CN102395931A - 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 - Google Patents
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 Download PDFInfo
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y10S901/00—Robots
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Abstract
一种远程控制站,其访问至少两个不同机器人之一,每个机器人具有至少一个唯一的机器人特征。远程控制站接收标识所访问机器人的机器人特征的信息。远程站显示显示器用户界面,该显示器用户界面包括对应于所访问机器人的机器人特征的至少一个区域。该机器人可以具有激光指示器和/或投影仪。
Description
技术领域
公开的主题一般地涉及机器人学领域。
背景技术
已经在从危险材料的远程控制到辅助手术的执行的各种应用范围中使用了机器人。例如,授权给Wang等人的美国专利号5,762,458公开了允许外科医生通过使用机器人控制的仪器执行最小侵入性医疗过程的系统。Wang系统中的机器臂中的一个移动具有摄像机的内视镜。该摄像机允许外科医生查看病人的手术区域。
存在已经投入市场的由InTouch Technologies.Inc(本申请的受让人)引入的移动远地视在机器人,商标为RP-7。InTouch机器人由用户在远程站处控制。远程站可以是具有操纵杆的个人计算机,该操纵杆允许用户远程控制机器人的运动。机器人和远程站两者都具有允许双向视频/音频通信的摄像机、监视器、扬声器和麦克风。机器人摄像机向远程站处的屏幕提供视频图像,使得用户可以查看机器人的周围并相应地移动机器人。
发明内容
一种远程控制站,其访问至少两个不同机器人之一,每个机器人具有至少一个唯一的机器人特征。远程控制站接收标识所访问机器人的机器人特征的信息。远程控制站显示显示器用户界面,该显示器用户界面包括对应于机器人特征的至少一个区域(field)。
附图说明
图1是机器人系统的图示;
图2是机器人电系统的示意图;
图3是机器人的侧视图;
图4是远地视在系统的图示;
图5是系统的机器人面部的放大视图;
图6是机器人面部的后视图;
图7是远地视在系统的替代实施例的图示;
图8是图7中所示实施例的机器人面部的后视图;
图9是其中多个远程站耦合至机器人的机器人系统的示意图;
图10是用户界面的图示;
图11是用户界面的消息弹出的图示;
图12A-C是图形消息的图示;
图13是具有下拉菜单的图10中所示用户界面的图示;
图14是示出了用于观察者远程控制站的用户界面的图示;
图15是示出了麦克风音量控制特征的、类似于图10的图示;
图16是示出了会话期间系统的带宽需求的对话框的图示;
图17是用于移动机器人的用户界面的图示;
图18是用于具有投影仪的移动机器人的用户界面的图示;
图19是用于具有激光指示器的机器人的用户界面的图示。
具体实施方式
远程控制站访问至少两个不同机器人之一,每个机器人具有至少一个唯一的机器人特征。远程控制站接收标识所访问机器人的机器人特征的信息。远程控制站显示显示器用户界面,该显示器用户界面包括对应于机器人特征的至少一个区域。该机器人可以具有激光指示器和/或投影仪。
通过参考数字更特别地参考附图,图1示出了机器人系统10的实施例。机器人系统10包括机器人12、基站14和多个远程控制站16。每个远程控制站16可以通过网络18耦合至基站14。通过示例,网络18可以是诸如因特网之类的分组交换网,也可以是诸如公共交换电话网络(PSTN)或其他宽带系统之类的电路交换网络。基站14可以通过调制解调器20或其他宽带网络接口设备耦合至网络18。
每个远程控制站16可以包括具有监视器24、摄像机26、麦克风28和扬声器30的计算机22。计算机22也可以包含诸如操纵杆或鼠标之类的输入设备32。每个控制站16通常位于远离机器人12的地点。尽管仅示出了一个机器人12,但是应该理解系统10可以具有多个机器人12。通常,可以由任何数量的远程站来控制任何数量的机器人12。例如,一个远程站16可以耦合至多个机器人12,或者一个机器人12可以耦合至多个远程站16。
机器人12包括附接至机器人外壳36的运动平台34。还附接到机器人外壳36的是摄像机38、监视器40、(一个或多个)麦克风42以及扬声器44。麦克风42和扬声器30可以产生立体声声音。机器人12还可以具有天线46,该天线46无线地耦合至基站14的天线48。系统10允许远程控制站16处的用户通过输入设备32移动机器人12。机器人摄像机38耦合至远程监视器24,使得远程站16处的用户可以查看病人。同样,机器人监视器40耦合至远程摄像机26,使得病人可以查看用户。麦克风28和42以及扬声器30和44允许病人与用户之间的可听通信。
