器人12，图像可以从电子装置72被发送到远程站。该图像本质上可以是视频和/或图形。该端口允许在机器人位置处的某人使用机器人作为便携式网络出口。电子装置72提供的图像可以由投影仪60投影。
图2和3显示了机器人12的实施例。每个机器人12可包括高级控制系统150和低级控制系统152。高级控制系统150可以包括连接到总线156的处理器154。总线56分别通过输入/输出(I/O)端口158和160耦合到摄像机40和42。监视器44通过串行输出端口160和VGA驱动162耦合到总线156。监视器44可包括触摸屏功能，其允许患者通过触摸监视器屏幕进入输入。
扬声器48通过数模转换器164耦合到总线156。麦克风46通过模数转换器166耦合到总线156。高级控制器150也可包含均耦合到总线156的随机存取存储器(RAM)装置168、非易失性RAM装置170和大容量存储装置172。大容量存储装置172可包含患者的医学文件，该医学文件可以由在远程控制站16的用户访问。例如，大容量存储装置172可包括患者的图片。用户，尤其是健康护理提供者，可以取回旧图片，并在监视器24上与摄像机40提供的患者的当前视频图像做并排比较。机器人天线48可被耦合到无线收发器174。举例来说，无线收发器174可根据IEEE 802.11b发送和接收信息。
机器人12可包括I/O端口175，例如USB，(多个)辅助VGA或Y-视频音频端口。端口175可被连接到外部装置，例如计算机或者数字相机。诸如视频、图形、文本等的信息可通过机器人12的I/O端口175被发送到远程站。举例来说，计算机72的屏幕(见图1)可由投影仪60投影。
控制器154可用LINUX OS操作系统运行。控制器154也可连同视频、摄像机和音频驱动一起运行MS WINDOWS以与远程控制站16通信。可以采用MPEG CODEC压缩技术收发视频信息。软件可以允许用户发送电子邮件给患者，反之亦然，或允许患者访问因特网。一般而言，高级控制器150用于控制机器人12和远程控制站16之间的通信。
远程控制站16可包括类似于高级控制器150的计算机。该计算机可具有处理器、存储器、I/O、软件、固件等用于产生、发送、接收和处理信息。
高级控制器150可通过串行端口176和178被链接到低级控制器152。该低级控制器152包括处理器180，其通过总线186耦合到RAM装置182和非易失性RAM装置184。每个机器人12包括多个马达188和马达编码器190。马达188可致动移动平台并移动机器人的诸如监视器和摄像机的其他部分。编码器190提供关于马达188的输出的反馈信息。马达188可通过数模转换器192和激励放大器194耦合到总线186。编码器190可通过解码器196耦合到总线186。每个机器人12还有若干接近传感器198(也见图1)。位置传感器198可通过信号调节电路200和模数转换器202耦合到总线186。
低级控制器152执行机械致动机器人12的软件例程。例如，低级控制器152提供指令以致动移动平台来移动机器人12。低级控制器152可从高级控制器150接收移动指令。可以作为来自远程控制站或另一机器人的移动命令接收该移动指令。尽管显示了两个控制器，可以理解的是每个机器人12可以具有一个控制器或多于两个控制器，以控制高级和低级功能。
每个机器人12的各种电气装置可由(多个)电池204供电。电池204可由电池再充电座206(也见图1)再充电。低级控制器152可包括感测电池204的功率水平的电池控制电路208。低级控制器152可感测功率何时降到阈值以下然后向高级控制器150发送消息。
系统10可以与由受让人California，Santa Barbara的InTouch-Health公司提供的名为RP-6的机器人系统相同或相似。该系统也可与在2005年8月2日授予Wang等人的美国专利No.6,925,357中公开的系统相同或相似，该专利在此引入以供参考。
图4示出可以在远程站16显示的显示用户界面(“DUI”)220。DUI220可包括机器人视区(view field)222，其显示机器人的摄像机提供的视频图像。投影仪60也可以显示在机器人视区222中示出的图像。DUI220还可以包括站视区224，其显示远程站16的摄像机提供的视频图像。DUI220可以是由远程站16的计算机22存储和运行的应用程序的一部分。
机器人视区222可显示由机器人的摄像机系统提供的非变焦图像。如图5和6所示，用户可以高亮显示非变焦图像的一部分以显示对应于高亮显示区域226的变焦图像。举例来说，可通过左点击鼠标而启动该高亮显示区域226。随后用户可以在保持左点击压下(hold down)的同时拖动光标228以创建高亮显示区域226。当用户释放左点击时，远程站发送命令以移动机器人摄像机指向高亮显示区域226的中心并提供对应于该区域的变焦图像。可选地，用户可以点击鼠标且以光标为中心的变焦区域将被显示。通过操纵图形图标228以将滑条移动到极左位置，用户可以切换回非变焦图像。该特征允许用户在机器人摄像机系统提供的变焦和非变焦图像之间容易地切换。从而用户可以在移动机器人时采用非变焦图像，并且采用变焦图像特征以更近地观看视野中的人或物体。
远程控制站可以存储摄像机位置从而使得用户可以容易地到达期望的摄像机位置。举例来说，可通过按下键盘上的键来存储摄像机位置。可以按下F4键来存储摄像机位置。如图7所示，可以显示可见指示230以向用户指示摄像机位置已经被存储。随后按下该键会导致远程站发送(多个)命令将机器人摄像机系统移动到期望的位置。例如F5到F12的其他键可被用于创建9个潜在的存储的摄像机位置。通过按下键F4-F12中的一个并保持其压下可以存储新的摄像机位置。
鼠标32可被用于移动机器人的摄像机。鼠标32的移动可以导致摄像机的相应移动。鼠标移动和摄像机移动之间的比例可以由用户改变。鼠标的移动也可以导致系统显示变焦和非变焦图像。
在操作中，机器人12可以被放置在家中或一个或多个患者要被监视和/或帮助的设施中。该设施可以是医院或护理所。举例来说，机器人12可被放置在家中，在那健康护理提供者可监视和/或帮助患者。同样，朋友或家庭成员可与患者通信。位于机器人和远程控制站的摄像机和监视器允许患者和位于(多个)远程站的人之间进行电话会议。
通过操纵位于远程站16的输入装置32，可以在家中或设施中移动机器人12。机器人10可被若干不同用户控制。为了适应此，机器人可具有仲裁系统。该仲裁系统可以被集成到机器人12的操作系统中。例如，仲裁技术可以被嵌入到高级控制器150的操作系统中。
举例来说，用户可以被分为包括机器人自己、本地用户、护理者、医生、家庭成员或者服务提供者的各类。机器人12可以忽略与机器人操作相冲突的输入命令。例如，如果机器人撞上墙，该系统会不理会在墙的方向上继续的所有其他命令。本地用户是物理上与机器人在一起的人。机器人可以具有允许本地操作的输入装置。例如，机器人可以合并语音识别系统，其接收和解释可听命令。
护理者是远程监视患者的某人。医生是医学专业人员，其能够远程控制机器人并可以访问包含在机器人存储器中的医学文件。家庭和服务用户远程访问该机器人。服务用户可通过例如升级软件或设置操作参数来维护该系统。
机器人12可以两个不同模式之一运行：独占模式，或者共享模式。在独占模式中仅一个用户对机器人具有访问控制。该独占模式可具有分派给每类用户的优先级。举例来说，该优先级的顺序可以是本地、医生、护理者、家庭然后是服务用户。在共享模式中，两个或更多用户可以共享对机器人的访问。例如，护理者可以访问机器人，然后护理者可以进入共享模式以允许医生也可以访问机器人。护理者和医生可以与患者同时进行电话会议。
仲裁方案可以为四种机制中的一种：通知，超时，排队和回话。通知机制可告知当前用户或者请求用户另一个用户在访问或想要访问机器人。超时机制给予某些类型的用户指定的时间量来完成对机器人的访问。排队机制是访问机器人的有序等待列表。回话机制告知用户可以访问机器人。举例来说，家庭用户可以接收能使用机器人的电子邮件消息。表I和II示出了该机制如何解决来自各种用户的访问请求。
表I
 
