CN102473081B - Portable telepresence apparatus - Google Patents

Portable telepresence apparatus Download PDF

Info

Publication number
CN102473081B
CN102473081B CN201080037821.2A CN201080037821A CN102473081B CN 102473081 B CN102473081 B CN 102473081B CN 201080037821 A CN201080037821 A CN 201080037821A CN 102473081 B CN102473081 B CN 102473081B
Authority
CN
China
Prior art keywords
camera
long
telepresence apparatus
portable
image
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.)
Active
Application number
CN201080037821.2A
Other languages
Chinese (zh)
Other versions
CN102473081A (en
Inventor
K.滕比
C.S.乔丹
D.S.桑切斯
S.E.巴特纳
D.J.沃特斯
F.赖
K.P.汉拉罕
J.A.布加尼姆
J.罗森萨尔
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
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
Priority claimed from US12/548,122 external-priority patent/US8384755B2/en
Application filed by IN TOUCH HEALTH Inc filed Critical IN TOUCH HEALTH Inc
Priority to CN201610451546.8A priority Critical patent/CN106406801A/en
Publication of CN102473081A publication Critical patent/CN102473081A/en
Application granted granted Critical
Publication of CN102473081B publication Critical patent/CN102473081B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
    • G06F3/1454—Digital output to display device ; Cooperation and interconnection of the display device with other functional units involving copying of the display data of a local workstation or window to a remote workstation or window so that an actual copy of the data is displayed simultaneously on two or more displays, e.g. teledisplay
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/14—Systems for two-way working
    • H04N7/141—Systems for two-way working between two video terminals, e.g. videophone
    • H04N7/142—Constructional details of the terminal equipment, e.g. arrangements of the camera and the display
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/53—Constructional details of electronic viewfinders, e.g. rotatable or detachable
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
    • G06F3/147—Digital output to display device ; Cooperation and interconnection of the display device with other functional units using display panels
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2354/00—Aspects of interface with display user
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2370/00—Aspects of data communication
    • G09G2370/16—Use of wireless transmission of display information
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2380/00—Specific applications
    • G09G2380/08—Biomedical applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Primary Health Care (AREA)
  • Public Health (AREA)
  • Studio Devices (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Telephone Set Structure (AREA)
  • Accessories Of Cameras (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

A kind of telepresence system that comprises the Portable telepresence apparatus that is coupled to Long-distance Control station. Long-range display device comprises the monitor, camera, loudspeaker, microphone and the view finder screen that are coupled to shell. View finder screen allows user to observe the image by captured by camera. Portable telepresence apparatus is portable equipment, and it can be moved by the supporter of this equipment in response to the voice command from distant station. Long-range display device can be used for remotely observing patient in quick and efficient mode by medical worker.