每个远程站计算机22可以运行微软OS软件和WINDOWS XP或诸如LINUX之类的其他操作系统。远程计算机22还可以运行视频驱动器、摄像机驱动器、音频驱动器和操纵杆驱动器。可以利用压缩软件(诸如MPEG CODEC)来传输并接收视频图像。
图2示出了机器人12的实施例。机器人12可以包括高级控制系统50和低级控制系统52。高级控制系统50可以包括连接至总线56的处理器54。该总线通过输入/输出(I/O)端口58耦合至摄像机38,并且通过串行输出端口60和VGA驱动器62耦合至监视器40。监视器40可以包括允许病人通过触摸监视器屏幕来键入输入的触摸屏功能。
扬声器44通过数模转换器64耦合至总线56。麦克风42通过模数转换器66耦合至总线56。高级控制器50还可以包含随机访问存储器(RAM)设备68、非易失性RAM设备70和大容量存储设备72,它们全都耦合至总线62。大容量存储设备72可以包含病人的医疗文件,这些医疗文件可以由远程控制站16处的用户访问。例如,大容量存储设备72可以包含病人的图片。用户特别是保健提供商可以回顾旧图片并且在监视器24上与摄像机38提供的病人的当前视频图像进行并列比较。机器人天线46可以耦合至无线收发器74。通过示例,收发器74可以根据IEEE 802.11b来传输和接收信息。
控制器54可以利用LINUX OS操作系统进行操作。控制器54也可以运行MS WINDOWS连同视频、摄像机和音频驱动器用于与远程控制站16的通信。可以使用MPEG CODEC压缩技术来收发视频信息。软件可以允许用户向机器人地点处的某人发送电子邮件并且反之亦然,或允许机器人地点处的某人访问因特网。通常,高级控制器50操作以控制机器人12与远程控制站16之间的通信。
高级控制器50可以通过串行端口76链接到低级控制器52。低级控制器52运行机械上致动机器人12的软件例程。例如,低级控制器52提供指令以致动运动平台来移动机器人12。低级控制器52可以从高级控制器50接收运动指令。可以将运动指令作为运动命令从远程控制站接收。尽管示出了两个控制器,但是应该理解,机器人12可以具有控制高级功能和低级功能的一个控制器。
图3示出了机器人12的实施例。机器人12可以包括附接至机器人外壳112的完整(holonomic)平台110。完整平台110提供三个自由度以允许机器人12在任何方向上移动。
机器人12可以具有支持摄像机38和监视器40的头部114。头部114可以具有两个自由度,使得摄像机26和监视器24可以如箭头指示的那样回旋并且枢轴转动。
如图1和3所示,投影仪116可以嵌入到机器人12中。投影仪116可以投影从远程控制站16或诸如外部服务器之类的另一源传输的图像。尽管描述了嵌入的投影仪,但是投影仪116可以是插入到机器人辅助端口中的外部设备。投影仪116可以将图像投影到屏幕118上,使得机器人地点处的查看者可以查看投影的图像。因此,远程控制站处的用户可以向机器人传输继而由投影仪116投影的信息。例如,信息可以是由机器人投影仪116显示的并且允许远程控制站用户进行远程会议的PowerPoint呈现。
通过参考数字更特别地参考附图,图4、5和6示出了替代远地视在系统200。系统200包括吊臂(boom)202、机器人面部204和远程控制站206。远程控制站206可以通过网络208耦合至机器人面部204。
远程控制站206可以包括具有监视器212、摄像机214、麦克风216和扬声器218的计算机210。计算机210也可以包含诸如操纵杆或鼠标之类的输入设备220。控制站206通常位于远离机器人面部204的地点。尽管仅示出了一个远程控制站206,但是系统10可以包括多个远程站206。通常,任何数量的机器人面部204可以耦合至任何数量的远程站206或其他的机器人面部204。例如,一个远程站16可以耦合至多个机器人面部204,或一个机器人面部204可以耦合至多个远程站206或多个机器人面部204。该系统可以包括控制(一个或多个)机器人面部204与远程站206之间的访问的仲裁器(未示出)。
吊臂202可以从医疗设施的天花板222延伸。吊臂202可以包括分节关节(articulate joint)224和226,它们提供至少两个自由度并且允许用户相对于医疗台228(诸如手术室(“OR”)台)移动机器人面部204。
吊臂202可以具有分别允许机器人面部204被平移和倾斜的附加关节230和232。关节230和232可以分别包含致动器234和236,可以通过对远程站206处的输入设备220的操纵来远程致动它们。
每个机器人面部204包括(一个或多个)摄像机238、监视器240、(一个或多个)麦克风242和(一个或多个)扬声器244。机器人摄像机238耦合至远程监视器212,使得远程站206处的用户可以查看台228上的病人。同样,机器人监视器240耦合至远程摄像机214,使得手术地点处的人员可以查看远程站206的用户。麦克风216和242、以及扬声器218和244允许系统操作者和手术地点处的人员之间的可听通信。