用户 访问控制 医学记录 忽略命令 软件/调试访问 设置优先级
机器人 否 否 是(1) 否 否
本地 否 否 是(2) 否 否
护理者 是 是 是(3) 否 否
医生 否 是 否 否 否
家庭 否 否 否 否 否
服务 是 否 是 是 是
表II
Figure A200780030406D00111
Figure A200780030406D00121
在站16和机器人12之间传送的信息可被加密。此外，为了进入系统10用户可能必须输入密码。然后由站16给予所选择的机器人电子密钥。机器人12验证该密钥且向站16返回另一密钥。这些密钥用于加密会话中传送的信息。
机器人12和远程站16通过宽带网络18发送命令。该命令可由用户以各种方式产生。例如，可通过移动操纵杆32(见图1)产生移动机器人的命令。优选地，根据TCP/IP协议将这些命令组合到分组中。表III提供了在远程站产生的且通过网络发送到机器人的控制命令的列表。
表III
Figure A200780030406D00131
Figure A200780030406D00141
Figure A200780030406D00151
表IV提供了由机器人产生且通过网络发送到远程站的报告命令的列表。
表IV
Figure A200780030406D00161
Figure A200780030406D00171
机器人高级控制器150的处理器154可运行确定在时间间隔内机器人12是否接收到机器人控制命令的程序。例如，如果机器人12没有在2秒内接收到控制命令则处理器154向低级控制器150提供指令以停止机器人12。尽管描述了软件实施例，可以理解的是控制命令监视特征可以用硬件实现，或者硬件和软件的组合实现。该硬件可包括定时器，每次接收到控制命令，该定时器被重置并且产生或终止命令或信号以停止机器人。
远程站计算机22可监视由机器人摄像机提供的视频图像的接收。如果在时间间隔内远程站没有接收到或发送更新的视频图像，计算机22可产生并发送STOP命令到机器人。该STOP命令导致机器人停止。举例来说，如果在2秒内远程控制站没有接收到新的视频图像，计算机22可以产生STOP命令。尽管描述了软件实施例，可以理解的是该视频图像监视特征可以用硬件实现，或者硬件和软件的组合实现。该硬件可包括定时器，每次接收到新的视频图像，该定时器被重置并且产生或终止命令或信号以产生机器人STOP命令。
尽管在附图中已经描述且示出了某些示例性实施例，可以理解的是这些实施例仅仅是本宽泛发明的说明而不是其限制，且本发明不限于所示和所述的特定构造和布置，因为各种其他修改对于本领域普通技术人员是显而易见的。

Claims (16)

1.一种远程控制的机器人系统，包括：
移动机器人，其具有屏幕和捕获机器人图像的机器人摄像机；
发送命令以控制所述移动机器人的远程控制站，所述远程控制站包括显示由所述机器人摄像机捕获的机器人图像的监视器，所述远程控制站包括能捕获站图像的摄像机，该站图像由所述移动机器人屏幕显示；和，
投影仪，其耦合到所述远程控制站且对由所述机器人摄像机捕获的图像进行投影。
2.权利要求1的系统，其中所述投影仪被连接到所述远程控制站的I/O端口。
3.权利要求1的系统，其中所述机器人摄像机提供变焦图像和非变焦图像。
4.权利要求1的系统，其中所述机器人包括连接到电子装置的I/O端口。
5.权利要求1的系统，其中所述电子装置提供由所述投影仪投影的供给(feed)图像。
6.权利要求5的系统，其中所述供给图像是图形。
7.权利要求5的系统，其中所述供给图像是视频。
8.权利要求1的系统，其中所述移动机器人无线耦合到无线发送机。
9.权利要求8的系统，进一步包括耦合到所述无线发送机和所述远程控制站的宽带网络。
10.一种用于投影远程捕获的图像的方法，包括：
用移动机器人的机器人摄像机捕获机器人图像；
将由机器人摄像机捕获的机器人图像发送到用于控制移动机器人的移动的远程控制站；
在远程控制站的监视器上显示由机器人摄像机捕获的图像；
对由机器人摄像机捕获的图像进行投影；
用远程站的摄像机捕获站图像；
将站图像发送到移动机器人；且
在移动机器人的屏幕上显示站图像。
11.权利要求10的方法，其中机器人摄像机捕获变焦图像或非变焦图像。
12.权利要求10的方法，进一步包括将供给图像从连接到移动机器人的电子装置发送到远程控制站并投影该供给图像。
13.权利要求12的方法，其中所述供给图像是图像。
14.权利要求12的方法，其中所述供给图像是视频。
15.权利要求10的方法，其中通过无线发送机和宽带网络发送所述图像。
16.权利要求10的方法，进一步包括将移动命令从远程控制站发送到移动机器人并响应于该移动命令移动该移动机器人。
CNA2007800304062A 2006-06-15 2007-06-13 投影由移动机器人提供的图像的移动电话会议系统 Pending CN101507260A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/455,161 US20070291128A1 (en) 2006-06-15 2006-06-15 Mobile teleconferencing system that projects an image provided by a mobile robot
US11/455,161 2006-06-15

Publications (1)

Publication Number Publication Date
CN101507260A true CN101507260A (zh) 2009-08-12

Family

ID=38861137

Family Applications (1)

Application Number Title Priority Date Filing Date
CNA2007800304062A Pending CN101507260A (zh) 2006-06-15 2007-06-13 投影由移动机器人提供的图像的移动电话会议系统

Country Status (5)

Country Link
US (2) US20070291128A1 (zh)
EP (1) EP2027716A4 (zh)
JP (1) JP2009540759A (zh)
CN (1) CN101507260A (zh)
WO (1) WO2008100272A2 (zh)

