CN101422044B - 医学远程机器人系统 - Google Patents

医学远程机器人系统 Download PDF

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CN101422044B
CN101422044B CN038229145A CN03822914A CN101422044B CN 101422044 B CN101422044 B CN 101422044B CN 038229145 A CN038229145 A CN 038229145A CN 03822914 A CN03822914 A CN 03822914A CN 101422044 B CN101422044 B CN 101422044B
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robot
patient
mobile robot
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CN101422044A (zh
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Y·王
K·P·拉比
C·S·乔丹
S·E·布特纳
J·索塔德
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IN TOUCH HEALTH Inc
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    • G05D1/02—Control of position or course in two dimensions
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    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • 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
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    • 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
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Abstract

一种包括远程控制机器人的机器人系统。该机器人可包括照相机、监视器和完整平台，这些都接附于机器人机架上。机器人可以由远程控制台控制，该控制台也具有照相机和监视器。远程控制台可以连接到基台，基台与机器人无线连接。照相机和监视器允许位于远程位置的监护人员通过机器人监控和看护病人。完整平台允许机器人在家中或设施处移动，从而定位和/或跟随病人。

Description

医学远程机器人系统
发明背景
技术领域
本披露的主题通常涉及用于医学领域的机器人技术领域。
背景技术
对于患有从阿尔茨海默氏痴呆(Alzheimers)到压力疾患的各种疾病的病人来说，提供远程健康护理的需要在增长。为了将费用减到最小，为这些病人提供家庭护理是理想的。家庭护理一般需要健康护理提供者的定期探访，如护士或某些类型的助手。由于财务和/或人员问题，当病人需要某些类型的帮助时，健康护理提供者可能并不在他们身边。此外，现有职工必须不断接受培训，这会造成培训人员的负担。提供这样的系统是理想的：其允许健康护理人员远程护理病人，而本人不必在场。
机器人用于从远程控制有害物质到帮助执行手术的各种应用中。例如，颁发给Wang等的美国专利No.5,762,458披露了一种系统，其允许外科医生通过使用机器人控制仪器，最少地进行侵入医学过程。家用“玩具”机器人也得到了发展。这些机器人典型地具有相对简单的运动平台和用于产生词语和声音的某些类型的语音合成。提供允许对远程病人进行监控和协助的机器人系统将是理想的。
发明内容
机器人可包括接附在机架上的照相机和监视器。机器人也可以具有接附在机架上并且和控制器连接的平台。控制器可以连接到宽带接口。
附图说明
图1是机器人系统的例图；
图2是机器人电气系统的示意图；
图3是该机器人电气系统的另一示意图；
图4是具有位于向上位置的臂的机器人视图；
图5是具有位于较低位置的臂的机器人视图；
图6是机器人完整平台的视图；
图7是完整平台的滚子组件的视图；
图8是机器人臂组件的视图；
图9是臂的抓爪组件的视图；
图10是用于机器人的电池充电器的示意图；
图11是可以用来计算机器人运动的矢量图。
具体实施方式