机器人面部204可以具有发射激光的嵌入式激光指示器246。可以通过远程控制站206来打开并控制激光指示器246。激光指示器246可以包括为指示器提供(一个或多个)附加自由度的(一个或多个)致动器250。激光指示器246还可以集成到图1和3中所示的移动机器人中。
系统200允许诸如外科专家之类的系统用户查看台228上的病人并且通过远程站和机器人面部204提供远程医疗咨询。手术地点处的人员可以通过系统向系统操作员回传问题和响应。机器人摄像机238允许专家查看病人并且增强医疗咨询。机器人监视器240可以显示专家以提供手术地点处的存在感。吊臂202允许人员将机器人面部204移动到手术区域之中和之外。远程用户可以移动机器人面部,使得机器人摄像机面向病人并且继而面向手术地点处的医生以允许远程用户观察病人并且向医生提供咨询。
可以将机器人面部204改造(retrofit)到目前存在于医疗设施中的吊臂上。例如,某些目前的医疗设施包括附接到吊臂的监视器。可以利用继而耦合至远程站16的机器人面部204来替换现有的监视器。
图7和8示出了系统200’的替代实施例,其中机器人面部204利用附接机构254附接至台228。机器人面部204可以或可以不具有激光指示器。附接机构252可以包括被压入到台228的围栏256中的夹具对254。附接机构252可以具有相对于外壳260滑动的套筒258,使得用户可以调整机器人面部204的高度。可以通过把手262的旋转而将面部位置锁定就位。
附接机构252可以包括具有关节264和266的颈部部分262,其分别允许对机器人面部204的平移和倾斜。可以分别人工致动关节264和266或关节264和266可以分别包含致动器268和270,可以通过远程站206处的输入设备220来致动致动器268和270。
附接机构252可以包括柄状物(handle)272,其允许用户将机器人面部204运送到台228并且从台228将其运走。附接机构252允许在手术地点处容易地利用机器人面部204,特别是在手术室不具有吊臂的时候。
示出以及描述的各种机器人系统可以具有某些组件和软件,这些组件和软件与Santa Barbara,California的受让人InTouch Technologies.Inc提供的名称为RP-7的并且包含美国专利6,925,357中描述的系统的机器人系统相同或类似,通过引用将美国专利6,925,357合并于此。
在操作中,可以将机器人12置于家中、公共或商业地产或设施中,其中将监视和/或辅助一个或多个病人。该设施可以是医院或居所护理设施。通过示例,机器人12可以被置于家庭中,其中保健提供商可以监视和/或辅助病人。同样,朋友或家庭成员可以与病人通信。机器人和远程控制站两处的摄像机和监视器允许病人和(一个或多个)远程站处的人员之间的电话会议。
可以经由操纵远程站16处的输入设备32通过家庭、地产或设施来操控机器人12。
机器人10可以由多个不同用户控制。为了支持这一点,机器人可以具有仲裁系统。该仲裁系统可以集成到机器人12的操作系统中。例如,仲裁技术可以嵌入到高级控制器50的操作系统中。
通过示例,可以将用户划分为包括机器人自身、本地用户、照料者(caregiver)、医生、家庭成员或服务提供商的类别。机器人12可以无视与机器人操作冲突的命令。例如,如果机器人撞到墙上,则系统可以忽略在墙的方向上继续的所有附加命令。本地用户是对于机器人物理存在在一起的人。机器人可以具有允许本地操作的输入设备。例如,机器人可以合并接收并解释可听命令的语音识别系统。
照料者是远程监视病人的某人。医生是可以远程控制机器人并且还访问包含在机器人存储器中的医疗文件的医疗专业人员。家庭和服务用户远程访问机器人。服务用户可以诸如通过更新软件或设置操作参数来服务于系统。
消息分组可以在机器人12与远程站16之间传输。分组提供命令和反馈。每个分组可以具有多个字段。通过示例,分组可以包括ID字段、前进速度字段、角速度字段、停止字段、减震器字段、传感器范围字段、配置字段、文本字段和调试字段。
远程用户的标识可以设置在从远程控制站16向机器人12传输的信息的ID字段中。例如,用户可以将用户ID键入到由远程控制站16运行的应用软件中的设置表中。然后,利用向机器人传输的每个消息来发送该用户ID。
机器人12可以以两个不同模式中的一个来操作;排他模式或共享模式。在排他模式中,仅一个用户具有对机器人的访问控制。排他模式可以具有分配给每类用户的优先级。通过示例,优先级可以按照本地、医生、照料者、家庭和继而服务用户的顺序。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,照料者可以具有对机器人的访问,然后,照料者可以进入共享模式以允许医生也访问机器人。照料者和医生两者可以同时进行与病人的电话会议。