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102473081A (zh) * 2009-08-26 2012-05-23 英塔茨科技公司 便携式远程呈现设备
US8340819B2 (en) 2008-09-18 2012-12-25 Intouch Technologies, Inc. Mobile videoconferencing robot system with network adaptive driving
US8384755B2 (en) 2009-08-26 2013-02-26 Intouch Technologies, Inc. Portable remote presence robot
US8401275B2 (en) 2004-07-13 2013-03-19 Intouch Technologies, Inc. Mobile robot with a head-based movement mapping scheme
US8515577B2 (en) 2002-07-25 2013-08-20 Yulun Wang Medical tele-robotic system with a master remote station with an arbitrator
US8670017B2 (en) 2010-03-04 2014-03-11 Intouch Technologies, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
US8718837B2 (en) 2011-01-28 2014-05-06 Intouch Technologies Interfacing with a mobile telepresence robot
CN103793133A (zh) * 2013-12-19 2014-05-14 弗徕威智能机器人科技（上海）有限公司 应用于智能服务机器人的多屏交互系统，交互方法
US8836751B2 (en) 2011-11-08 2014-09-16 Intouch Technologies, Inc. Tele-presence system with a user interface that displays different communication links
US8849680B2 (en) 2009-01-29 2014-09-30 Intouch Technologies, Inc. Documentation through a remote presence robot
US8849679B2 (en) 2006-06-15 2014-09-30 Intouch Technologies, Inc. Remote controlled robot system that provides medical images
US8861750B2 (en) 2008-04-17 2014-10-14 Intouch Technologies, Inc. Mobile tele-presence system with a microphone system
US8897920B2 (en) 2009-04-17 2014-11-25 Intouch Technologies, Inc. Tele-presence robot system with software modularity, projector and laser pointer
US8902278B2 (en) 2012-04-11 2014-12-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US8996165B2 (en) 2008-10-21 2015-03-31 Intouch Technologies, Inc. Telepresence robot with a camera boom
US9098611B2 (en) 2012-11-26 2015-08-04 Intouch Technologies, Inc. Enhanced video interaction for a user interface of a telepresence network
US9138891B2 (en) 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US9160783B2 (en) 2007-05-09 2015-10-13 Intouch Technologies, Inc. Robot system that operates through a network firewall
US9174342B2 (en) 2012-05-22 2015-11-03 Intouch Technologies, Inc. Social behavior rules for a medical telepresence robot
US9193065B2 (en) 2008-07-10 2015-11-24 Intouch Technologies, Inc. Docking system for a tele-presence robot
US9198728B2 (en) 2005-09-30 2015-12-01 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
USRE45870E1 (en) 2002-07-25 2016-01-26 Intouch Technologies, Inc. Apparatus and method for patient rounding with a remote controlled robot
US9251313B2 (en) 2012-04-11 2016-02-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US9264664B2 (en) 2010-12-03 2016-02-16 Intouch Technologies, Inc. Systems and methods for dynamic bandwidth allocation
US9296107B2 (en) 2003-12-09 2016-03-29 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
US9323250B2 (en) 2011-01-28 2016-04-26 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
US9361021B2 (en) 2012-05-22 2016-06-07 Irobot Corporation Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US9842192B2 (en) 2008-07-11 2017-12-12 Intouch Technologies, Inc. Tele-presence robot system with multi-cast features
US9974612B2 (en) 2011-05-19 2018-05-22 Intouch Technologies, Inc. Enhanced diagnostics for a telepresence robot
US10059000B2 (en) 2008-11-25 2018-08-28 Intouch Technologies, Inc. Server connectivity control for a tele-presence robot
US10343283B2 (en) 2010-05-24 2019-07-09 Intouch Technologies, Inc. Telepresence robot system that can be accessed by a cellular phone
US10471588B2 (en) 2008-04-14 2019-11-12 Intouch Technologies, Inc. Robotic based health care system
US10769739B2 (en) 2011-04-25 2020-09-08 Intouch Technologies, Inc. Systems and methods for management of information among medical providers and facilities
US10808882B2 (en) 2010-05-26 2020-10-20 Intouch Technologies, Inc. Tele-robotic system with a robot face placed on a chair
US10875182B2 (en) 2008-03-20 2020-12-29 Teladoc Health, Inc. Remote presence system mounted to operating room hardware
US11154981B2 (en) 2010-02-04 2021-10-26 Teladoc Health, Inc. Robot user interface for telepresence robot system
US11389064B2 (en) 2018-04-27 2022-07-19 Teladoc Health, Inc. Telehealth cart that supports a removable tablet with seamless audio/video switching
US11636944B2 (en) 2017-08-25 2023-04-25 Teladoc Health, Inc. Connectivity infrastructure for a telehealth platform
US11742094B2 (en) 2017-07-25 2023-08-29 Teladoc Health, Inc. Modular telehealth cart with thermal imaging and touch screen user interface
US11862302B2 (en) 2017-04-24 2024-01-02 Teladoc Health, Inc. Automated transcription and documentation of tele-health encounters

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7376487B2 (en) * 2003-11-25 2008-05-20 International Business Machines Corporation Nesting negotiation for self-mobile devices
US20050204438A1 (en) 2004-02-26 2005-09-15 Yulun Wang Graphical interface for a remote presence system
US9882989B2 (en) * 2007-01-22 2018-01-30 Control4 Corporation Systems and methods for providing remote assistance for controlling a site
US8265793B2 (en) 2007-03-20 2012-09-11 Irobot Corporation Mobile robot for telecommunication
KR101496909B1 (ko) 2009-01-22 2015-02-27 삼성전자 주식회사 로봇
KR101496910B1 (ko) * 2009-01-22 2015-02-27 삼성전자 주식회사 로봇
US11399153B2 (en) 2009-08-26 2022-07-26 Teladoc Health, Inc. Portable telepresence apparatus
US20110184249A1 (en) * 2010-01-27 2011-07-28 Davis Jr Daniel C Remote patient monitoring system
US9014848B2 (en) 2010-05-20 2015-04-21 Irobot Corporation Mobile robot system
US8935005B2 (en) 2010-05-20 2015-01-13 Irobot Corporation Operating a mobile robot
US9400503B2 (en) 2010-05-20 2016-07-26 Irobot Corporation Mobile human interface robot
US8918213B2 (en) * 2010-05-20 2014-12-23 Irobot Corporation Mobile human interface robot
US8930019B2 (en) 2010-12-30 2015-01-06 Irobot Corporation Mobile human interface robot
US20120191464A1 (en) * 2011-01-21 2012-07-26 Intouch Technologies, Inc. Telerobotic System with a Dual Application Screen Presentation
US8780219B2 (en) * 2012-07-23 2014-07-15 Wooblue, Inc. Wireless viewing and control interface for imaging devices
KR101951908B1 (ko) * 2012-10-18 2019-04-25 한국전자통신연구원 로봇 소프트웨어 컴포넌트를 위한 디바이스 공유 장치 및 방법
JP6097590B2 (ja) * 2013-02-15 2017-03-15 中村　正一 医療用撮影システム
ES2960022T3 (es) 2013-06-07 2024-02-29 Dap Realize Inc Sistema de distribución de video en directo
US10225650B2 (en) * 2014-12-22 2019-03-05 Panasonic Intellectual Property Management Co., Ltd. Directivity control system, directivity control device, abnormal sound detection system provided with either thereof and directivity control method
US20210397188A1 (en) * 2018-11-01 2021-12-23 Sony Corporation Moving body, control method for moving body, and program
CN111276220A (zh) * 2020-01-20 2020-06-12 贵州医科大学附属医院 一种乳腺肿瘤医学影像辅助分析仪
FR3107977B1 (fr) * 2020-03-03 2022-03-18 Thales Sa Procede d'aide a la detection d'elements, dispositif et plateforme associes
US11837363B2 (en) 2020-11-04 2023-12-05 Hill-Rom Services, Inc. Remote management of patient environment
US20220280075A1 (en) * 2021-03-08 2022-09-08 Careview Communications, Inc. Dual camera patient monitoring system