Description

Portable telepresence apparatus
The cross reference of related application
The application requires the TELE-ROBOTICSYSTEMWITHAHANDHELD that is entitled as submitting on July 14th, 2010The priority of the application number 61/399,637 of ROBOTICFACE, and be being entitled as of submitting on August 26th, 2009The part continuation application of the application 12/548,122 of PORTABLEREMOTEPRESENCEROBOT, wherein eachFull content is passed to quote and is attached to herein.
Technical field
The disclosure relates generally to the field of telepresence system. More specifically, the disclosure relates to and comprises and remotely controlling by distant stationThe portable remote of equipment presents system, and wherein, this system comprises that camera, monitor, microphone and loudspeaker are to allowTwo-way audiovisual communications.
Background technology
U.S. Patent application US2008082211 discloses by the remote control equipment remote online display device of Long-distance Control. Concrete andSpeech, the remote control equipment system of its announcement comprises remote control equipment, base station, Long-distance Control station, network coupling can be passed through in Long-distance Control stationBe incorporated into base station, remote control equipment can be coupled to by antenna wireless the antenna of base station, and Long-distance Control station comprises monitor, photographMachine, microphone, loudspeaker, remote control equipment comprises frame, and camera is connected in frame, and watch-dog is connected in frame and couplingBe incorporated into remote camera so that patient can see user, loudspeaker is connected in frame, and remote speaker and loudspeaker allow patientAnd communicating by letter between user, remote control equipment is battery-powered.
Summary of the invention
According to one aspect of the present invention, provide one to be suitable for being coupled to have station monitor, the camera of standing, stand loudspeaker andThe stand Portable telepresence apparatus of distant station of microphone, comprising:
Hand-held outer case;
The first camera, it is coupled to the first surface of described shell;
Monitor, it is coupled to the first surface of described shell and is suitable for showing the image by station captured by camera;
Loudspeaker, it is coupled to described shell and is suitable for generating the sound providing by station microphone;
Microphone, it is coupled to described shell;
Battery, it is coupled to described shell;
Transceiver, it is coupled to described shell; And
View finder screen, it is coupled to second of described shell, and this second demonstration is by the image of described the first captured by camera.
According to another aspect of the present invention, provide a kind of for the method for telemedicine examination is provided, comprising:
Portable telepresence apparatus is installed to observe patient, this Portable telepresence apparatus comprises hand-held outer case, described long-range beingExisting equipment further comprises camera, monitor, loudspeaker, microphone and the view finder with described shell coupling, wherein saidThe first surface coupling of camera and described monitor and described shell, second coupling of described view finder and described shell;
Catch patient's image with Portable telepresence apparatus;
Portable telepresence apparatus is linked to distant station, and this distant station comprises distant station camera, remote station monitors device, distant stationLoudspeaker and distant station microphone, the healthworker's that this distant station camera can capture operation distant station image;
Healthworker's image is sent to Portable telepresence apparatus;
On monitor, show healthworker's image;
On view finder, show patient image;
Patient image is sent to distant station;
On remote station monitors device, show patient image; And
Transmit voice command from distant station to Portable telepresence apparatus.
Also have an aspect according to of the present invention, provide a kind of for obtaining the method for image of long-range seizure, comprising:
Portable telepresence apparatus is linked to distant station, and this Portable telepresence apparatus comprises hand-held outer case, described long-range beingExisting equipment further comprises the first camera, monitor, loudspeaker, microphone and view finder, described the first camera and described inThe first surface coupling of monitor and described shell, second coupling of described view finder and described shell, and distant station bag whereinDraw together distant station camera, remote station monitors device, remote station speaker and distant station microphone;
To be sent to distant station by the image of the first captured by camera;
On described view finder, show the described image by described the first captured by camera;
Transmit audio instructions from distant station to Portable telepresence apparatus to the user who keeps Portable telepresence apparatus; And
Carry out the long-range display device of mobile portable by the user who keeps Portable telepresence apparatus.
Brief description of the drawings
Following explanation and the claims of carrying out in conjunction with the drawings, it is more completely apparent that the present embodiment will become. Should understandBe that accompanying drawing is only described exemplary embodiments of the present invention, and therefore, be not intended to limit the scope of the invention, will be by usingEmbodiment is described and explained to following listed accompanying drawing by concrete and details.
Fig. 1 is the diagram that comprises the telepresence system of the distant station that is coupled to the Portable telepresence apparatus that is positioned at ambulance;
Fig. 2 is the diagram that the Portable telepresence apparatus in ambulance is shown;
Fig. 3 is the diagram that the Portable telepresence apparatus of the platform separation from being installed to ambulance ceiling is shown;
Fig. 4 illustrates the diagram of Portable telepresence apparatus that is attached to patient and takes turns bed (gurney);
Fig. 5 is the diagram that the Portable telepresence apparatus that is attached to support (stand) is shown;
Fig. 6 illustrates in the health institution (healthcarefacility) with the long-range display device that is attached to suspension rod (boom)Patient's diagram;
Fig. 7 A and 7B are the diagrams of the alternative embodiment of long-range display device;
Fig. 8 is the diagram of the rearview of the long-range display device shown in Fig. 7;
Fig. 9 illustrates that user keeps (hold) portable remote in observing by the image of captured by camera by view finder screenThe diagram of display device;
Figure 10 illustrates the diagram that allows user to change the user interface of loudspeaker and microphone volume;
