CN101978365A - 安装在手术室硬件上的远程临场系统 - Google Patents

安装在手术室硬件上的远程临场系统 Download PDF

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CN101978365A
CN101978365A CN2009801100381A CN200980110038A CN101978365A CN 101978365 A CN101978365 A CN 101978365A CN 2009801100381 A CN2009801100381 A CN 2009801100381A CN 200980110038 A CN200980110038 A CN 200980110038A CN 101978365 A CN101978365 A CN 101978365A
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Prior art keywords
robot
station
face
robot face
monitor
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Y·王
C·S·乔丹
M·平特
D·S·桑切斯
K·P·汉拉罕
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IN TOUCH HEALTH Inc
InTouch Technologies Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • 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
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • 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
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
    • 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

一种机器人系统，其包括远程站和机器人面部。该机器人面部包括与远程站的监视器耦接的摄像机和与远程站的摄像机耦接的监视器。该机器人面部和远程站还可以具有耦接在一起的扬声器和扩音器。该机器人面部可以与吊杆耦接。替代地，该机器人面部可以利用附着机构附着在医疗工作台上。该机器人面部和远程站允许医疗人员通过该系统提供医疗会诊。

Description

安装在手术室硬件上的远程临场系统
相关申请的交叉引用
本申请要求于2008年3月20日提交的申请号为No.61/070,348的优先权。
技术领域
本公开的主题通常涉及机器人远程临场(tele-presence)系统的领域。
背景技术
在实施外科手术的过程中有时期望在该过程中有导师帮助。遗憾的是，这典型地需要导师位于手术现场，而这通常是不切实际的。目前开发了一种由Intuitive Surgical，Inc在售的商标为Da Vinci的机器人系统，其允许外科医生通过使用设置在外科手术现场的机器人手臂而远程地实施外科手术。这允许专家从远程位置实际地实施手术。该Da Vinci系统庞大并且昂贵，因此并非每个医疗设施都可以得到。期望有一种允许远程医疗会诊的系统，其相对较为便宜并且易于安装在现有手术室中。
发明内容
一种机器人系统，其包括远程站和机器人面部(robot face)。该机器人面部包括与远程站的监视器耦接的摄像机和与远程站的摄像机耦接的监视器。该机器人面部和远程站还具有耦接在一起的扬声器和扩音器。该机器人面部可以与吊杆(boom)耦接。替代地，该机器人面部可以利用附着机构附着在医疗工作台上。
附图说明
图1是远程临场系统的示图；
图2是该系统的机器人面部的放大视图；
图3是该机器人面部的后视图；
图4是远程临场系统的替代实施例的示图；
图5是图4中所示的实施例的机器人面部的后视图；
图6是远程站的显示器用户界面的示图；
图7是显示电子医疗记录的显示器用户界面；
图8是同时显示图像和电子医疗记录的显示器用户界面。
具体实施方式