Family Cites Families (186)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3821995A (en) * 1971-10-15 1974-07-02 E Aghnides Vehicle with composite wheel
US4107689A (en) * 1976-06-07 1978-08-15 Rca Corporation System for automatic vehicle location
US4213182A (en) * 1978-12-06 1980-07-15 General Electric Company Programmable energy load controller system and methods
US5148591A (en) * 1981-05-11 1992-09-22 Sensor Adaptive Machines, Inc. Vision target based assembly
US4471354A (en) * 1981-11-23 1984-09-11 Marathon Medical Equipment Corporation Apparatus and method for remotely measuring temperature
US4519466A (en) * 1982-03-30 1985-05-28 Eiko Shiraishi Omnidirectional drive system
EP0108657B1 (en) * 1982-09-25 1987-08-12 Fujitsu Limited A multi-articulated robot
US4625274A (en) * 1983-12-05 1986-11-25 Motorola, Inc. Microprocessor reset system
US4572594A (en) * 1984-02-08 1986-02-25 Schwartz C Bruce Arthroscopy support stand
US4638445A (en) * 1984-06-08 1987-01-20 Mattaboni Paul J Autonomous mobile robot
US4766581A (en) * 1984-08-07 1988-08-23 Justin Korn Information retrieval system and method using independent user stations
JPS61111863A (ja) * 1984-11-05 1986-05-29 Nissan Motor Co Ltd ロボットによる組立装置
US4679152A (en) * 1985-02-20 1987-07-07 Heath Company Navigation system and method for a mobile robot
US4697278A (en) * 1985-03-01 1987-09-29 Veeder Industries Inc. Electronic hub odometer
US4652204A (en) * 1985-08-02 1987-03-24 Arnett Edward M Apparatus for handling hazardous materials
US4733737A (en) * 1985-08-29 1988-03-29 Reza Falamak Drivable steerable platform for industrial, domestic, entertainment and like uses
US4751658A (en) * 1986-05-16 1988-06-14 Denning Mobile Robotics, Inc. Obstacle avoidance system
US4777416A (en) * 1986-05-16 1988-10-11 Denning Mobile Robotics, Inc. Recharge docking system for mobile robot
SE455539B (sv) * 1986-05-23 1988-07-18 Electrolux Ab Elektrooptiskt positionskennande system for ett i plan rorligt foremal, foretredesvis en mobil robot
US4803625A (en) * 1986-06-30 1989-02-07 Buddy Systems, Inc. Personal health monitor
US4878501A (en) * 1986-09-24 1989-11-07 Shue Ming Jeng Electronic stethoscopic apparatus
US4847764C1 (en) * 1987-05-21 2001-09-11 Meditrol Inc System for dispensing drugs in health care instituions
JPS63289607A (ja) * 1987-05-21 1988-11-28 Toshiba Corp 知能ロボットのモジュ−ル間通信制御方式
JPH0191834A (ja) * 1987-08-20 1989-04-11 Tsuruta Hiroko 個人医療データの集中管理装置
US4942538A (en) * 1988-01-05 1990-07-17 Spar Aerospace Limited Telerobotic tracker
US5193143A (en) * 1988-01-12 1993-03-09 Honeywell Inc. Problem state monitoring
US4979949A (en) * 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
US5142484A (en) * 1988-05-12 1992-08-25 Health Tech Services Corporation An interactive patient assistance device for storing and dispensing prescribed medication and physical device
US5008804A (en) * 1988-06-23 1991-04-16 Total Spectrum Manufacturing Inc. Robotic television-camera dolly system
US5040116A (en) * 1988-09-06 1991-08-13 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US5157491A (en) * 1988-10-17 1992-10-20 Kassatly L Samuel A Method and apparatus for video broadcasting and teleconferencing
US5155684A (en) * 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
US4953159A (en) * 1989-01-03 1990-08-28 American Telephone And Telegraph Company Audiographics conferencing arrangement
US5006988A (en) * 1989-04-28 1991-04-09 University Of Michigan Obstacle-avoiding navigation system
US5224157A (en) * 1989-05-22 1993-06-29 Minolta Camera Kabushiki Kaisha Management system for managing maintenance information of image forming apparatus
US5051906A (en) * 1989-06-07 1991-09-24 Transitions Research Corporation Mobile robot navigation employing retroreflective ceiling features
US5341854A (en) * 1989-09-28 1994-08-30 Alberta Research Council Robotic drug dispensing system
US5084828A (en) * 1989-09-29 1992-01-28 Healthtech Services Corp. Interactive medication delivery system
JP2964518B2 (ja) * 1990-01-30 1999-10-18 日本電気株式会社 音声制御方式
JP2679346B2 (ja) * 1990-03-28 1997-11-19 神鋼電機株式会社 移動ロボットシステムにおける充電制御方式
US5130794A (en) * 1990-03-29 1992-07-14 Ritchey Kurtis J Panoramic display system
JP2541353B2 (ja) * 1990-09-18 1996-10-09 三菱自動車工業株式会社 車両用アクティブサスペンション装置
US5563998A (en) * 1990-10-19 1996-10-08 Moore Business Forms, Inc. Forms automation system implementation
US5310464A (en) * 1991-01-04 1994-05-10 Redepenning Jody G Electrocrystallization of strongly adherent brushite coatings on prosthetic alloys
JPH0530502A (ja) * 1991-07-24 1993-02-05 Hitachi Ltd 一体型テレビ電話機
US5217453A (en) * 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5231693A (en) * 1991-05-09 1993-07-27 The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration Telerobot control system
US5341459A (en) * 1991-05-09 1994-08-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Generalized compliant motion primitive
JP3173042B2 (ja) * 1991-05-21 2001-06-04 ソニー株式会社 ロボットの数値制御装置
US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US5182641A (en) * 1991-06-17 1993-01-26 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
US5366896A (en) * 1991-07-30 1994-11-22 University Of Virginia Alumni Patents Foundation Robotically operated laboratory system
US5441042A (en) * 1991-08-05 1995-08-15 Putman; John M. Endoscope instrument holder
IL99420A (en) * 1991-09-05 2000-12-06 Elbit Systems Ltd Helmet mounted display
US5186270A (en) * 1991-10-24 1993-02-16 Massachusetts Institute Of Technology Omnidirectional vehicle
US5419008A (en) * 1991-10-24 1995-05-30 West; Mark Ball joint
US5631973A (en) * 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
ATE155059T1 (de) * 1992-01-21 1997-07-15 Stanford Res Inst Int Teleoperateursystem und verfahren mit teleanwesenheit
US5544649A (en) * 1992-03-25 1996-08-13 Cardiomedix, Inc. Ambulatory patient health monitoring techniques utilizing interactive visual communication
US5441047A (en) * 1992-03-25 1995-08-15 David; Daniel Ambulatory patient health monitoring techniques utilizing interactive visual communication
US5262944A (en) * 1992-05-15 1993-11-16 Hewlett-Packard Company Method for use of color and selective highlighting to indicate patient critical events in a centralized patient monitoring system
US5594859A (en) * 1992-06-03 1997-01-14 Digital Equipment Corporation Graphical user interface for video teleconferencing
US5375195A (en) * 1992-06-29 1994-12-20 Johnston; Victor S. Method and apparatus for generating composites of human faces
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5600573A (en) * 1992-12-09 1997-02-04 Discovery Communications, Inc. Operations center with video storage for a television program packaging and delivery system
US5315287A (en) * 1993-01-13 1994-05-24 David Sol Energy monitoring system for recreational vehicles and marine vessels
DE69413585T2 (de) * 1993-03-31 1999-04-29 Siemens Medical Systems Inc Vorrichtung und Verfahren zum Liefern doppelter Ausgangssignale in einem Telemetrieübertrager