Figure 11 illustrates the diagram that allows user to carry out the user interface of some function by graphic icons;
Figure 12 is the diagram that illustrates that picture-in-picture shows;
Figure 13 is the diagram that the picture in switch is shown; And
Figure 14 is the diagram that the graphical interfaces of the communication link in display system is shown.
Detailed description of the invention
To arrange and to design general description and illustrational in figure herein with multiple different configuration by what be readily appreciated thatThe assembly of embodiment. Therefore various embodiment following, representing be in the drawings described in more detail be not intended to limit claimedScope of the present invention, but only represent various embodiment of the present invention. In addition, in some cases, not shown or at lengthDescribe well-known structure, material or operation in order to avoid make aspect of the present invention ambiguous hard to understand. In addition, in one or more enforcementIn example, can be in any appropriate manner by described feature, structure or property combination.
Word " exemplary " and term " for example " are used for meaning " serving as for example example or diagram " in this article. Be described hereinFor example, be not necessarily understood to for other embodiment it is preferred or favourable for any embodiment of " exemplary " or " ". Although presented in the drawings the various aspects of embodiment, unless indicated particularly, accompanying drawing is not necessarily described in proportion.
A kind of telepresence system that comprises the Portable telepresence apparatus that is coupled to distant station is disclosed. Long-range display device comprisesMonitor, camera, loudspeaker and microphone. Distant station comprises station monitor, the camera of standing, loudspeaker and station Mike standWind. Portable telepresence apparatus can be attached to the platform of the ceiling that is installed to ambulance. Portable telepresence apparatus energyEnough be used to provide telemedicine examination by the doctor at distant station place or healthworker. In the time that patient is moved from ambulance, energyEnough Portable telepresence apparatus is separated and moved together with patient from platform.
Also disclose a kind of have be all coupled to shell monitor, camera, loudspeaker, microphone and view finder screen justThe long-range display device of the formula of taking. View finder screen allows user to observe the image with captured by camera. Portable telepresence apparatus isPortable equipment, it can be mobile by the keeper of this equipment (holder) in response to the voice command from distant station. Long-rangeDisplay device can be used for remotely observing patient in quick and efficient mode by medical worker.
More particularly come with reference to accompanying drawing with Reference numeral, Fig. 1 illustrates telepresence system 10. System 10 comprises by wireless network 18Be coupled to the Portable telepresence apparatus 12 at Long-distance Control station 14. Wireless network can be honeycomb fashion broadband network, satellite,WiMAX and/or WiFi network. Portable telepresence apparatus 12 can be positioned in ambulance 20.
Long-distance Control station 14 can comprise there is monitor 24, the computer 22 of camera 26, microphone 28 and loudspeaker 30.Computer 22 can also comprise the input equipment 32 such as control stick or mouse. Control station 14 is usually located at away from long-range and presentsOn the position of equipment 12. Although a Long-distance Control station 14 is only shown, system 10 can comprise multiple distant stations 14. LogicalOften, the long-range display device 12 of any number can be coupled to distant station 14 or other long-range display device of any number12. For example, a distant station 14 can be coupled to multiple long-range display devices 12, or long-range presenting can be establishedStandby 12 are coupled to multiple distant stations 14 or multiple long-range display device 12. This system can comprise controls long-range display device 12And the moderator of the access between distant station 14 (arbitrator) (not shown).
As shown in Figures 2 and 3, Portable telepresence apparatus 12 can be attached to platform 34. Platform 34 can be from ambulance 20Ceiling (not shown) extend. Platform 34 can comprise articulated joint 36 and 38, and it provides at least two frees degree and permitsFamily allowable moves to different positions to observe patient and the EMT in ambulance by long-range display device 12.
Each long-range display device 12 comprise (or multiple) camera 50 being all attached to shell 58, monitor 52,(or multiple) microphone 54 and (or multiple) loudspeaker 56. Camera 50 is coupled to remote monitor24, make the user at distant station 14 places can observe patient and/or EMT. Similarly, monitor 52 is coupled to long-range photographCamera 26, therefore, patient and EMT can observe the user of distant station 14. Microphone 28 and 54 and loudspeaker 30 Hes56 allow listening between Systems Operator and patient and/or EMT to communicate by letter.
System 10 allows observe the patient in ambulance and pass through distant station 14 and long-range display device 12 such as doctor's system userTelemedicine examination (medicalconsultation) is provided. Personnel such as EMT can send back Xiang doctor by systemProblem and answer. Camera 50 allows doctor to observe patient and strengthens medical consultation. Monitor 52 can show that doctor is to provideThe sensation existing, such as in ambulance. Platform 34 allows doctor that long-range display device 12 is carried out distant taking the photograph (pan) and inclinedTiltedly (tilt).
Long-range display device 12 can comprise the transceiver 60 that is coupled to wireless network. Portable telepresence apparatus 12 alsoComprise battery 62.
System 10 can have some assembly and software, its with by the InTouchTechnologies public affairs in Ge Lata city, CaliforniaThe robot system that provides of department is identical or similar, and embodies United States Patent (USP) 6,925, the system of describing in 357, and it is passed quotesBe attached to herein.