披露的是包括远程控制机器人的机器人系统。机器人可以包括照相机、监视器和完整平台，这些都接附在机器人机架上。可以通过也具有照相机和监视器的远程控制台来控制机器人。远程控制台可以连接到基台，基台与机器人无线连接。照相机和监视器允许位于远程位置的护理员通过机器人监控和护理病人。完整平台允许机器人在家中或设施处移动，从而定位和/或跟随病人。
参考附图，尤其是通过参考数字，图1显示了机器人系统10。机器人系统10包括机器人12、基台14和远程控制台16。远程控制台16可以通过网络18连接到基台14。例如，网络18可以是例如为互联网的包交换网络，或是诸如公共开关电话网络(PSTN)之类的电路交换网络或其他宽带系统。基台14可以通过调制解调器20或其他宽带网络接口设备连接到网络18上。
远程控制台16可以包括电脑22，其具有监视器24、照相机26、麦克风28和扬声器30。电脑22也可以包含如操纵杆或鼠标的输入设备32。控制台16典型地位于远离机器人12的位置。虽然只显示了一个远程控制台16，但系统10可以包括多个远程控制台。此外，虽然仅仅显示了一个机器人12，系统10可以具有多个机器人12是可以理解的。通常，任意数量的机器人12可以由任意数量的远程台控制。例如，一个远程台16可以连接到多个机器人12上，或一个机器人12可以连接到多个远程台16上。
机器人12包括接附到机器人机架36的运动平台34。照相机38、监视器40、麦克风42和扬声器44也接附到机器人机架36上。麦克风42和扬声器30可以产生立体声。机器人12也可以具有天线44，其无线连接到基台14的天线46上。系统10允许在远程控制台16的使用者通过输入设备32来移动机器人12。机器人照相机38连接到远程监视器24上，以便在远程台16的使用者能够观察病人。同样地，机器人监视器40连接到远程照相机26上，以便病人能够观察使用者。麦克风28和42以及扬声器30和44允许病人和使用者之闸进行音频交流。
远程站电脑22可以运行Microsoft OS软件和WINDOWS XP系统或其他例如LINUX的操作系统。远程电脑22也可以运行视频驱动程序、照相机驱动程序、音频驱动程序和操纵杆驱动程序。视频图像可以用例如MPEG CODEC压缩软件来传送和接收。
图2和3显示了机器人12的实施例。机器人12可以包括高级控制系统50和初级控制系统52。高级控制系统50可以包括连接到总线56的处理器54。总线通过输入/输出(I/O)端口58连接到照相机38上，通过串行输出端口60和VGA驱动程序62连接到监视器40上。监视器40可以包括触摸屏功能，其允许病人通过触摸监视屏来进行输入。
扬声器44通过数模转换器64连接到总线56上。麦克风42通过模数转换器66连接到总线56上。高级控制器50也可以包含随机存取存储器(RAM)设备68、永久RAM设备70和大容量存储器设备72，它们都与总线62连接。大容量存储器设备72可以包含病人的医疗记录，在远程控制台16的使用者能够访问该记录。例如，大容量存储器设备72可以包含病人的照片。使用者，尤其是健康护理员，能够调出旧照片，并且在监视器24上与照相机38提供的病人的当前视频图像并列进行对比。机器人天线44可以连接到无线收发器74上。例如，收发器74可以根据IEBE 802.11a传送和接收信息。
控制器54可以运行LINUX OS操作系统。控制器54也可以运行XWINDOWS以及视频、照相机和音频驱动程序，用来与远程控制台16通讯。使用MPEG CODEC压缩技术来收发视频信息。此软件可以允许使用者给病人发送e-mail，反之亦然，或者允许病人访问互联网。通常，高级控制器50操控机器人12和远程控制台16之间的通讯。
高级控制器50可以通过串口76和78连接到初级控制器52上。初级控制器52包括处理器80，其通过总线86连接到RAM设备82和永久RAM设备84上。机器人12包括多个马达88和马达编码器90。编码器90提供关于马达88输出的反馈信息。马达88可以通过数模转换器92和激励放大器94连接到总线86上。编码器90可通过解码器96连接到总线86上。机器人12同时具有许多近程式传感器98(同时参见图1)。通过信号调节电路100和模数转换器102，位置传感器98可连接到总线86上。
初级控制器52运行机械驱动机器人12的软件例行程序。例如，初级控制器52提供指令来驱动运动平台，从而移动机器人12，或者驱动机器人的臂。初级控制器52可以从高级控制器50接收运动指令。可从远程控制台接收运动指令作为运动命令。虽然显示了两个控制器，这是可以理解的：机器人12可以具有控制高级和初级功能的一个控制器。
机器人12的各种电气设备可以通过电池104提供动力。电池104可以通过电池充电站106(同时参见图1)进行充电。初级控制器52可以包括感测电池104功率级的电池控制电路108。初级控制器52能够感测到何时功率降低到阈值以下，并且随之给高级控制器50发送消息。高级控制器50可以包括电源管理软件例行程序，其促使机器人12运动，以便当电池功率降低到阈值以下时，电池104连接到充电器106上。作为另外一种选择，使用者能够指引机器人12到电池充电器106上。此外，电池可以被替换或者机器人12可以通过电线连接到墙壁电源出口上(未示出)。