US5319611A (en) * 1993-03-31 1994-06-07 National Research Council Of Canada Method of determining range data in a time-of-flight ranging system
US5350033A (en) * 1993-04-26 1994-09-27 Kraft Brett W Robotic inspection vehicle
ES2112976T3 (es) * 1993-05-19 1998-04-16 Alsthom Cge Alcatel Red de videos a peticion.
US5689641A (en) * 1993-10-01 1997-11-18 Vicor, Inc. Multimedia collaboration system arrangement for routing compressed AV signal through a participant site without decompressing the AV signal
CA2174336A1 (en) * 1993-10-20 1995-04-27 Leo M. Cortjens Adaptive videoconferencing system
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5623679A (en) * 1993-11-19 1997-04-22 Waverley Holdings, Inc. System and method for creating and manipulating notes each containing multiple sub-notes, and linking the sub-notes to portions of data objects
US5510832A (en) * 1993-12-01 1996-04-23 Medi-Vision Technologies, Inc. Synthesized stereoscopic imaging system and method
US5347306A (en) * 1993-12-17 1994-09-13 Mitsubishi Electric Research Laboratories, Inc. Animated electronic meeting place
GB2284968A (en) * 1993-12-18 1995-06-21 Ibm Audio conferencing system
US5511147A (en) * 1994-01-12 1996-04-23 Uti Corporation Graphical interface for robot
US5436542A (en) * 1994-01-28 1995-07-25 Surgix, Inc. Telescopic camera mount with remotely controlled positioning
DE4408329C2 (de) * 1994-03-11 1996-04-18 Siemens Ag Verfahren zum Aufbau einer zellular strukturierten Umgebungskarte von einer selbstbeweglichen mobilen Einheit, welche sich mit Hilfe von auf Wellenreflexion basierenden Sensoren orientiert
US5659779A (en) * 1994-04-25 1997-08-19 The United States Of America As Represented By The Secretary Of The Navy System for assigning computer resources to control multiple computer directed devices
US5734805A (en) * 1994-06-17 1998-03-31 International Business Machines Corporation Apparatus and method for controlling navigation in 3-D space
CA2148631C (en) * 1994-06-20 2000-06-13 John J. Hildin Voice-following video system
JPH0811074A (ja) * 1994-06-29 1996-01-16 Fanuc Ltd ロボットシステム
BE1008470A3 (fr) * 1994-07-04 1996-05-07 Colens Andre Dispositif et systeme automatique de depoussierage de sol et engin y adapte.
US5675229A (en) * 1994-09-21 1997-10-07 Abb Robotics Inc. Apparatus and method for adjusting robot positioning
US5764731A (en) * 1994-10-13 1998-06-09 Yablon; Jay R. Enhanced system for transferring, storing and using signaling information in a switched telephone network
US5767897A (en) * 1994-10-31 1998-06-16 Picturetel Corporation Video conferencing system
JP2726630B2 (ja) * 1994-12-07 1998-03-11 インターナショナル・ビジネス・マシーンズ・コーポレイション ゲートウェイ装置及びゲートウェイ方法
US5486853A (en) * 1994-12-13 1996-01-23 Picturetel Corporation Electrical cable interface for electronic camera
US5553609A (en) * 1995-02-09 1996-09-10 Visiting Nurse Service, Inc. Intelligent remote visual monitoring system for home health care service
US5619341A (en) * 1995-02-23 1997-04-08 Motorola, Inc. Method and apparatus for preventing overflow and underflow of an encoder buffer in a video compression system
US5630568A (en) * 1995-02-24 1997-05-20 Advanced Hunting Equipment, L.L.C. Method and apparatus for supporting an archery bow from a surface
US5973724A (en) * 1995-02-24 1999-10-26 Apple Computer, Inc. Merging multiple teleconferences
US5854898A (en) * 1995-02-24 1998-12-29 Apple Computer, Inc. System for automatically adding additional data stream to existing media connection between two end points upon exchange of notifying and confirmation messages therebetween
US5657246A (en) * 1995-03-07 1997-08-12 Vtel Corporation Method and apparatus for a video conference user interface
JP2947113B2 (ja) * 1995-03-09 1999-09-13 日本電気株式会社 画像通信端末用ユーザインタフェース装置
US5652849A (en) * 1995-03-16 1997-07-29 Regents Of The University Of Michigan Apparatus and method for remote control using a visual information stream
US5673082A (en) * 1995-04-10 1997-09-30 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Light-directed ranging system implementing single camera system for telerobotics applications
JP3241564B2 (ja) * 1995-05-10 2001-12-25 富士通株式会社 通常車輪型全方向移動ロボットの運動制御のための制御装置および方法
US5630566A (en) * 1995-05-30 1997-05-20 Case; Laura Portable ergonomic work station
AU6501496A (en) * 1995-07-19 1997-02-18 Ascom Nexion Inc. Point-to-multipoint transmission using subqueues
US5825982A (en) * 1995-09-15 1998-10-20 Wright; James Head cursor control interface for an automated endoscope system for optimal positioning
US6710797B1 (en) * 1995-09-20 2004-03-23 Videotronic Systems Adaptable teleconferencing eye contact terminal
US5961446A (en) * 1995-10-06 1999-10-05 Tevital Incorporated Patient terminal for home health care system
US5797515A (en) * 1995-10-18 1998-08-25 Adds, Inc. Method for controlling a drug dispensing system
JP3401789B2 (ja) * 1995-11-13 2003-04-28 ソニー株式会社 ニアビデオオンディマンド・システム及びその放映方法
US5793365A (en) * 1996-01-02 1998-08-11 Sun Microsystems, Inc. System and method providing a computer user interface enabling access to distributed workgroup members
US5624398A (en) * 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
US5682199A (en) * 1996-03-28 1997-10-28 Jedmed Instrument Company Video endoscope with interchangeable endoscope heads
US5801755A (en) * 1996-04-09 1998-09-01 Echerer; Scott J. Interactive communciation system for medical treatment of remotely located patients
US5867653A (en) * 1996-04-18 1999-02-02 International Business Machines Corporation Method and apparatus for multi-cast based video conferencing
US5949758A (en) * 1996-06-27 1999-09-07 International Business Machines Corporation Bandwidth reservation for multiple file transfer in a high speed communication network
US5754631A (en) * 1996-09-30 1998-05-19 Intervoice Limited Partnership Voice response unit having robot conference capability on ports
US5974446A (en) * 1996-10-24 1999-10-26 Academy Of Applied Science Internet based distance learning system for communicating between server and clients wherein clients communicate with each other or with teacher using different communication techniques via common user interface
US5917958A (en) * 1996-10-31 1999-06-29 Sensormatic Electronics Corporation Distributed video data base with remote searching for image data features
US5886735A (en) * 1997-01-14 1999-03-23 Bullister; Edward T Video telephone headset
WO1998038958A1 (en) * 1997-03-05 1998-09-11 Massachusetts Institute Of Technology A reconfigurable footprint mechanism for omnidirectional vehicles
US5995884A (en) * 1997-03-07 1999-11-30 Allen; Timothy P. Computer peripheral floor cleaning system and navigation method
US6914622B1 (en) * 1997-05-07 2005-07-05 Telbotics Inc. Teleconferencing robot with swiveling video monitor
GB2325376B (en) * 1997-05-14 2001-09-19 Dsc Telecom Lp Allocation of bandwidth to calls in a wireless telecommunications system
US5857534A (en) * 1997-06-05 1999-01-12 Kansas State University Research Foundation Robotic inspection apparatus and method
US5995119A (en) * 1997-06-06 1999-11-30 At&T Corp. Method for generating photo-realistic animated characters