仲裁方案可以具有四个机制之一;通知、超时、排队和回叫。通知机制可以向当前用户或请求用户通知另一用户具有对机器人的访问或希望访问机器人。超时机制赋予某些类型的用户规定的时间量以完成对机器人的访问。排队机制是针对访问机器人的有序等待列表。回叫机制通知用户可以访问机器人。通过示例,家庭用户可以接收机器人对于使用而言空闲的电子邮件消息。表1和2示出了机制如何解决来自于各个用户的访问请求。
表I
用户 | 访问控制 | 医疗记录 | 命令无视 | 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 |
照料者 | 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
在站16与机器人12之间传输的信息可以被加密。此外,用户可能必须键入口令来进入系统10。然后,站16赋予所选机器人电子密钥。机器人12验证密钥并且将另一密钥返回给站16。将密钥用于加密在会话中传输的信息。
图9示出了具有可以通过网络18访问不同机器人12、200和200’的多个远程站16A、16B和16C的系统。该系统可以被设置为会话模式,其中主控机远程站16A控制机器人12、200和200’的运动并且从机器人摄像机和扬声器分别接收视频和音频信息两者。观察者站16B和16C也可以接收在机器人12、200和200’与站16A之间传输的音频和视觉信息。在站16A处的老师或主控机移动机器人时,该模式允许站16B和16C处的多个用户观察机器人的使用。
在会话期间,主控机远程站16A可以向观察者站16B和16C重传从机器人12、200和200’接收的音频/视觉信息。这可以通过改变从机器人接收的数据分组的ID字段中的(一个或多个)ID并且继而向观察者站重传分组来实现。替代地,主控机远程站16A可以指示机器人向主控机16A、以及观察者16B和16C远程站传输音频和视觉信息。应该理解,每个远程站16A、16B和16C具有诸如IP地址之类的唯一的网络标识符,其允许机器人向每个站引导信息。分组可以包含BROADCAST字段,该字段包含将从机器人接收分组的远程站的站ID。BROADCAST字段可以由主控机站16A填充。
会话模式允许通过机器人进行训练。例如,主控机远程站16A可以由将机器人移动为与病人视觉和音频接触的内科医生操作。观察者远程站16B和16C可以由诸如实习医生的人员操纵,该人员观察并且接收向病人提供照料的指令训练。尽管描述了医疗人员的指令,但是系统可以用于训练远离训练区域定位的任何用户组。例如,系统可以用于训练百货公司处的人员或允许房地产的潜在购买者远程查看地产。
图10示出了显示在主控机远程站16A处的显示器用户界面(“DUI”)300。DUI 300可以包括显示由机器人的摄像机捕获的视频图像的机器人查看区域302。DUI 300还可以包括显示由主控机远程站16A的摄像机提供的视频图像的站查看区域304。DUI 300可以是远程站16A的计算机22存储并操作的应用程序的部分。
DUI 300可以包括“连接”按钮306,可以选择“连接”按钮306以将站连接至机器人。对连接按钮306的选择可以使得显示下拉屏幕等,这允许用户选择期望的机器人。分别可以通过按钮308和310选择系统设置和选项。
选项之一是允许多播。图11示出了具有“使能多播”框314的菜单312,可以“检查”“使能多播”框314来允许其他远程站加入多播会话。
观察者站处的用户可以尝试与相同的机器人连接。如果机器人已经处于使用中,则屏幕可以显示如图12A所示的消息框316。消息框316包括“OK”按钮318,其允许用户请求作为观察者加入会话。如果当前连接至机器人的用户还没有使能多播特征,那么可以显示消息320来指示该事实,如图12B所示。如果用户选择OK按钮318,那么主控机用户可以接收图12C中所示的消息322。该消息包括分别允许主控机用户接受或拒绝观察会话的请求的“接受”按钮324和“拒绝”按钮326。当接受观察者时,观察者可以从机器人接收音频/视频馈源。
在图10中所示的主控机控制站DUI 300的观察者查看区域328中显示被接受的用户。区域328可以提供观察者远程控制站的摄像机捕获的用户的视频图像。每个视频图像也可以包括观察者姓名的说明。该区域包括允许主控机用户下滚观察者的视频图像的下滚标签330。
主控机用户可以在任何观察者视频图像上右击以显示图13中所示的下拉菜单332。下拉菜单328允许主控机用户针对选择的观察者选择各种选项。下拉菜单332包括“允许机器人听到该用户”特征334,可以选择该特征使得观察者可以向机器人提供音频。系统可以允许机器人、主控机用户与一个观察者之间的同时三路音频。主控机和观察者站两者都包括“按压通话”图标336。如果存在不止一个观察者,那么使能“按压通话”图标336并且观察者必须连续地选择图标332来通话,非常像无线步话机按钮。在选择图标336之后也可以按压空格来允许到机器人的音频通信。当选择按压通话时,继而可以在观察者视频图像中显示图标338以指示哪个观察者正在向机器人提供音频输入。主控机和观察者站也可以具有“本地通话”图标340。选择本地通话图标允许仅远程站之间的文本通信,在每个界面内弹出文本聊天对话框,其允许主控机和观察者交换文本消息。在显示文本聊天对话框之前,可以向发起本地通话的用户显示弹出对话框(未示出),其将列出所有的当前会话参与者,并且允许用户仅选择那些将是本地通话部分的参与者。可以存在“限制语音”框(未示出),可以选择“限制语音”框以限制以将本地聊天中参与者的音频输出限制为仅那些参与本地聊天的其他远程站。
