Remote presence system including a cart that supports a robot face and an overhead camera

{
  "publication_number": "US10887545B2",
  "country": "US",
  "kind": "B2",
  "title": "Remote presence system including a cart that supports a robot face and an overhead camera",
  "abstract": "A tele-presence system that includes a cart. The cart includes a robot face that has a robot monitor, a robot camera, a robot speaker, a robot microphone, and an overhead camera. The system also includes a remote station that is coupled to the robot face and the overhead camera. The remote station includes a station monitor, a station camera, a station speaker and a station microphone. The remote station can display video images captured by the robot camera and/or overhead camera. By way of example, the cart can be used in an operating room, wherein the overhead camera can be placed in a sterile field and the robot face can be used in a non-sterile field. The user at the remote station can conduct a teleconference through the robot face and also obtain a view of a medical procedure through the overhead camera.",
  "claims": [
    "1. A cart for use in a surgical mentoring system, the cart comprising: a first camera; a second camera; a speaker; a microphone; and an input device, wherein the second camera is coupled to the cart via a boom that includes a plurality of joints configured to allow a distance between a first end of the boom and a second end of the boom to be varied, wherein the cart is configured to be coupled to a remote station via a network, the remote station including a camera, a monitor, and microphone, and a speaker, wherein the remote station is configured to display a user interface on the station monitor, the user interface includes a remote view field, a station view field, and a plurality of graphical controls, wherein the plurality of controls include one or more controls to selectively display video from the first camera or the second camera in the remote view field, one or more controls to display a still image captured by the first camera or the second camera in the remote view field, one or more controls to transfer an image to the cart monitor for display, and one or more controls to annotate an image displayed on the cart monitor from the remote station, wherein the station view field displays an image captured by the station camera, the station speaker reproduces a sound captured by the cart microphone, the station microphone captures a sound that is transmitted to and reproduced by the cart speaker, and wherein the orientation of the first camera and the orientation of the second camera can be independently controlled from the remote station.",
    "2. The system of claim 1, wherein the one or more controls includes a switch that allows the user to select simultaneous display of video images from the first and second cameras.",
    "3. The system of claim 2, wherein the video images from both the first camera and the second camera are streamed to the remote station from the cart.",
    "4. The system of claim 1, wherein a height of the first camera is less than a height of the second camera.",
    "5. The system of claim 1, wherein the boom includes a handle that can be used to move the second camera.",
    "6. The system of claim 1, wherein the cart includes a processor and a hard drive.",
    "7. The system of claim 1, wherein cart includes an input panel that allows a user to provide input.",
    "8. The system of claim 1, wherein the user interface includes a location display that provides the location of the cart.",
    "9. The system of claim 1, wherein the system includes a plurality of carts and the user interface includes a graphical input that can be used to select and control a second cart.",
    "10. The system of claim 1, wherein said cart includes a second microphone.",
    "11. The system of claim 3, wherein the one or more controls includes a control that allows a user to switch between the first microphone and the second microphone.",
    "12. A method for surgical mentoring, comprising: displaying a user interface on a monitor of a remote station, the user interface including a remote view field, a station view field, and a plurality of graphical controls; establishing a communication session with a cart in proximity to a surgical field, the cart including a first camera, a second camera, a monitor, a microphone, a speaker, and an input device, wherein the second camera is coupled to the cart via a boom that includes a plurality of joints configured to allow a distance between a first end of the boom and a second end of the boom to be varied; selectively displaying video from the first camera and the second camera in the remote view field in response to user input at the remote station; displaying a still image captured by one of the first camera or the second camera in the remote view field in response to user input at the remote station; transferring an image to the cart monitor for display in response to user input at the remote station; annotating an image displayed on the cart monitor in response to user input at the remote station; displaying, in the station view field, an image captured by the station camera on the station monitor; reproducing, by the station speaker, a sound captured by the cart microphone; capturing, by the station microphone, a sound that is transmitted to and reproduced by the cart speaker; and controlling the orientation of the first camera and the orientation of the second camera from the remote station.",