JPH11126017A (ja) * 1997-08-22 1999-05-11 Sony Corp 記憶媒体、ロボット、情報処理装置、並びに電子ペットシステム
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6532404B2 (en) * 1997-11-27 2003-03-11 Colens Andre Mobile robots and their control system
US6036812A (en) * 1997-12-05 2000-03-14 Automated Prescription Systems, Inc. Pill dispensing system
US6047259A (en) * 1997-12-30 2000-04-04 Medical Management International, Inc. Interactive method and system for managing physical exams, diagnosis and treatment protocols in a health care practice
US5983263A (en) * 1998-01-02 1999-11-09 Intel Corporation Method and apparatus for transmitting images during a multimedia teleconference
US6233504B1 (en) * 1998-04-16 2001-05-15 California Institute Of Technology Tool actuation and force feedback on robot-assisted microsurgery system
US6219587B1 (en) * 1998-05-27 2001-04-17 Nextrx Corporation Automated pharmaceutical management and dispensing system
US6852107B2 (en) * 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US6951535B2 (en) * 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6232735B1 (en) * 1998-11-24 2001-05-15 Thames Co., Ltd. Robot remote control system and robot image remote control processing system
US6170929B1 (en) * 1998-12-02 2001-01-09 Ronald H. Wilson Automated medication-dispensing cart
US6535182B2 (en) * 1998-12-07 2003-03-18 Koninklijke Philips Electronics N.V. Head-mounted projection display system
US6522906B1 (en) * 1998-12-08 2003-02-18 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
US6799065B1 (en) * 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
JP3980205B2 (ja) * 1998-12-17 2007-09-26 コニカミノルタホールディングス株式会社 作業ロボット
US6594552B1 (en) * 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
US6346950B1 (en) * 1999-05-20 2002-02-12 Compaq Computer Corporation System and method for display images using anamorphic video
US6292713B1 (en) * 1999-05-20 2001-09-18 Compaq Computer Corporation Robotic telepresence system
US6781606B2 (en) * 1999-05-20 2004-08-24 Hewlett-Packard Development Company, L.P. System and method for displaying images using foveal video
US7156809B2 (en) * 1999-12-17 2007-01-02 Q-Tec Systems Llc Method and apparatus for health and disease management combining patient data monitoring with wireless internet connectivity
US6369847B1 (en) * 2000-03-17 2002-04-09 Emtel, Inc. Emergency facility video-conferencing system
JP3511088B2 (ja) * 2000-04-10 2004-03-29 独立行政法人航空宇宙技術研究所 多関節介護ロボット制御用の圧力分布センサ
US6845297B2 (en) * 2000-05-01 2005-01-18 Irobot Corporation Method and system for remote control of mobile robot
CA2407992C (en) * 2000-05-01 2010-07-20 Irobot Corporation Method and system for remote control of mobile robot
US6746443B1 (en) * 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US20020027597A1 (en) * 2000-09-05 2002-03-07 John Sachau System for mobile videoconferencing
US20030060808A1 (en) * 2000-10-04 2003-03-27 Wilk Peter J. Telemedical method and system
US6543899B2 (en) * 2000-12-05 2003-04-08 Eastman Kodak Company Auto-stereoscopic viewing system using mounted projection
AU2002258422A1 (en) * 2001-02-27 2002-09-12 Anthrotronix, Inc. Robotic apparatus and wireless communication system
US7242306B2 (en) * 2001-05-08 2007-07-10 Hill-Rom Services, Inc. Article locating and tracking apparatus and method
US6507773B2 (en) * 2001-06-14 2003-01-14 Sharper Image Corporation Multi-functional robot with remote and video system
US6995664B1 (en) * 2001-06-20 2006-02-07 Jeffrey Darling Remote supervision system and method
US6728599B2 (en) * 2001-09-07 2004-04-27 Computer Motion, Inc. Modularity system for computer assisted surgery
JP4378072B2 (ja) * 2001-09-07 2009-12-02 キヤノン株式会社 電子機器、撮像装置、携帯通信機器、映像の表示制御方法及びプログラム
EP1432347A2 (en) * 2001-09-13 2004-06-30 The Boeing Company Method for transmitting vital health statistics to a remote location form an aircraft
US6587750B2 (en) * 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US6840904B2 (en) * 2001-10-11 2005-01-11 Jason Goldberg Medical monitoring device and system
US6839612B2 (en) * 2001-12-07 2005-01-04 Institute Surgical, Inc. Microwrist system for surgical procedures
US6784916B2 (en) * 2002-02-11 2004-08-31 Telbotics Inc. Video conferencing apparatus
US20040162637A1 (en) * 2002-07-25 2004-08-19 Yulun Wang Medical tele-robotic system with a master remote station with an arbitrator
US6925357B2 (en) * 2002-07-25 2005-08-02 Intouch Health, Inc. Medical tele-robotic system
ES2674568T3 (es) * 2002-09-13 2018-07-02 Irobot Corporation Sistema de control de navegación para un dispositivo robótico
US6920376B2 (en) * 2002-10-31 2005-07-19 Hewlett-Packard Development Company, L.P. Mutually-immersive mobile telepresence system with user rotation and surrogate translation
US6879879B2 (en) * 2002-10-31 2005-04-12 Hewlett-Packard Development Company, L.P. Telepresence system with automatic user-surrogate height matching
US7158860B2 (en) * 2003-02-24 2007-01-02 Intouch Technologies, Inc. Healthcare tele-robotic system which allows parallel remote station observation
US7171286B2 (en) * 2003-02-24 2007-01-30 Intouch Technologies, Inc. Healthcare tele-robotic system with a robot that also functions as a remote station
JP2004261941A (ja) * 2003-03-04 2004-09-24 Sharp Corp コミュニケーションロボットおよびコミュニケーションシステム
US7262573B2 (en) * 2003-03-06 2007-08-28 Intouch Technologies, Inc. Medical tele-robotic system with a head worn device
JP4124682B2 (ja) * 2003-03-20 2008-07-23 日本放送協会 カメラ操作装置
US20050065435A1 (en) * 2003-07-22 2005-03-24 John Rauch User interface for remote control of medical devices
US7995090B2 (en) * 2003-07-28 2011-08-09 Fuji Xerox Co., Ltd. Video enabled tele-presence control host
US7395126B2 (en) * 2003-07-29 2008-07-01 Far Touch, Inc. Remote control of wireless electromechanical device using a web browser
US7133062B2 (en) * 2003-07-31 2006-11-07 Polycom, Inc. Graphical user interface for video feed on videoconference terminal
US7432949B2 (en) * 2003-08-20 2008-10-07 Christophe Remy Mobile videoimaging, videocommunication, video production (VCVP) system
US7174238B1 (en) * 2003-09-02 2007-02-06 Stephen Eliot Zweig Mobile robotic system with web server and digital radio links
US7307651B2 (en) * 2003-10-16 2007-12-11 Mark A. Chew Two-way mobile video/audio/data interactive companion (MVIC) system
US7161322B2 (en) * 2003-11-18 2007-01-09 Intouch Technologies, Inc. Robot with a manipulator arm
US7092001B2 (en) * 2003-11-26 2006-08-15 Sap Aktiengesellschaft Video conferencing system with physical cues
US7756614B2 (en) * 2004-02-27 2010-07-13 Hewlett-Packard Development Company, L.P. Mobile device control system
US7176957B2 (en) * 2004-05-25 2007-02-13 Seiko Epson Corporation Local video loopback method for a multi-participant conference system using a back-channel video interface
US20060052676A1 (en) * 2004-09-07 2006-03-09 Yulun Wang Tele-presence system that allows for remote monitoring/observation and review of a patient and their medical records
US20060064212A1 (en) * 2004-09-22 2006-03-23 Cycle Time Corporation Reactive automated guided vehicle vision guidance system