可以选择“允许机器人看到该用户”特征342,使得代替主控机用户的视频图像向机器人的监视器提供观察者的视频图像。当该观察者的图像被提供给机器人时,可以在站查看区域304中显示观察者的视频图像。可以选择“允许该用户看到机器人视频”344和“允许该用户听到机器人音频”特征346,使得观察者从机器人分别接收视频和音频馈源。
“头部控制”特征348允许所选择的观察者控制机器人头部以移动机器人摄像机。“驱动”特征350允许观察者驱动机器人。当选择驱动特征时,向所选择的观察者远程站提供诸如位置传感器数据、电池电量等的机器人数据。“摄像机&辅助视频控制”特征352允许观察者控制机器人摄像机功能,诸如变焦、亮度等。当向观察者转移这些特征时,主控机不再具有头部、驱动和摄像机控制。
菜单332包括“Telestration”特征354,其允许观察者对提供给机器人的图像进行注释。例如,图像可以是文档或X光。观察者可以注释图像例如画圈和X光的区域来帮助与机器人地点处的病人的通信。主控机或任何观察者可以通过选择“直播光标”图标356来使能光标功能。选择图标356允许用户移动叠加在机器人视频图像上的光标358。针对会话中的所有远程站在图像区域302上提供光标358。可以向主控机和观察者的每个指定不同的颜色,使得用户可以区分不同的光标。光标颜色360可以显示在主控机或观察者的视频图像中。
机器人可以连接至诸如听诊器之类的医疗仪器。下拉菜单332的“听诊器”特征362允许观察者从听诊器接收仪器输入。菜单332可以具有“赋予该用户主控机控制”特征364,该特征允许所选择的观察者成为主控机用户。主控机也可以通过选择“与该用户断开连接”特征366来与观察者断开连接。
图14示出了观察者的用户界面370。该界面不包括机器人控制功能,除非由主控机用户使能。界面370类似于主控机DUI 300,但是缺乏某些机器人控制。
再次参考图10,机器人查看区域302和站查看区域304两者都可以具有相关联的图形以改变视频和音频显示。例如,每个区域都可以具有图形滑动条380和382以分别改变摄像机的变焦和亮度。可以通过选择图形摄像机图标384中的一个来在机器人或远程站处拍摄静止图片。静止图片可以是在选择摄像机图标384时在相应区域302或304中呈现的图像。可以通过图形图标386来进行捕获和回放视频。通过选择图形直播按钮388,可以在拍摄静止图片、捕获视频或回顾幻灯片之后,恢复返回到实时视频。
本地控制可以包括用于本地站扬声器390和麦克风392的滑动条。还显示了随用户语音的音量而改变的麦克风计量图标394。机器人音量可以与用户的输入音量不同。远程控制还包括表示机器人处的用户音频音量的麦克风计量图标396。机器人可以具有本地音量控制,使得机器人地点处的用户可以改变机器人扬声器音量。通常计量图标394和396本质上将表示相同的值。机器人音量可以不同于用户的输入音量,例如,如果在机器人地点处调整机器人本地音量控制的话。如图15所示,如果这发生了,则可以使能音量滑动条392以允许用户改变麦克风。DUI还可以显示“重置”按钮398,可以选择该“重置”按钮398以自动地重置机器人扬声器音量到中央位置。
参考图10,机器人查看区域302可以包括“对机器人视频静音”特征400,当选择时,其阻止从所有远程站到机器人的音频和视频传输。区域302也可以具有“主控机/机器人隐私”特征402,该特征402可以阻止观察者站从机器人和主控机控制站两者接收机器人视频和音频。
也可以允许主控机用户通过控制到观察者站的视频馈源来控制系统的带宽。图16示出了对话框410,该对话框410显示会话中各个参与者的带宽使用,连同诸如参与者之间的丢包率和抖动之类的网络健康参数。可以将“断开视频”按钮412置于观察者站旁边,使得主控机用户可以断开特定观察者的视频。
系统可以具有多个应用。例如,内科特护医生可以发起与机器人远程存在会话,从而诊断急诊室中的病人。在检验病人时,内科医生可能认识到病人评估将需要神经学专家的咨询。特护医生通过电话呼叫神经病学专家,请求他加入会话。在接收电话请求时,神经病学专家打开他的膝上型计算机,从界面中的机器人列表中选择所讨论的机器人,并且点击“连接”。参见图7A中的消息,他点击“OK”并且继而看到图7B中的消息。特护医生同时看到图7C中的消息并点击“接受”。在该点处,神经病学专家接收机器人视频并且可以听到机器人侧的音频和特护医生两者。