As shown in Figure 3, Portable telepresence apparatus 12 can be separated from platform 34. Long-range display device 12 and platform 34 canAllow long-range display device 12 to be easily attached to platform 34 and the mechanical connector 64 separating from it to have. EquallyGround, long-range display device 12 and platform 34 can comprise electric connector 66. Wherein (such as in ambulance) utilize system10 position can comprise the transceiver (not shown) of the radio communication that can be provided to Long-distance Control station 14. Electrical connectionDevice 66 provides being electrically connected between long-range display device 12 and transceiver. Connector 66 can also be established to long-range presentingStandby 12 provide power. Alternatively, can utilize therein near (such as in ambulance) of system 10 to pass through wireless receiving and dispatchingThe transceiver of long-range display device 12 60 is coupled to Long-distance Control station 14 by machine. Long-range display device can comprise canWith actuator (actuator) system 68 of two or more free degree mobile cameras 50. Even if this is at long-range display device12 when separated from platform 34, also allows operator's mobile cameras visual field.
As shown in Figure 4, Portable telepresence apparatus 12 can be separated and be attached to patient from platform (not shown) and take turns bed 70.Can long-range display device 12 be attached to platform with two frees degree that allow remote station user to move long-range display device 1272. Platform 72 can comprise the fixture adhering to (clamp) 74 that allows wheel bed 70. Can on wheel bed 70, be long-rangeExisting equipment 12 and patient shift out ambulance. The portable aspect of long-range display device 12 allows it to move together with patient. Long-rangeDisplay device 12 should have certain size and weight so that individual can be easily by its lifting.
As shown in Figure 5, Portable telepresence apparatus 12 can be separated and be attached to distant station from ambulance platform (not shown)The support 80 at place. The portable nature of long-range display device 12 allows it to be carried into any position to allow the operator of distant stationLong-range long-range presenting. If operator is doctor, Portable telepresence apparatus 12 allows the long-range of any place placeMedical consultation.
Fig. 6 illustrates the patient and the wheel bed that are moved in the health institution with the long-range display device 90 that is attached to suspension rod 92. WhenWheel bed 70 moves to close proximity in the time of health institution, and can pass through will such as health institution's Local wireless network of WiFi networkLong-range display device transceiver is coupled to distant station. Once in-house at this, can be by Portable telepresence apparatus90 are connected to supply socket and network to carry out Ethernet connection. Electronics ID equipment 94 can be attached to patient. ID equipment94 can transmit wireless signal to the long-range display device 90 that is attached to suspension rod 92. Long-range display device 90 connecing signalReceipts can impel distant station to be coupled to be attached to long-range display device 90 instead of the Portable telepresence apparatus of suspension rod 9290. Can long-range display device 90 be coupled to distant station by other means. For example, nurse can be to network system of health institutionIn system, key in the information of identification patient's reposition. This type of entry can impel this system that Long-distance Control station is switched to long-range presentingEquipment 90. In addition, can exist for causing this system and automatically distant station is transferred to another from a long-range display deviceOther individual method.
Fig. 7 A, 7B and 8 illustrate another embodiment of Portable telepresence apparatus 100. Long-range display device 100 comprises all quiltsBe attached to monitor 102, the first camera 104, microphone 106 and the loudspeaker 108 of the first surface 110 of shell 112.Camera 104 can comprise the fish-eye lens with 180 degree visual fields and zoom feature. More specifically, camera is 10,000,000 picturesElement CCD. In the time that long-distance user " is dwindled (zoomout) ", this system is in compression and 10MP image is passed through to internetSend before its resampling to 1440 × 768. Long-distance user can select by draw square frame around a part for imageThis parts of images, for example upper left 1/4th. The coordinate of this square frame is transferred into long-range display device, and this long-range display device is complied withInferiorly will make resampling region be confined to the upper left 2.5MP of Camiera input. Face 100 is constructed to have and makes it can be by oneThe size that individual carries and weight. Long-range display device 100 can have handle 114 so that carried and move. For example, long-range display device can have the weight that is less than 5 pounds. Shell 112 can be constructed to long-range display device100 can stand in vertical position (uprightposition) from the teeth outwards, may be with the oblique angle that retreats of 5 degree, to promoteObserve.
Long-range display device 100 can comprise the second camera 118 and the view finder screen of second 120 that are attached to shell 112116. The second camera 118 can catch the people's of the long-range display device of maintenance that is transferred into distant station image, makes long-rangeUser can switch to keeper's view to it is provided to instruction via 2 to Audio Visual Communication. Be positioned at shell 112Electronic circuit and device, comprise the various functions that can carry out long-range display device 100 (or multiple) processor,Memory and hard disk drive (not shown). One side of long-range display device 100 can comprise various port 122,124,126,128 and 130. Port one 22 can provide USB and/or bluetooth or other connection. USB port can be used for by such asThe medical equipment of stethoscope or pulse blood oxygen instrument is attached to long-range display device 100. Port one 24 can provide C video, S to lookFrequently auxiliary input. Can the battery charging to long-range display device by connector 126. Can be by the transmitting-receiving in shell 112Machine 128 is set up cell phone and is connected. Connector 130 can provide 801.11WiFi connectivity. As shown in Figure 7 B, long-rangeThe opposite side of display device 100 can comprise that the difference input that can set up video conference control (such as audio volume adjustment) pressesButton 132. Monitor 102 can show and can use together with long-range display device 100 by the touch-screen being operated by userVarious port and can plug standby. System 100 can have some assembly and software, its with by Ge Lata city, CaliforniaThe robot system that InTouchTechnologies company provides is identical or similar, such as United States Patent (USP) 6,925, describes in 357System, it is passed to quote and is attached to herein.
Fig. 9 illustrates that user keeps Portable telepresence apparatus 100 to allow teleoperator by being positioned at long-range display device 100The first camera 104 of opposite side is observed patient. View finder screen 116 allows keeper to observe by the first camera 104 to catchThe image of catching correspondingly mobile long-range display device 100. For instance, the operator at distant station place can provide to keeperSpoken command is the expectation view with acquisition patient with the long-range display device 100 of mobile portable. In this degree, user's execution graphThe function of the actuator shown in 2 and 3, as mentioned above.