Cited By (90)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10315312B2 (en) 2002-07-25 2019-06-11 Intouch Technologies, Inc. Medical tele-robotic system with a master remote station with an arbitrator
USRE45870E1 (en) 2002-07-25 2016-01-26 Intouch Technologies, Inc. Apparatus and method for patient rounding with a remote controlled robot
US8515577B2 (en) 2002-07-25 2013-08-20 Yulun Wang Medical tele-robotic system with a master remote station with an arbitrator
US9849593B2 (en) 2002-07-25 2017-12-26 Intouch Technologies, Inc. Medical tele-robotic system with a master remote station with an arbitrator
US9296107B2 (en) 2003-12-09 2016-03-29 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
US9375843B2 (en) 2003-12-09 2016-06-28 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
US10882190B2 (en) 2003-12-09 2021-01-05 Teladoc Health, Inc. Protocol for a remotely controlled videoconferencing robot
US9956690B2 (en) 2003-12-09 2018-05-01 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
US9766624B2 (en) 2004-07-13 2017-09-19 Intouch Technologies, Inc. Mobile robot with a head-based movement mapping scheme
US8401275B2 (en) 2004-07-13 2013-03-19 Intouch Technologies, Inc. Mobile robot with a head-based movement mapping scheme
US8983174B2 (en) 2004-07-13 2015-03-17 Intouch Technologies, Inc. Mobile robot with a head-based movement mapping scheme
US10241507B2 (en) 2004-07-13 2019-03-26 Intouch Technologies, Inc. Mobile robot with a head-based movement mapping scheme
US10259119B2 (en) 2005-09-30 2019-04-16 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
US9198728B2 (en) 2005-09-30 2015-12-01 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
US8849679B2 (en) 2006-06-15 2014-09-30 Intouch Technologies, Inc. Remote controlled robot system that provides medical images
US10682763B2 (en) 2007-05-09 2020-06-16 Intouch Technologies, Inc. Robot system that operates through a network firewall
US9160783B2 (en) 2007-05-09 2015-10-13 Intouch Technologies, Inc. Robot system that operates through a network firewall
US10875182B2 (en) 2008-03-20 2020-12-29 Teladoc Health, Inc. Remote presence system mounted to operating room hardware
US11787060B2 (en) 2008-03-20 2023-10-17 Teladoc Health, Inc. Remote presence system mounted to operating room hardware
US10471588B2 (en) 2008-04-14 2019-11-12 Intouch Technologies, Inc. Robotic based health care system
US11472021B2 (en) 2008-04-14 2022-10-18 Teladoc Health, Inc. Robotic based health care system
US8861750B2 (en) 2008-04-17 2014-10-14 Intouch Technologies, Inc. Mobile tele-presence system with a microphone system
US10493631B2 (en) 2008-07-10 2019-12-03 Intouch Technologies, Inc. Docking system for a tele-presence robot
US9193065B2 (en) 2008-07-10 2015-11-24 Intouch Technologies, Inc. Docking system for a tele-presence robot
US10878960B2 (en) 2008-07-11 2020-12-29 Teladoc Health, Inc. Tele-presence robot system with multi-cast features
US9842192B2 (en) 2008-07-11 2017-12-12 Intouch Technologies, Inc. Tele-presence robot system with multi-cast features
US8340819B2 (en) 2008-09-18 2012-12-25 Intouch Technologies, Inc. Mobile videoconferencing robot system with network adaptive driving
US9429934B2 (en) 2008-09-18 2016-08-30 Intouch Technologies, Inc. Mobile videoconferencing robot system with network adaptive driving
US8996165B2 (en) 2008-10-21 2015-03-31 Intouch Technologies, Inc. Telepresence robot with a camera boom
US10875183B2 (en) 2008-11-25 2020-12-29 Teladoc Health, Inc. Server connectivity control for tele-presence robot
US10059000B2 (en) 2008-11-25 2018-08-28 Intouch Technologies, Inc. Server connectivity control for a tele-presence robot
US9138891B2 (en) 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8849680B2 (en) 2009-01-29 2014-09-30 Intouch Technologies, Inc. Documentation through a remote presence robot
US8897920B2 (en) 2009-04-17 2014-11-25 Intouch Technologies, Inc. Tele-presence robot system with software modularity, projector and laser pointer
US10969766B2 (en) 2009-04-17 2021-04-06 Teladoc Health, Inc. Tele-presence robot system with software modularity, projector and laser pointer
CN102473081B (zh) * 2009-08-26 2016-05-25 英塔茨科技公司 便携式远程呈现设备
CN102473081A (zh) * 2009-08-26 2012-05-23 英塔茨科技公司 便携式远程呈现设备
US9602765B2 (en) 2009-08-26 2017-03-21 Intouch Technologies, Inc. Portable remote presence robot
US10404939B2 (en) 2009-08-26 2019-09-03 Intouch Technologies, Inc. Portable remote presence robot
US10911715B2 (en) 2009-08-26 2021-02-02 Teladoc Health, Inc. Portable remote presence robot
US8384755B2 (en) 2009-08-26 2013-02-26 Intouch Technologies, Inc. Portable remote presence robot
US11154981B2 (en) 2010-02-04 2021-10-26 Teladoc Health, Inc. Robot user interface for telepresence robot system
US9089972B2 (en) 2010-03-04 2015-07-28 Intouch Technologies, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
US11798683B2 (en) 2010-03-04 2023-10-24 Teladoc Health, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
US8670017B2 (en) 2010-03-04 2014-03-11 Intouch Technologies, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
US10887545B2 (en) 2010-03-04 2021-01-05 Teladoc Health, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
US10343283B2 (en) 2010-05-24 2019-07-09 Intouch Technologies, Inc. Telepresence robot system that can be accessed by a cellular phone
US11389962B2 (en) 2010-05-24 2022-07-19 Teladoc Health, Inc. Telepresence robot system that can be accessed by a cellular phone
US10808882B2 (en) 2010-05-26 2020-10-20 Intouch Technologies, Inc. Tele-robotic system with a robot face placed on a chair
US10218748B2 (en) 2010-12-03 2019-02-26 Intouch Technologies, Inc. Systems and methods for dynamic bandwidth allocation
US9264664B2 (en) 2010-12-03 2016-02-16 Intouch Technologies, Inc. Systems and methods for dynamic bandwidth allocation
US11289192B2 (en) 2011-01-28 2022-03-29 Intouch Technologies, Inc. Interfacing with a mobile telepresence robot
US10399223B2 (en) 2011-01-28 2019-09-03 Intouch Technologies, Inc. Interfacing with a mobile telepresence robot
US9785149B2 (en) 2011-01-28 2017-10-10 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
US8965579B2 (en) 2011-01-28 2015-02-24 Intouch Technologies Interfacing with a mobile telepresence robot
US9469030B2 (en) 2011-01-28 2016-10-18 Intouch Technologies Interfacing with a mobile telepresence robot
US10591921B2 (en) 2011-01-28 2020-03-17 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
US11468983B2 (en) 2011-01-28 2022-10-11 Teladoc Health, Inc. Time-dependent navigation of telepresence robots
US8718837B2 (en) 2011-01-28 2014-05-06 Intouch Technologies Interfacing with a mobile telepresence robot
US9323250B2 (en) 2011-01-28 2016-04-26 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
US10769739B2 (en) 2011-04-25 2020-09-08 Intouch Technologies, Inc. Systems and methods for management of information among medical providers and facilities
US9974612B2 (en) 2011-05-19 2018-05-22 Intouch Technologies, Inc. Enhanced diagnostics for a telepresence robot
US8836751B2 (en) 2011-11-08 2014-09-16 Intouch Technologies, Inc. Tele-presence system with a user interface that displays different communication links
US10331323B2 (en) 2011-11-08 2019-06-25 Intouch Technologies, Inc. Tele-presence system with a user interface that displays different communication links
US9715337B2 (en) 2011-11-08 2017-07-25 Intouch Technologies, Inc. Tele-presence system with a user interface that displays different communication links
US11205510B2 (en) 2012-04-11 2021-12-21 Teladoc Health, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US10762170B2 (en) 2012-04-11 2020-09-01 Intouch Technologies, Inc. Systems and methods for visualizing patient and telepresence device statistics in a healthcare network
US8902278B2 (en) 2012-04-11 2014-12-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US9251313B2 (en) 2012-04-11 2016-02-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US10892052B2 (en) 2012-05-22 2021-01-12 Intouch Technologies, Inc. Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US10603792B2 (en) 2012-05-22 2020-03-31 Intouch Technologies, Inc. Clinical workflows utilizing autonomous and semiautonomous telemedicine devices
US10061896B2 (en) 2012-05-22 2018-08-28 Intouch Technologies, Inc. Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US9776327B2 (en) 2012-05-22 2017-10-03 Intouch Technologies, Inc. Social behavior rules for a medical telepresence robot
US9361021B2 (en) 2012-05-22 2016-06-07 Irobot Corporation Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US11628571B2 (en) 2012-05-22 2023-04-18 Teladoc Health, Inc. Social behavior rules for a medical telepresence robot
US10780582B2 (en) 2012-05-22 2020-09-22 Intouch Technologies, Inc. Social behavior rules for a medical telepresence robot
US11515049B2 (en) 2012-05-22 2022-11-29 Teladoc Health, Inc. Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US9174342B2 (en) 2012-05-22 2015-11-03 Intouch Technologies, Inc. Social behavior rules for a medical telepresence robot
US10658083B2 (en) 2012-05-22 2020-05-19 Intouch Technologies, Inc. Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US11453126B2 (en) 2012-05-22 2022-09-27 Teladoc Health, Inc. Clinical workflows utilizing autonomous and semi-autonomous telemedicine devices
US10328576B2 (en) 2012-05-22 2019-06-25 Intouch Technologies, Inc. Social behavior rules for a medical telepresence robot
US9098611B2 (en) 2012-11-26 2015-08-04 Intouch Technologies, Inc. Enhanced video interaction for a user interface of a telepresence network
US10924708B2 (en) 2012-11-26 2021-02-16 Teladoc Health, Inc. Enhanced video interaction for a user interface of a telepresence network
US10334205B2 (en) 2012-11-26 2019-06-25 Intouch Technologies, Inc. Enhanced video interaction for a user interface of a telepresence network
US11910128B2 (en) 2012-11-26 2024-02-20 Teladoc Health, Inc. Enhanced video interaction for a user interface of a telepresence network
CN103793133A (zh) * 2013-12-19 2014-05-14 弗徕威智能机器人科技（上海）有限公司 应用于智能服务机器人的多屏交互系统，交互方法
US11862302B2 (en) 2017-04-24 2024-01-02 Teladoc Health, Inc. Automated transcription and documentation of tele-health encounters
US11742094B2 (en) 2017-07-25 2023-08-29 Teladoc Health, Inc. Modular telehealth cart with thermal imaging and touch screen user interface
US11636944B2 (en) 2017-08-25 2023-04-25 Teladoc Health, Inc. Connectivity infrastructure for a telehealth platform
US11389064B2 (en) 2018-04-27 2022-07-19 Teladoc Health, Inc. Telehealth cart that supports a removable tablet with seamless audio/video switching