特护医生使用直播光标指向病人的面部和墙上的EEG数据。神经病学专家获得可以由站在病人旁边和机器人前面的护士提供的背景信息、以及由特护医生在主控机控制站上提供的ICU特定信息。然后,神经病学专家可以提供对病人条件的音频评估。然后,特护医生在区域288中的神经病学专家的缩略图像上右击,并且点击下拉菜单中的适当特征以允许在机器人上看到并听到神经病学专家。神经病学专家继而可以向病人和家庭两者通知该条件。
在另一应用中,外科医生可以登录到机器人上并且在医院内的病房中进行巡视(round)。来自于其他城市中医院的住院医生(resident)以上述方式加入会话。外科医生向可以问问题的住院医生描述他正在做什么,并且从而了解巡视病人的最佳方式。
在另一应用中,医院CEO可以连接至机器人,并且给医院正在追求以任职的三个有前途的医生打电话。这些医生中的每个都如上述那样加入会话。然后,CE0使用操纵杆驱动机器人通过医院,执行虚拟游览并且与观察者内科医生讨论设施。
在又一应用中,MRI制造公司的销售VP可以连接至医院实验室侧楼(wing)中的机器人,并且继而打电话给不同医院的COO来加入会话。在加入时,销售VP驱动机器人进入MRI实验室并且环绕MRI机器进行驱动,描述其特征。现场MRI技术人员在销售VP的方向上操作某些控制。销售VP向COO解释购买MRI机器的各种益处。
可以制造系统使得远程站显示的DUI对应于机器人实施例、机器人特征和/或附接至机器人的设备。例如,当访问移动机器人时,DUI将显示与移动机器人相关联的图形。当远程站访问诸如图4-8中所示的非移动机器人时,不显示这些相同的图形。如果机器人具有无线传输和/或使用(run on)电池,那么DUI将分别显示无线信号强度指示符和电池级别。对于不具有无线传输或不使用电池的机器人而言,DUI将不显示该信息。
远程控制站软件平台合并机器人特征的子类。例如,子类可以包括移动平台,无线机器人连接、电池供电的机器人、激光指示器、连接的设备(诸如投影仪或医疗仪器)的标识。软件可以包括每个子类的软件对象。机器人向远程控制站提供其他特定子类。这可以是远程控制站访问机器人之前、期间或之后。特定机器人的子类也可以由服务器提供。在连接时,远程控制站软件实例化并且初始化所有报告的子类的对象。然后,软件可以执行迭代以针对每个对象确定某些特征和选择的功能。
图17是用于远程站的DUI 400的实施例,该远程站连接至类似于图1和3中公开和示出的机器人的移动机器人,但是没有投影仪。由于机器人是移动的,所以DUI包括描绘机器人平台和由机器人传感器检测的任何传感器数据的图形图标402。图形图标402由对应于机器人提供的子类的软件对象创建。
图18是用于远程站的DUI 410的实施例,该远程站连接至包括如图1所示的嵌入式投影仪的移动机器人。该DUI包括用于机器人投影仪投影的图像的投影仪区域412。包括投影仪区域412,因为机器人具有对应于创建区域412的对象的子类。投影仪区域412可以包括在选择时提供投影图像的直播图形按钮414和可以选择以不继续图像的投影的关闭按钮416。可以对DUI 410进行适配,使得当选择共享图形按钮(未示出)时,弹窗(pop-appear)允许用户在机器人监视器上显示图像与通过投影仪投影图像之间进行选择。如果选择了后者,则图像由机器人投影仪投影并且在投影仪区域412中示出。然后,模式按钮418改变到媒体。
图19是连接至诸如如图4-8所示的机器人的非移动机器人的DUI 420的实施例,该非移动机器人包括激光指示器。因为机器人不是移动的,所以未示出平台图形(与图17中的区域402相比较)。同样,因为机器人不具有投影仪,所以不显示投影仪区域(与图18相比较)。DUI 420包括可以用于激活和解激活激光指示器的图形光标圈422和图形按钮424。当远程站访问具有激光指示器的机器人时,仅显示圈422和424。在使能激光指示器时,光标422消失。系统将诸如鼠标运动之类的用户输入转译为激光指示器的运动。对于用户的视觉反馈是如由机器人摄像机记录的并且传输到远程站以便在DUI 420上显示的激光。
可以重新映射用于将用户输入命令变换到机器人运动的坐标变换以考虑激光指示器与摄像机之间的位置差和将激光投影为三维空间的事实。系统可以利用摄像机的焦点长度来重新映射命令。替代地,可以利用光学识别来重新映射命令以移动激光和/或机器人头部。可以实现伺服例程以迭代地移动激光指示器,使得激光指向与屏幕上图形光标相同的位置。
系统可以具有其中机器人头部自动移动的激光滚动特征,其中激光总是处于机器人摄像机的视场内。系统可以利用光学识别来确定激光的末尾是否处于机器人摄像机视场内。此外,如果用户尝试命令处于移动激光指示器的(一个或多个)致动器的范围之外的激光的运动,则可以自动地移动头部。
激光可以被用于启动和/或操作另一设备。例如,OR机器可以具有光学输入传感器面板。用户可以引导激光到面板上以控制设备。可以对系统编程,使得激光指示器移动以连续地产生框或圈。连续产生的框或圈可以向机器人地点处的人指示远程站视场(例如,用户看到的)。激光指示器可以以光栅扫描方式移动以将图像投影到诸如屏幕之类的表面上。例如,图像可以是图片或文档。激光指示器可以用于投影诸如图像之类的信息。也可以将激光指示器用于找到对象的范围。例如,可以将激光扫秒过三维对象。可以分析并且利用机器人摄像机捕获的所得图像以引导机器人避免障碍。