Long-range display device 100 can comprise the motion sensing equipment 134 such as accelerometer, gyroscope and/or magnetometer. Can profitWith motion sensing equipment 134, even if make user keep long-range display device 100 in the mode tilting, shown by monitorThe people who shows is suitably determined size. The top of the people's who in other words, is shown by monitor head will be pointed to and all the time away from heavyPower, if make equipment be maintained at miter angle, the top of head will appear in the upper left corner of screen. Similarly, fortuneDynamic measurement equipment 134 can be used for the appropriate size pattern of the image catching on camera 104 to offer distant station.
View finder screen 116 can comprise the touch feature that allows the keeper of long-range display device 100 to change the image being captured. ExampleAs, keeper's finger can impel the image of seizure to be exaggerated in outside mode from the movement of inside position. User's fingerContrary movement can impel image reduced. Therefore, keeper can retouch on the little touch-screen that shows patient imagePaint, and the distant station that result can be obtained (telestration) is shared to long-distance user. Long-distance user retains shared spyLevy control, and can forbid that some in these features can be used for keeper.
Figure 10 illustrates the user interface 140 being shown by view finder 116. Interface 140 comprises and can be touched to change loudspeaker by userGraphic icons 142 with the volume of microphone. View finder 116 can also show the interface 144 shown in Figure 11. Wrap at interface 144Draw together and can be touched to control the graphic icons such as the function of power, audio mode, connect/disconnect and hold button146. For example, user can become the earphone based on bluetooth from local microphone by audio-source.
Figure 12 illustrates with picture-in-picture form and shows teleoperator's image 148 and the monitor by the image 150 of captured by camera102. Can be as shown in figure 13 by image 148 and 150 exchanges. Can use the touch-screen trigger being shown by view finder screen(touchscreentoggle) (not shown) or the figure switch with distant station place carry out swap image. Figure 12 and 13 also illustratesThe alternative embodiment of camera, thus, single camera physically Rotate 180 degree with before or after pointing to.
As shown in figure 14, long-range display device and/or distant station can provide graphical interfaces 160, its be illustrated in long-range display device withConnectivity between distant station. Graphic icons 162,164,166 and 168 can represent respectively long-range display device, serviceDevice, network and distant station. The link that solid line instruction between two equipment is set up. Disconnection between two equipment of dotted line instructionCommunication link. For example, Figure 14 is depicted in communicating by letter of disconnection between network and distant station. System can be held the link disconnectingRow diagnosis and corrective action function. Corrective action can be automatically, or comprises that prompting user carries out some task (such as insertingUpper its Ethernet cable) message or the instruction of configuring firewalls is provided. Graphic icons 162 can be according to attempting to its connectionLong-rangely present the type of end points and change. For example, if user is attempting mobile robot's connection, icon will be describedMobile robot, and if user is being connected to only head equipment, chart will be described this equipment.
Long-range display device 100 can use many airborne modems (onboardmodem) to provide wireless cellular is heldCarry when business, WiFi are connected with satellite with WiMAX local wireless and access. A bearer can grasp according to 2G standardDo, another is according to 3G, and another is according to 4G etc. These networks connect can be present in long-range display device airbornely100, or alternatively, long-range display device can have near the list of basic communication unit (it is controlled again output and connects)Individual local wireless connects. Basis communication unit can be taked the form of mobile system, and it can be installed on vehicle, or withLong-range display device is advanced together. Can also strengthen this system with the additional amplifying stage being arranged in vehicle. This system can be byAvailable join aggregation also improves quality of service measures in one of various modes. This pattern can comprise: redundant mode, it is logicalCross multiple connections and send identical signal; Balanced mode, it is by the each several part of different connection transmitted signals; Switching mode,It sends all business by best available connection; And VPN switching mode, its during session in redundancy, balance andBetween switching mode, switch.
This system can be evaluated at reliability and the dynamic bandwidth in each of its wireless connections. Based on current networking statistics, networking is calculatedMethod can be chosen between different connections and separate communication stream, for example control command in a connection and video/audio at anotherIn connection, or audio frequency in a connection and be controlled at another connect on. In the time that certain connects obviously degeneration, this algorithm canSelect its data flow to move to another connection. Sometimes, this may mean and abandons video (in 3G connection) to switch toOnly audio frequency (2G) connects. In addition, this algorithm can choice for use older, more slowly but on more reliable network (2G)Wireless connections are for audio frequency, and use upgrading/sooner but for example, connection on network (3G) is used for so reliably. simultaneouslyVideo. This method can ensure to transmit steadily all the time audio frequency, and video may have interruption simultaneously, but will keep goodVisual quality and frame rate. Alternatively, system can have at the Audio and Video that upgrades/connect faster, has moreAudio frequency backup in old/slower connection time. If upgrade connection become so unreliable, system can make playAudio frequency cross compound turbine so that use from older/more slowly connect data.