图4显示了机器人12的实施例。机器人12可以包括接附到机器人机架112上的完整平台110。此完整平台110允许机器人12向任何方向移动。虽然未示出，机器人机架112可以包括保险杠。
机器人12可以具有臂114，其支撑照相机38和监视器40。臂114可以具有两个自由度，以便照相机26和监视器24可以从图4中所示的高位移动到图5中所示的低位。臂114可以具有端部执行器116，例如能够抓住物体的抓爪器。
机器人12可以包括能够在关闭位置和打开位置之间自动移动的抽屉118。抽屉118能够用来给病人分发药物。例如，抽屉118可以包括必须在某一时间服用的药物。可以对机器人12进行编程，以便抽屉118在需要的时刻打开。护士或其他健康护理人员可以定期“装填”抽屉118。机器人也可以具有电池充电端口119。虽然对药物进行了描述，但这是可以理解的：抽屉118能够容纳任何物品。
如图6所示，完整平台110可以包括三个安装到底板122的滚子组件120。滚子组件120一般相对平台110等距间隔，并且允许在任何方向上移动。
图7显示了滚子组件120的实施例。每个滚子组件120可以包括驱动滚珠124，其通过一对传动滚子126驱动。滚子组件120包括挡圈128和多个轴衬130，其允许滚珠124在x和y方向上旋转，但阻止其在z方向的运动。
传动滚子126连接到马达组件132上。此组件132相应于图3中所示的马达88。马达组件132包括接附到马达136上的输出滑轮134。输出滑轮134通过驱动带140连接到一对滚珠滑轮138上。滚珠滑轮138接附到驱动销142上，驱动销接附到传动托架144上。传动滚子126通过滚子销146接附到传动托架144上。每个传动托架144具有由部分支架支撑的销143。
输出滑轮134的旋转转动了滚珠滑轮138。滚珠滑轮138的旋转导致了传动滚子126通过摩擦力来转动和旋转滚珠124。旋转滚珠124将移动机器人12。传动滚子126是异相的，以便滚子中的一个总是能与滚珠124接触。滚子销146和托架144允许传动滚子126自由旋转，并且当其他的滚子组件120之一驱动并且移动机器人12时，允许正交方向的被动运动。
图8和9显示了臂114的实施例。臂114可以包括第一连接机构150，其可枢转地安装到机器人机架12的固定板152上。臂114也可以包括第二连接机构154，其可枢转地连接到第一连接机构150上，以及包括第三连接机构156，其可枢转地连接到第二连接机构154上。
第一连接机构150可以通过齿轮组件162连接到第一马达158和马达编码器160上。马达158的转动将导致连接机构150和臂114的相应枢转运动。连接机构150可以通过轴承164连接到固定板152上。
第二连接机构154可以通过齿轮组件170和滑轮组件172连接到第二马达166和编码器168上。滑轮组件172可以通过销174连接到齿轮组件170，销延伸穿过第一马达158的齿轮组件162。第二连接机构154可以接附到能够相对于第一连接机构150旋转的销176上。滑轮组件172可以具有带178，其连接一对分别接附到销174和176上的滑轮180和182。销176可以通过轴承182连接到第一连接机构150上。构造臂114，以允许线183通过连接机构150、154和156内部布线。
第三连接机构156可以连接到能够相对于第二连接机构154旋转的销184上。销184可以通过轴承组件186连接到第二连接机构154上。第三连接机构156可以通过一对滑轮组件188在结构上连接到第一连接机构150上。不论第一连接机构150和第二连接机构154处于什么位置，滑轮组件188确保了第三连接机构156处于水平位置。如图4和5所示，第三连接机构156总是处于水平位置。这确保了照相机26始终位于同一方位，因此当观察病人时，减少了远程控制台上定向障碍的可能性。
抓爪器116接附到第三连接机构156上。抓爪器116可以包括一对指状物190，其可枢转地接附到底板192上。指状物190通过齿轮组件198连接到马达194和编码器196上。底板192通过轴承组件200连接到第三连接机构156上。马达194能够相对于第三连接机构156旋转底板192和指状物190。
抓爪器116可以进一步具有推杆202，其与指状物190的凸轮面204接合，从而在打开和闭合位置之间移动抓爪器指状物190。推杆202可以通过连杆组件208连接到马达206和编码器(未示出)上。马达206的驱动将平移推杆202，并且移动指状物190。马达206可具有力传感器，其提供返回到远程控制台的力反馈。远程控制台的输入装置具有力反馈机构，以便使用者感知到施加于抓爪器指状物190上的力。