Also Published As

Publication number Publication date
EP2027716A2 (en) 2009-02-25
US20070291109A1 (en) 2007-12-20
WO2008100272A3 (en) 2008-10-23
US20070291128A1 (en) 2007-12-20
JP2009540759A (ja) 2009-11-19
WO2008100272A2 (en) 2008-08-21
EP2027716A4 (en) 2010-12-29

Similar Documents

Publication Publication Date Title
CN101507260A (zh) 投影由移动机器人提供的图像的移动电话会议系统
CN101316550B (zh) 多摄像机移动远程会议平台
US20210260749A1 (en) Graphical interface for a remote presence system
US11398307B2 (en) Remote controlled robot system that provides medical images
US7593030B2 (en) Tele-robotic videoconferencing in a corporate environment
JP4938689B2 (ja) 自動シャットオフ機能を備えるモバイル・ビデオ会議プラットフォーム
US7761185B2 (en) Remote presence display through remotely controlled robot
US7769492B2 (en) Graphical interface for a remote presence system
CN101106939B (zh) 允许远程监控/观察和检查患者及其病历的远程呈现系统
CN102395931A (zh) 具有软件模块、投影仪和激光指示器的远地视在机器人系统
US10073950B2 (en) Telepresence robot with a camera boom
CN102270043B (zh) 协调设备交互来增强用户体验
CN102089751A (zh) 具有多播特征的远程呈现机器人系统
CN114461124B (zh) 投屏控制方法、装置、投屏器及计算机可读存储介质

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C12 Rejection of a patent application after its publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20090812