公开了一种机器人系统，其包括远程站和机器人面部。该机器人面部包括与远程站的监视器耦接的摄像机和与远程站的摄像机耦接的监视器。该机器人面部和远程站还具有耦接在一起的扬声器和扩音器。该机器人面部可以与吊杆耦接。该吊杆可以从医疗设施的顶蓬延伸。替代地，该机器人面部可以利用附着机构附着在医疗工作台上。该机器人面部和远程站允许医务人员通过该系统提供远程医疗会诊。
参考附图更特别地参考附图标记，图1、2和3示出了远程临场系统10。该系统10包括吊杆12、机器人面部14和远程控制站16。该远程控制站16可以通过网络18与机器人面部14相耦接。例如，网络18可以是数据包交换网络，例如因特网，或者是线路交换网络，例如公用开关电话网络(PSTN)或者其它宽带系统。替代地，机器人面部14可以通过卫星网络耦接到远程站16。
远程控制站16可以包括计算机22，其具有监视器24、摄像机26、扩音器28和扬声器30。该计算机22还可以包括输入设备32，例如控制杆或鼠标。控制站16典型地位于远离机器人面部14的位置。虽然仅仅示出了一个远程控制站16，但是系统10可以包括多个远程站16。通常任意数目的机器人面部14可以耦接于任意数目的远程站16或者其它机器人面部14。例如，一个远程站16可以耦接到多个机器人面部14，或者一个机器人面部14可以耦接到多个远程站16或多个机器人面部14。该系统可以包括仲裁器(未示出)，其控制(多个)机器人面部14和多个远程站16之间的访问。
吊杆12可以从医疗设施的顶蓬34延伸。吊杆12可包括铰接接头36和38，其提供至少两个自由度并且允许用户相对于医疗工作台40(例如手术室(“OR”)工作台)移动机器人面部14。
吊杆12可具有额外的接头42和44，其分别允许机器人面部14摇动和倾斜。该接头42和48可以分别包括致动器46和48，其可以通过远程站16处的输入设备32的操作而被远程致动。
每个机器人面部14包括(一个或多个)摄像机50、监视器52、(一个或多个)扩音器54和(一个或多个)扬声器56。机器人摄像机50与远程监视器24耦接，使得远程站16处的用户可以观察工作台40上的患者。同样，机器人监视器52与远程摄像机26耦接，使得手术现场的医疗人员可以观察远程站16的用户。扩音器28和54、以及扬声器30和56，允许系统操作者和手术现场人员之间的声音交流。
系统10允许系统用户(例如外科专家)通过远程站16和机器人面部14对工作台40上的患者进行观察并提供远程医疗会诊。手术现场人员可以提出问题并通过系统反映给系统操作者。机器人摄像机50允许专家观察患者并增强医疗会诊。机器人监视器52可以显示专家以提供在手术现场的临场感。吊杆12允许工作人员将机器人面部14移入或移出手术区域。
可以在医疗设施中已经存在的吊杆上进行机器人面部14的改型。例如，一些目前医疗设施包括附着在吊杆上的监视器。可以采用机器人面部14替代现存的监视器并且随后将其与远程站16耦接。
图4和图5示出了系统的替代实施例10’，其中机器人面部14利用附着机构70附着在工作台40上。该附着机构70可以包括一对夹具72，其被按压进工作台40的轨道74中。该附着机构70可以具有套筒76，其相对外壳78滑动使得用户可以调整机器人面部14的高度。可以通过旋钮80的旋转而将该面部锁定在适当的位置。
附着机构70可以包括具有接头84和86的颈部82，所述接头84和86分别允许机器人面部14的摇动和倾斜。接头84和86可以被手动地致动或者分别包括致动器88和90，其可以通过远程站16处的输入设备32被致动。
附着机构70可包括手柄92，其允许用户将机器人面部14拉近或推离工作台40。该附着机构70使得机器人面部14在手术现场易于使用，特别是在手术室不具有吊杆的情况下。
远程站计算机22可以运行Microsoft OS软件和WINDOWS XP或者其它操作系统，例如LINUX。远程计算机22也可运行视频驱动器、摄像机驱动器、音频驱动器和控制杆驱动器。可以采用压缩软件(例如MPEG CODEC)进行视频图像的传输和接收。
系统10和10’可以具有特定部件和软件，其与名为RP-7，受让人为加利福尼亚州圣巴巴拉市(SantaBarbara)的InTouch-Health，Inc，且由美国专利6,925,357中描述的实施例系统中所提供的机器人系统相同或类似，该美国专利在此通过引用被并入。
图6示出了显示器用户界面(“DUI”)120，其可以在远程站16处显示。DUI120可包括机器人视窗122，其显示由机器人面部14的摄像机所捕捉到的视频图像。DUI 120还可以包括站视窗124，其显示由远程站16的摄像机所提供的视频图像。DUI 120可以是由远程站16的计算机22存储和操作的应用程序的一部分。