在操作中，机器人12可位于需要监控和/或帮助一个或更多的病人的家中或设施中。设施可以是医院或住宅监护设施。例如，机器人12可放置于家中，其中健康监护人员可以监控和/或帮助病人。同样地，朋友或家庭成员可以与病人交流。机器人和远程控制台的照相机和监视器允许病人和远程控制台的人之间进行远程会议。
通过在远程控制台16处操纵输入设备32，可以操纵机器人12在家中或设施内行动。机器人12同时具有自动运动。例如，可对机器人12进行编程，使其在某一时间自动移动到病人房间，以分发抽屉118内的药品，而不需要远程控制台16的输入。可对机器人12编程，从而一天24小时、每周7天地监控和/或帮助病人。这样的监控能力通过机器人的自主充电功能得到增强。
机器人10可由许多不同使用者控制。为了适应这一点，机器人可以具有调停系统。调停系统可以集成到机器人12的操作系统。例如，调停技术可以嵌入高级控制器50的操作系统内。
例如，可以把使用者分成几类，包括机器人自身、本地使用者、护理人员、医生、家庭成员、或者服务人员。机器人可以不考虑与机器人操作发生冲突的输入命令。例如，如果机器人撞到墙壁，系统可以忽略在墙壁方向上继续的所有附加命令。本地使用者是与机器人一起出现的人。机器人可具有允许本地操作的输入设备。例如，机器人可以包括接收和解释音频命令的语音识别系统。
护理人员是远程监控病人的人。医生是医学专业人员，其能够远程控制机器人，也能够访问机器人内存中包含的医疗档案。家庭成员和服务人员远程访问机器人。服务人员可以通过升级软件或设置操作参数来保养系统。
可以在机器人12和远程控制台16之间传递信息包。信息包提供命令和反馈。每个信息包可以具有多个字段。例如，信息包可包括标识符字段、前进速度字段、角速度字段、停止字段、缓冲器字段、传感器范围字段、配置字段、文本字段和调试字段。
远程使用者的标识可设置在从远程控制台16传递到机器人12上的信息的标识符字段。例如，使用者可以将使用者标识符输入到由远程控制台16运行的应用软件的设置表中。使用者标识符随后与每个信息一起发送给机器人。
可以以两个不同模式中的一个操作机器人12：专用模式或共享模式。在专用模式中，仅一个使用者能访问控制机器人。专用模式可以具有分配给每个类型使用者的优先权。例如，优先权可以是按这个顺序：本地使用者、医生、护理人员、家庭成员以及服务人员。在共享模式中，两个或多个使用者可以共同访问机器人。例如，护理人员可以访问机器人，护理人员可随后进入共享模式，从而允许医生同时访问机器人。护理人员和医生均可与病人进行同步远程会议。
调停配置可以具有四个机构之一；通知、超时、队列和召回。通知机构可以通知当前使用者或要求的使用者：另一个使用者已经访问或希望访问机器人。超时机构为某些类型的使用者提供了限定的时间来完成对机器人的访问。队列机构是用于访问机器人的有序等待表。召回机构通知使用者：机器人可以被访问。例如，家庭使用者可以接收这样的电子邮件信息：机器人已空闲，可以使用。表1和2显示了机构如何解决不同使用者的访问要求。
表I
  使用者   访问控制   医疗记录   命令忽略   软件/调试访问   设置优先权
  机器人   否   否   是(1)   否   否
  本地使用者   否   否   是(2)   否   否
  护理人员   是   是   是(3)   否   否
  医生   否   是   否   否   否
  家庭成员   否   否   否   否   否
  服务人员   是   否   是   是   是
表II
Figure G2003822914519951201D000081
Figure G2003822914519951201D000101
在控制台16和机器人12之间传送的信息可以加密。此外，使用者可能必须输入密码以进入系统10。随后由控制台16给被选的机器人提供电子密钥。机器人12验证密钥，并且给控制台16返回另一个密钥。使用密钥来加密过程中传送的信息。
图10显示了电池充电器的实施例。机器人端口119可以包括次级绕组250，其与电池充电站106的初级绕组252磁耦合。初级绕组252通过继电器电路256、保险丝258和开关260连接到电力输出插头254上。继电器256由充电器控制器262控制。
充电器控制器262连接到充电器红外(IR)收发器264上。充电器IR收发器264耦合机器人IR收发器266。机器人IR收发器266连接到初级控制器52上。机器人10同时可以具有校准传感器268，其能够感测充电站106上的目标270。例如，传感器268可以包括光学发射器和接收器，其检测从目标270反射的光束。控制器52同时可以感测进入电池104的电流，从而确定机器人12是否与充电站106对准。
次级绕组250通过充电器电路272连接到电池104上。次级绕组250和初级绕组252的每一个可以具有包裹磁芯276的金属丝274。站106也可以具有振荡器/断路器电路(未示出)，从而增加磁传递到次级绕组250的电压。