    "13. The method of claim 12 further comprising simultaneously displaying video images from the first and second cameras at the remote station.",
    "14. The method of claim 12 further comprising receiving at the remote station video streams from both the first and second cameras.",
    "15. The method of claim 12 further comprising receiving input from an input panel of the cart at the remote station.",
    "16. The method of claim 13, further comprising displaying a location display at the remote station that provides the location of the cart.",
    "17. The method of claim 13, further comprising displaying at the remote station a graphical input that can be selected to select and control a second cart.",
    "18. The method of claim 13, further comprising controlling the zoom of the first camera from the remote station in response to user input.",
    "19. The method of claim 12 further comprising controlling the zoom of the second camera from the remote station in response to user input.",
    "20. A non-transitory computer-readable medium comprising program code that, when executed by one or more processors, causes the one or more processors to perform a method for automated health condition scoring, the method comprising: displaying a user interface on a monitor of a remote station, the user interface including a remote view field, a station view field, and a plurality of graphical controls; establishing a communication session with a cart in proximity to a surgical field, the cart including a first camera, a second camera, a monitor, a microphone, a speaker, and an input device, wherein the second camera is coupled to the cart via a boom that includes a plurality of joints configured to allow a distance between a first end of the boom and a second end of the boom to be varied; selectively displaying video from the first camera and the second camera in the remote view field in response to user input at the remote station; displaying a still image captured by one of the first camera or the second camera in the remote view field in response to user input at the remote station; transferring an image to the cart monitor for display in response to user input at the remote station; annotating an image displayed on the cart monitor in response to user input at the remote station; displaying, in the station view field, an image captured by the station camera on the station monitor; reproducing, by the station speaker, a sound captured by the cart microphone; capturing, by the station microphone, a sound that is transmitted to and reproduced by the cart speaker; and controlling the orientation of the first camera and the orientation of the second camera from the remote station."
  ],
  "description_excerpt": "The subject matter disclosed generally relates to the field of robotic tele-presence systems.\n\nRobots have been used in a variety of applications ranging from remote control of hazardous material to assisting in the performance of surgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al. discloses a system that allows a surgeon to perform minimally invasive medical procedures through the use of robotically controlled instruments. One of the robotic arms in the Wang system moves an endoscope that has a camera. The camera allows a surgeon to view a surgical area of a patient.\n\nThere has been marketed a mobile tele-presence robot introduced by InTouch Technologies, Inc., the assignee of this application, under the trademark RP-7. The InTouch robot is controlled by a user at a remote station. The remote station may be a personal computer with a joystick that allows the user to remotely control the movement of the robot. Both the robot and remote station have cameras, monitors, speakers and microphones to allow for two-way video/audio communication. The robot camera provides video images to a screen at the remote station so that the user can view the robot's surroundings and move the robot accordingly.\n\nInTouch also provides a system sold as VisitOR that includes a robot face that is attached to a boom. The boom and robot face can be installed into an operating room. Using a robot face in an operating room may require sterilization of the face. Additionally, the VisitOR requires the installation of a boom in the operating room. This can add to the cost and complexity of installing such a system.",
  "cpc": [
    "G16H 40/67",
    "B25J 9/1689",
    "B25J 9/1697",
    "G06F 19/321",
    "G06F 19/3418",
    "G16H 30/00",
    "G16H 30/20",
    "G16H 40/40",
    "H04L 65/403",
    "H04L 67/10",
    "H04N 23/631",
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    "H04N 5/23293",
    "H04N 5/247",
    "H04N 5/265",
    "H04N 7/142",
    "H04N 7/185"
  ],
  "ipc": [
    "B25J 9/16",
    "G16H 30/20",
    "G16H 40/67",
    "H04L 29/06",
    "H04L 29/08",
    "H04N 23/90",
    "H04N 5/265",
    "H04N 7/14",
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  ],
  "assignees": [
    "Teladoc Health Inc"
  ],
  "inventors": [
    "David Stuart",
    "Daniel Steven Sanchez",
    "Fuji Lai",
    "Kevin Hanrahan",
    "Charles S. Jordan",
    "David Roe",
    "James Rosenthal",
    "Amante Mangaser",
    "Blair Whitney",
    "Derek Walters"
  ],
  "filing_date": "2017-03-20",
  "publication_date": "2021-01-05",
  "grant_date": "2021-01-05",
  "priority_date": "2010-03-04",
  "application_number": "US-201715464164-A",
  "family_id": "44532022",
  "cited_by_count": 8,
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