如图7所示，DUI 120可包括图形按钮126，可选中该按钮来显示电子医疗记录。可以触发按钮126来连续地观察视频图像和电子医疗记录。替代地，如图8所示，可以将视窗122分割以同时显示视频图像和电子医疗记录。该视窗可以允许医师通过增加、改变或删除全部或部分医疗记录而修改该医疗记录。远程临床医生也可以将由机器人的摄像机所捕捉的静止图像或视频增加到医疗记录。
DUI 120可具有监视器数据栏128，其可显示由医疗监视设备(未示出)生成并传输给远程站的数据。可以自动或通过用户输入将该数据增加到电子医疗记录。例如，可以通过将监视器数据栏128“拖拽”进视窗122中而将该数据增加到记录中。
DUI 120可包括警报输入图标130和132。远程站处的用户可以选中警报图标130以产生警报指示，例如来自机器人面部14的扬声器的声音。图标的选中生成警报输入给机器人面部14。机器人面部14响应警报输入而通过其扬声器产生声音。例如，该声音可以模仿号角声。因此，图标130可具有号角的外观。
可以选中警报图标132以请求从机器人面部存取视频图像。机器人的默认状态可以是不向远程站发送视频信息。选中警报图标132发送警报输入，例如对机器人面部的访问请求。机器人面部随后生成警报指示符。该警报指示符可以是由机器人扬声器生成的声音和/或机器人监视器上的可视提示。例如，该可视提示可以为“闪光”图形图标。声音则可以模仿敲门。因此，警报图标132可以具有门环的外观。
响应警报指示符，用户可以提供用户输入，例如按下机器人面部上的按钮，或者选择机器人监视器上的图形图像，以允许防问机器人摄像机。机器人面部也可以具有声音识别系统，其允许用户以声音命令授权访问。该用户输入使得机器人面部开始从机器人摄像机向请求访问该机器人面部的远程站传输视频图像。在警报输入和响应的循环之前可以建立声音交流，以允许远程站处的用户与机器人面部处的呼叫接收人通话。
DUI 120可包括位置显示138，其提供机器人面部的位置。可以选中CHANGE按钮140以在新的会话中改变默认的机器人面部。可以使用该CHANGE按钮140以选择和控制具有多个机器人面部的系统中的不同机器人面部。用户可以通过选择方块142而开始或终止会话。用户选择方块开始会话时，方块142从CONNECT(连接)改变为DISCONNNECT(断开)。可以通过按钮144和146选择系统设置和支持。
机器人视窗122和远程站视窗124都可具有相关图形以改变视频和音频显示。每个视窗可具有相关图形的音频滑动条148，用以改变扩音器的声音水平，还具有另一个滑动条152，用以改变扬声器的音量。
DUI 120可具有滑动条150、154、和156以分别改变摄像机的缩放、聚焦和亮度。可通过选择图形摄像机图标158之一在机器人面部或远程站处获取静态图片。静态图片可以是当选择摄像机图标158时相应视窗122或124处所呈现的图像。可通过图形图标160捕捉和回放视频。可通过选择图形LIVE按钮162而在获取静态图片、捕捉视频或回放幻灯片之后重新回到实时视频。
可通过选择图标164从盘中载入静态图片进行观察。通过选择按钮166可以重新观察存储的静态图片。通过图形方块168示出相对于图像总数所显示的图像数目。用户可以以幻灯片方式快速地移动静态图像或者通过移动滑动条170移动捕捉到的视频剪辑。通过选择圆圈174可以暂停所捕捉的视频图像。通过相同的按钮174可以重新开始播放。通过按钮172可以从活动菜单中取消视频或静态图像。通过选择图标176可以将视频或静态图像传送给机器人。例如，远程站的医生可以将X射线传送到机器人屏幕上。
该系统可具有为在视窗122和/或124内显示的图像提供注释184的能力。例如，远程站的医生可以对由机器人面部摄像机所捕捉的图像的某一部分作出注释。该注释的图像可以被系统存储。通过图标176，该系统还考虑到将图像的注释发送到机器人面部。例如，医生可以发送X射线给机器人面部，该X射线通过机器人屏幕被显示。医生可对该X射线进行注释以向位于机器人现场处的人员指出该X射线的一部分。这可以帮助允许医生指导机器人现场处的人员。
该显示器用户界面可包括图形输入186，其允许操作者开启或关闭远程站和远程摄像机的观察。
尽管描述了特定的示意性实施例并且在附图中示出了这些实施例，但是应当理解这些实施例仅仅是说明性的并且没有限制广阔的发明，并且本发明并不局限于所显示和描述的特殊结构和布置，因为本领域技术人员可以进行各种其它修改。