在操作中，机器人10自主或由使用者控制而移动到电池充电站106处。移动机器人10，直到传感器268与目标270对准。随后初级控制器52通过收发器264和266发送命令给充电器控制器262。
充电器控制器262随后关闭继电器256，其中电力通过绕组250和252传递给电池104。当对电池104进行充电，或电池充电过程被使用者打断时，初级控制器52给充电器控制器262传递命令，以开启继电器256。机器人10随后移动离开充电站106。
图11显示了矢量图，其可用于按以下方程式来计算机器人的运动：
w 1 = | V | R 1 ( Sin ∝ 1 Sinθ - Cos ∝ 1 Cosθ ) + Ψ L 1 R 1 - - - ( 1 )
w 2 = | V | R 2 Sinθ + Ψ L 2 R 2 - - - ( 2 )
w 3 = | V | R 3 ( Sin ∝ 3 Sinθ + Cos ∝ 3 Cosθ ) + Ψ L 3 R 3 - - - ( 3 )
其中
w1是第一滚珠124的驱动角速度。
w2是第二滚珠124的驱动角速度。
w3是第三滚珠124的驱动角速度。
V是机器人的输入线速度。V具有分量Vx和Vy，其中；Vx＝|V|cosθ而Vy＝|V|sinθ。
ψ是机器人的输入角速度。
设角速度矢量w＝[w1，w2，w3]T。(4)
A = - Cos ∝ 1 R 1 Sin ∝ 1 R 1 L 1 R 1 0 - 1 R 2 L 2 R 2 Cos ∝ 3 R 3 Sin ∝ 3 R 3 L 3 R 3 - - - ( 5 )
而速度矢量：
V＝[vx，vy，ψ]T    (6)
W＝A·V    (7)
从方程式(7)中计算出角速度矢量w，并且与马达编码器测量出的实际w数值进行比较。一种算法执行误差校正程序，从而补偿实际和理想数值之间的差异。
虽然描述了并在附图中显示了某些典型实施例，应该理解：这些实施例仅仅是对广泛的发明起说明作用，并且不限定于此广泛的发明，本发明不限于显示和说明的特定结构和布置，因为对于本领域的普通技术人员来说，各种其他变体是可能发生的。

Claims (17)

1.一种连接到宽带网络的远程控制机器人系统，其包括：
连接到宽带网络的第一远程控制台；
通过宽带网络连接到所述第一远程控制台的基台；以及
无线连接到所述基台并且通过所述第一远程控制台进行控制的移动机器人，所述移动机器人向所述第一远程控制台传送病人的现有视频图像和病人的事先存在的图像，所述第一远程控制台显示病人的所述现有视频图像和病人的所述事先存在的图像，以对病人进行并列对比。
2.根据权利要求1所述的系统，进一步包括连接到所述基台的第二远程控制台，所述移动机器人调停所述第一和第二远程控制台之间的对所述移动机器人的控制。
3.根据权利要求1所述的系统，其中，所述移动机器人包括机器人照相机和机器人监视器，所述第一远程控制台包括连接到所述机器人监视器上的远程照相机，以及连接到所述机器人照相机的远程监视器。
4.根据权利要求3所述的系统，其中，所述移动机器人包括接附于机架的完整平台，所述完整平台允许移动机器人在家中或设施处到处活动以定位和/或跟随病人。
5.根据权利要求4所述的系统，进一步包括连接到所述机架的臂。
6.根据权利要求5所述的系统，其中，所述臂包括抓爪器。
7.根据权利要求4所述的系统，进一步包括连接到所述机架的扬声器。
8.根据权利要求4所述的系统，进一步包括连接到所述机架的麦克风。
9.根据权利要求4所述的系统，进一步包括连接到所述机架的无线收发器。
10.根据权利要求4所述的系统，进一步包括电池充电站，连接到所述机架并且能够连接到所述电池充电站的电池和电源管理软件程序，其中，所述完整平台移动所述机架，以便所述电池连接到所述电池充电站。
11.根据权利要求4所述的系统，其中，所述完整平台包括多个滚子组件。
12.根据权利要求4所述的系统，进一步包括存储视频图像的大容量存储器设备。
13.根据权利要求4所述的系统，其中，所述机架包括在打开位置和关闭位置之间移动的抽屉。
14.一种用于远程操作移动机器人从而监控病人的方法，其包括；
通过从远程控制台到基台的宽带网络，传送使移动机器人移动的命令；
从基台到移动机器人无线传送所述命令；
响应所述命令使移动机器人移动；
从移动机器人向远程控制台传送病人的现有视频图像和病人的事先存在的图像；以及
显示病人的现有视频图像和病人的事先存在的图像，以对病人进行并列对比。
15.根据权利要求14所述的方法，进一步包括从远程控制台向移动机器人传送视频图像。
16.根据权利要求14所述的方法，进一步包括将移动机器人的抽屉移动到开启位置处，从而分发药品。
17.根据权利要求14所述的方法，其中，移动机器人自主移动到电池充电站。
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