激光指示器可以被用作对各种远地视在应用中用户的帮助。例如,可以在手术地点处使用激光指示器以指向将发生收缩、切口、缝合和/或套管针的解剖位置。头部可以前后移动以面向病人和医生。激光指示器的运动可以独立于头部的运动。尽管描述了激光指示器,但是系统可以包括可以执行诸如切割和/或烧蚀之类操作的医疗或工业激光。
系统还可以提供允许用户在正常光标模式、直播光标模式和激光指示器模式之间进行选择的图形按钮。在正常光标模式中,用户可以利用光标来缩放、telestrate等。在直播光标模式中,用户可以指向向客户和/或机器人监视器显示的机器人图像的部分。在激光指示器模式中,机器人结合激光指示器的运动来移动。
虽然已经描述并且在附图中示出了某些示例性实施例,但是应该理解此类实施例仅是示范性的并且不对宽广的发明进行限制,并且本发明不限于示出和描述的具体构造和布置,因为对于本领域的那些普通技术人员而言各种其他修改可以发生。
Claims (31)
1.一种可以访问至少两个不同机器人的远程站,包括:
远程控制站,访问至少两个不同机器人之一,每个机器人具有至少一个唯一的机器人特征,所述远程控制站接收标识所述所访问机器人的所述机器人特征的信息,所述远程控制站显示显示器用户界面,所述显示器用户界面包括对应于所述机器人特征的至少一个区域。
2.根据权利要求1所述的远程站,其中所述机器人特征包括移动平台并且所述显示器用户界面显示对应于机器人平台的区域。
3.根据权利要求1所述的远程站,其中所述机器人特征包括投影仪并且所述显示器用户界面显示投影仪区域。
4.根据权利要求1所述的远程站,其中所述机器人特征包括激光指示器并且所述显示器用户界面显示对应于所述激光指示器的图形。
5.根据权利要求1所述的远程站,其中所述远程控制站包括具有与所述机器人特征相关的至少一个对象的软件,所述远程控制站实例化并且启动对应于所述所访问机器人的所述机器人特征的至少一个对象。
6.一种机器人系统,包括:
多个机器人,每个机器人具有至少一个唯一的机器人特征;以及
远程控制站,访问所述机器人之一,所述远程站接收标识所述所访问机器人的所述机器人特征的信息,所述远程控制站显示显示器用户界面,所述显示器用户界面包括对应于所述机器人特征的至少一个区域。
7.根据权利要求6所述的机器人系统,其中所述机器人特征包括移动平台并且所述显示器用户界面显示对应于机器人平台的区域。
8.根据权利要求6所述的机器人系统,其中所述机器人特征包括投影仪并且所述显示器用户界面显示投影仪区域。
9.根据权利要求6所述的机器人系统,其中所述机器人特征包括激光指示器并且所述显示器用户界面显示对应于所述激光指示器的图形。
10.根据权利要求6所述的机器人系统,其中所述远程控制站包括具有与所述机器人特征相关的至少一个对象的软件,所述远程控制站实例化并且启动对应于所述所访问机器人处的所述机器人特征的至少一个对象。
11.一种用于创建用于机器人系统的显示器用户界面的方法,包括:
从远程控制站访问多个机器人之一,所述多个机器人中的每个具有至少一个唯一的机器人特征;
向所述远程控制站传输关于所访问机器人的所述机器人特征的信息;以及
在所述远程控制站处显示显示器用户界面,所述显示器用户界面包括对应于所述机器人特征的至少一个区域。
12.根据权利要求11所述的方法,其中所述机器人特征包括移动平台并且所述显示器用户界面显示对应于机器人平台的区域。
13.根据权利要求11所述的方法,其中所述机器人特征包括投影仪并且所述显示器用户界面显示投影仪区域。
14.根据权利要求11所述的方法,其中所述机器人特征包括激光指示器并且所述显示器用户界面显示对应于激光指示器的图形。
15.根据权利要求11所述的方法,其中所述远程控制站包括具有与所述机器人特征相关的至少一个对象的软件,并且所述远程控制站实例化并且启动对应于所述所访问机器人的所述机器人特征的至少一个对象。
16.一种机器人系统,包括:
机器人,包括监视器、摄像机和发射激光的激光指示器;以及,
远程控制站,控制所述机器人并且具有用户输入设备,所述远程控制站包括显示计算机光标的监视器,当所述激光指示器激活时所述计算机光标消失,通过所述输入设备控制所述激光指示器的运动。
17.根据权利要求16所述的机器人系统,其中所述图形光标是在所述激光指示器激活时消失的点。
18.根据权利要求16所述的机器人系统,其中所述机器人自动地移动,使得所述激光总是处于所述机器人摄像机的视场中。
19.根据权利要求16所述的机器人系统,其中所述机器人监视器、所述摄像机和所述激光指示器由第一致动器部件移动并且所述激光指示器由附加的第二致动器部件移动,如果所述图形光标的运动超出所述第二致动器部件的范围,则致动所述第一致动器部件以移动所述激光指示器。
20.一种用于远程移动机器人的方法,包括:
提供机器人,所述机器人包括监视器、摄像机和发射激光的激光指示器;
提供远程控制站,所述远程控制站控制所述机器人并且具有用户输入设备,所述远程控制站包括显示计算机光标的监视器;
激活所述激光指示器并且移除图形光标;以及,
通过所述用户输入设备移动所述激光指示器。
21.根据权利要求20所述的方法,还包括自动地移动所述机器人,使得所述激光总是处于机器人摄像机的视场中。
22.根据权利要求20所述的方法,其中机器人监视器、所述摄像机和所述激光指示器由第一致动器部件移动并且所述激光指示器由附加的第二致动器部件移动,如果所述图形光标的运动超出所述第二致动器部件的范围,则致动所述第一致动器部件以移动所述激光指示器。
23.一种机器人系统,包括:
机器人,包括监视器、摄像机和发射激光的激光指示器,所述机器人监视器、所述摄像机和所述激光指示器由第一致动器部件移动并且所述激光指示器由附加的第二致动器部件移动;以及,
远程控制站,控制所述机器人,所述远程控制站控制包括如果所述激光的运动超出所述第二致动器部件的范围,则致动所述第一致动器部件以移动所述激光指示器。
24.一种用于远程移动机器人的方法,包括:
提供机器人,所述机器人包括监视器、摄像机和发射激光的激光指示器,机器人监视器、所述摄像机和所述激光指示器由第一致动器部件移动并且所述激光指示器由附加的第二致动器部件移动;
提供远程控制站,所述远程控制站控制所述机器人并且允许所述激光的运动;并且
如果所述激光的运动超出所述第二致动器部件的范围,则致动所述第一致动器部件以移动所述激光指示器。
25.一种机器人系统,包括:
机器人,包括监视器、摄像机和发射激光的激光指示器;以及,
远程控制站,控制所述机器人,所述远程控制站向所述机器人提供信息,所述激光指示器以光栅扫描的方式投影所述信息。
26.一种用于远程移动机器人的方法,包括:
提供机器人,所述机器人包括监视器、摄像机和发射激光的激光指示器;
从远程控制站向所述机器人传输信息;以及,
以光栅扫描的方式移动所述激光以显示所述信息。
27.一种机器人系统,包括:
机器人,包括监视器、摄像机和发射激光的激光指示器,所述激光被扫描到三维对象上以获得扫描信息;以及,
远程控制站,利用所述扫描信息来控制所述机器人。
28.一种用于远程移动机器人的方法,包括:
提供机器人,所述机器人包括监视器、摄像机和发射激光的激光指示器;
利用所述激光扫描三维对象以生成扫描信息;
向远程控制站传输所述扫描信息;以及,
利用所述扫描信息来控制所述机器人的运动。
29.一种用于通过机器人在手术地点处远程提供指令的方法,包括:
在手术地点处提供机器人,所述机器人包括监视器、摄像机和发射激光的激光指示器;
移动所述监视器和所述摄像机以面对病人和医生;以及,
引导所述激光到所述病人的至少一个解剖位置上以指示至少一个切口和至少一个缝合的位置。
30.一种用于通过机器人远程投影信息的方法,包括:
提供机器人,所述机器人包括监视器、摄像机和投影仪;
通过来自于远程控制站的至少一个命令移动所述机器人;
从所述远程控制站向所述机器人传输信息;以及,
利用所述机器人投影仪来投影所述信息。
31.一种用于通过机器人在手术地点处远程提供指令的方法,包括:
在手术地点处提供机器人,所述机器人包括监视器、摄像机和发射激光的激光指示器;
移动所述监视器和摄像机以面对病人和医生;以及,
引导所述激光到所述病人的至少一个解剖位置上以指示至少一个套管针的位置,利用与所述监视器和所述摄像机的运动分离的运动来引导所述激光。
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EP2419800B1 (en) | 2023-05-17 |
US8897920B2 (en) | 2014-11-25 |
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EP2419800B8 (en) | 2023-06-28 |
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WO2010120407A1 (en) | 2010-10-21 |
JP2012523890A (ja) | 2012-10-11 |
US20100268383A1 (en) | 2010-10-21 |
KR20120026038A (ko) | 2012-03-16 |
EP2419800A4 (en) | 2014-11-05 |
US20150038983A1 (en) | 2015-02-05 |
US20210365006A1 (en) | 2021-11-25 |
KR101804320B1 (ko) | 2017-12-04 |
CN102395931B (zh) | 2017-03-08 |
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