Claims (20)

1.一种远程临场系统，包括：
吊杆；
与所述吊杆耦接的机器人面部，所述机器人面部包括机器人监视器、机器人摄像机、机器人扬声器和机器人扩音器；以及，
与所述机器人面部耦接的远程站，所述远程站包括站监视器、站摄像机、站扬声器和站扩音器。
2.如权利要求1所述的系统，其中所述吊杆具有至少两个自由度。
3.如权利要求1所述的系统，其中所述远程站监视器显示显示器用户界面。
4.如权利要求1所述的系统，其中所述吊杆包括多个致动器，用以向所述机器人面部提供至少两个自由度。
5.如权利要求4所述的系统，其中所述远程站传输命令以致动所述多个致动器。
6.如权利要求1所述的系统，进一步包括耦接于所述机器人面部和所述远程站的宽带网络。
7.如权利要求1所述的系统，进一步包括支撑所述吊杆的医疗设施和与所述机器人面部物理地接近的医疗工作台。
8.一种用于提供远程医疗会诊的方法，包括：
移动附着在吊杆上的机器人面部；
将来自机器人摄像机的图像传输到远程站的站监视器；
将来自站摄像机的用户图像传输到机器人面部的机器人监视器；以及，
将来自站扩音器的音频命令传输到机器人扬声器。
9.如权利要求8所述的方法，进一步包括将来自机器人扩音器的音频请求传输到站扬声器。
10.如权利要求8所述的方法，进一步包括传输来自远程站的致动命令以致动吊杆的致动器。
11.一种能利用医疗工作台实施的远程临场系统，包括：
机器人面部，所述机器人面部包括机器人监视器、机器人摄像机、机器人扬声器和机器人扩音器；
附着机构，其将所述机器人面部附着到所述医疗工作台上；以及
与所述机器人面部耦接的远程站，所述远程站包括站监视器、站摄像机、站扬声器和站扩音器。
12.如权利要求11所述的系统，其中所述附着机构具有至少一个自由度。
13.如权利要求11所述的系统，其中所述远程站监视器显示显示器用户界面。
14.如权利要求11所述的系统，其中所述附着机构包括多个致动器，用以向所述机器人面部提供至少两个自由度。
15.如权利要求14所述的系统，其中所述远程站传输命令以致动所述多个致动器。
16.如权利要求11所述的系统，进一步包括耦接于所述机器人面部和所述远程站的宽带网络。
17.如权利要求11所述的系统，其中所述附着机构包括至少一个夹具。
18.一种用于提供远程医疗会诊的方法，包括：
将机器人面部附着在医疗工作台上；
将来自机器人摄像机的图像传输到远程站的站监视器；
将来自站摄像机的用户图像传输到机器人面部的机器人监视器；以及，
将来自站扩音器的音频命令传输到机器人扬声器。
19.如权利要求18所述的方法，进一步包括将来自机器人扩音器的音频请求传输到站扬声器。
20.如权利要求18所述的方法，进一步包括传输来自远程站的致动命令以致动所述附着机构的致动器。
CN2009801100381A 2008-03-20 2009-03-09 安装在手术室硬件上的远程临场系统 Pending CN101978365A (zh)

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US20090240371A1 (en) 2009-09-24
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US20210220998A1 (en) 2021-07-22
US11787060B2 (en) 2023-10-17

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