Portable telepresence apparatus 100 can use in various application. For example, long-range display device 100 can be used for allowing sickPeople's long-range inspection. Long-range display device 100 can remain on movable foundation and logging mode, even if ought not deposit underwayWith teleoperator's session time. " foundation " (pre-session before the off-line record of this permission patient condition and session" setup "). Before session, set up and allow user to position and use digital square zoom (box-zoom) control to long-range display deviceSystem ensures the optimal viewing of the patient before the input of remote doctor. This and prior art telepresence system form contrast,In prior art telepresence system, in the time that new session starts, take the photograph/tilt/zoom setting that camera is distant be acquiescence or previously establishedPut. Long-range display device permission local user can set up for the best of remote doctor and look before his/her session setup, and can in the time that remote doctor becomes busy or request local assistance temporarily, upgrade further visual field.
In the time that long-range display device is for example arranged in aircraft, long-range display device 100 can have " offline mode ", and it is taking offWith land during forbid outside transmission. In addition, can during the period of limited wireless connections, system be switched to and " catch thenSend " mode. In this mode, user can be intended for the videograph of patient's inspection of doctor. Can use fromThe telemetry of the Medical Devices that adhere to is supplemented this videograph. Audit report subsequently in the time that system is recovered enough to connect by automaticTransfer to doctor, and be placed in doctor's the queue at distant station place.
Long-range display device can also be equipped with GPS (not shown). Following in real time of the geographical position of the each long-range display device of this permissionThe GEOGRAPHICAL INDICATION (geo-tagging) of track and session statistics. This provides several functions, comprising: based on the wireless company in geographical positionThe analysis connecing; Based on the degree of approach and the video clipping of ambulance speed and patient data's tracking to hospital; And hospital and accountSingle audit. GPS feature can also provide unique fleet monitor, antitheft etc.
Portable telepresence apparatus can be used in the various application in medical domain. An application is specialities transport (specialtyTransport), particularly paediatrics transport. Can dispose ambulance and team from the A of hospital to the B of hospital to carry out patient transportation.In the time arriving the B of hospital, possible Discover the patients needed to stablize before transport. Expert diagnosis can occur in the B of hospital, orThe In transit of person on the route that returns to the A of hospital.
For example, can send calling to patient's transport from described (spoke) B of hospital, the described B of hospital does not have the A of hospital institute toolSome professional skills (for example paediatrics Intensive Care Therapy doctor specific nursing (pediatricintensivistspecialistcare)). DisposeTransport team from the A of hospital to the B of hospital. This team brings long-range display device 100, is arranged on wheel bed and goes up and will take turns bedBe placed in ambulance. This team arrives the B of hospital and observes patient. If at any some place, transport team wants request to consultAsk, set up from the remote doctor of the A of hospital and be placed on linking of long-range display device on wheel bed. Remote doctor canImage is carried out to distant taking the photograph-tilt-zoom to obtain the view of expecting. If still can not access the view of expectation, present long-rangeSomeone of equipment side place can be by reorientating long-range display device 100 use view finder to help looking in patient/expectationFront camera on figure positions to offer help. Long-range display device side team can via the main loudspeaker on unit/Microphone is communicated by letter with remote doctor. Remote doctor can with the team at B place of hospital and patient/family members' various members speak intoRow is recommended. In the situation or secret situation of noise circumstance, can use bluetooth or wireless head-band earphone as an alternative. Long-rangeDoctor can help to carry out the judgement about nursing/transport of patient.
Can by as be to continue transport, do not continue transport or implement some and protect by what determine with the remote doctor of on-the-spot team collaborationThe judgement of reason promotes nursing. If exist patient wherein to start the situation of metabolism disorder, consulting also can during transportation be sent outRaw. In this case, at patient's In transit, between distant station and the long-range display device in ambulance, will depositIn link. It is upper that long-range display device will be installed in wheel bed, and remote doctor can be observed patient and communicate by letter to help with transport teamNurse judgement.
Another Application can comprise that nurse carries out planned access to it in long-term sick patients home. Nurse observes patient. Long-rangeThe touch-screen of display device can be used for various symptoms to weave into document. These data are stored in long-range display device. Some diseaseThe data that people is mutual and video can be transferred to server. Long-range display device can receive the information of asking from server.Nurse can observe disease symptoms (troublingsymptom) and ask doctor to seek advice from. Nurse can call out doctor, its foundationRemote healthcare session that link and initiate to be promoted by nurse and patient with long-range display device. Doctor can ask nurse by numberWord stethoscope is attached to long-range display device and is put on patient. Then doctor can ask nurse that portable supersonic is establishedThe standby auxiliary video port that is attached to long-range display device. Finally, doctor can judge and should immediately patient be brought to medical institutions.Nurse can call out ambulance. In the time that patient is transported to this mechanism, nurse station is on patient side, and remote doctor signs in to long-rangeDisplay device.
It is evident that for a person skilled in the art can be to above-mentioned in the situation that not departing from general principle of the present inventionThe details of embodiment changes. Although have been illustrated in the accompanying drawings and described some exemplary embodiment, be understood thatThis type of embodiment is only illustrative instead of to inventing widely restriction, and shown in the invention is not restricted to and described specific, because can there are for the person of ordinary skill of the art various other amendments in structure and layout. In the claims,Conjunction " with " comprising property, conjunction "or" be exclusiveness and comprising property of conjunction "and/or" or exclusiveness. AsLower restriction is claimed exclusiveness character or franchise embodiments of the invention wherein.

Claims (14)

1. be suitable for being coupled to the Portable telepresence apparatus of distant station that there is station monitor, the camera of stand, stands loudspeaker and the microphone of standing, comprise:
Hand-held outer case;
The first camera, it is coupled to the first surface of described shell;
Monitor, it is coupled to the first surface of described shell and is suitable for showing the image by station captured by camera;
Loudspeaker, it is coupled to described shell and is suitable for generating the sound providing by station microphone;
Microphone, it is coupled to described shell;
Battery, it is coupled to described shell;
Transceiver, it is coupled to described shell; And
View finder screen, it is coupled to second of described shell, and this second demonstration is by the image of described the first captured by camera.
2. the Portable telepresence apparatus of claim 1, also comprises the second camera that is coupled to described shell, and described the second camera is positioned on second of described shell who comprises described view finder screen.
3. the Portable telepresence apparatus of claim 1, wherein, described view finder screen comprises at least one touch screen function that can change by the image of described the first captured by camera.
4. the Portable telepresence apparatus of claim 1, also comprises the motion sensing equipment that is attached to described shell.
5. the Portable telepresence apparatus of claim 4, wherein, described motion sensing equipment is used for revising the image being shown by described monitor.
6. the Portable telepresence apparatus of claim 4, wherein, described motion sensing equipment is used for revising the image that offers distant station.
7. the Portable telepresence apparatus of claim 1, wherein, described display comprises the graphic user interface that allows user to change acoustic characteristic.
8. the Portable telepresence apparatus of claim 1, wherein, described shell is configured to be placed on the surface in vertical position.
9. the Portable telepresence apparatus of claim 1, wherein, described remote station monitors device viewing hardware icon is also described the interruption in the communication link between hardware device.
10. the Portable telepresence apparatus of claim 1, also comprises the actuator system that can move the first camera and be controlled by distant station.
The Portable telepresence apparatus of 11. claims 1, also comprises GPS equipment.
12. 1 kinds for obtaining the method for image of long-range seizure, comprising:
Portable telepresence apparatus is linked to distant station, this Portable telepresence apparatus comprises hand-held outer case, described long-range display device further comprises the first camera, monitor, loudspeaker, microphone and view finder, the first surface coupling of described the first camera and described monitor and described shell, second coupling of described view finder and described shell, and wherein distant station comprises distant station camera, remote station monitors device, remote station speaker and distant station microphone;
To be sent to distant station by the image of the first captured by camera;
On described view finder, show the described image by described the first captured by camera;
Transmit audio instructions from distant station to Portable telepresence apparatus to the user who keeps Portable telepresence apparatus; And
Carry out the long-range display device of mobile portable by the user who keeps Portable telepresence apparatus.
The method of 13. claims 12, also comprises by the view finder screen on Portable telepresence apparatus and observes the image by captured by camera.
The method of 14. claims 13, also comprise with the second camera catch keep Portable telepresence apparatus user image and user's image is sent to distant station.
CN201080037821.2A 2009-08-26 2010-08-26 Portable telepresence apparatus Active CN102473081B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610451546.8A CN106406801A (en) 2009-08-26 2010-08-26 Portable telepresence apparatus

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12/548122 2009-08-26
US12/548,122 US8384755B2 (en) 2009-08-26 2009-08-26 Portable remote presence robot
US39963710P 2010-07-14 2010-07-14
US61/399637 2010-07-14
PCT/US2010/046740 WO2011028589A2 (en) 2009-08-26 2010-08-26 Portable telepresence apparatus

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN201610451546.8A Division CN106406801A (en) 2009-08-26 2010-08-26 Portable telepresence apparatus

Publications (2)

Publication Number Publication Date
CN102473081A CN102473081A (en) 2012-05-23
CN102473081B true CN102473081B (en) 2016-05-25

Family

ID=43649908

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201080037821.2A Active CN102473081B (en) 2009-08-26 2010-08-26 Portable telepresence apparatus
CN201610451546.8A Pending CN106406801A (en) 2009-08-26 2010-08-26 Portable telepresence apparatus

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201610451546.8A Pending CN106406801A (en) 2009-08-26 2010-08-26 Portable telepresence apparatus

Country Status (6)

Country Link
EP (1) EP2470986A4 (en)
JP (1) JP2013503571A (en)
KR (1) KR20120068879A (en)
CN (2) CN102473081B (en)
IN (1) IN2012DN02197A (en)
WO (1) WO2011028589A2 (en)

Families Citing this family (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US7813836B2 (en) 2003-12-09 2010-10-12 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
US20050204438A1 (en) 2004-02-26 2005-09-15 Yulun Wang Graphical interface for a remote presence system
US8077963B2 (en) 2004-07-13 2011-12-13 Yulun Wang Mobile robot with a head-based movement mapping scheme
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
US8265793B2 (en) 2007-03-20 2012-09-11 Irobot Corporation Mobile robot for telecommunication
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
US8179418B2 (en) 2008-04-14 2012-05-15 Intouch Technologies, Inc. Robotic based health care system
US8170241B2 (en) 2008-04-17 2012-05-01 Intouch Technologies, Inc. Mobile tele-presence system with a microphone system
US9193065B2 (en) 2008-07-10 2015-11-24 Intouch Technologies, Inc. Docking system for a tele-presence robot
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
US8996165B2 (en) 2008-10-21 2015-03-31 Intouch Technologies, Inc. Telepresence robot with a camera boom
US9138891B2 (en) 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8463435B2 (en) 2008-11-25 2013-06-11 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
US11399153B2 (en) 2009-08-26 2022-07-26 Teladoc Health, Inc. Portable telepresence apparatus
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
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
US8918213B2 (en) 2010-05-20 2014-12-23 Irobot Corporation Mobile human interface robot
US8935005B2 (en) 2010-05-20 2015-01-13 Irobot Corporation Operating a mobile robot
US9014848B2 (en) 2010-05-20 2015-04-21 Irobot Corporation Mobile robot system
US10343283B2 (en) 2010-05-24 2019-07-09 Intouch Technologies, 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
US9264664B2 (en) 2010-12-03 2016-02-16 Intouch Technologies, Inc. Systems and methods for dynamic bandwidth allocation
US8930019B2 (en) 2010-12-30 2015-01-06 Irobot Corporation Mobile human interface robot
US12093036B2 (en) 2011-01-21 2024-09-17 Teladoc Health, Inc. Telerobotic system with a dual application screen presentation
CN104898652B (en) 2011-01-28 2018-03-13 英塔茨科技公司 Mutually exchanged with a moveable tele-robotic
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
US9098611B2 (en) 2012-11-26 2015-08-04 Intouch Technologies, Inc. Enhanced video interaction for a user interface of a telepresence network
US20140139616A1 (en) 2012-01-27 2014-05-22 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
US9251313B2 (en) 2012-04-11 2016-02-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US8902278B2 (en) 2012-04-11 2014-12-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
WO2013176758A1 (en) 2012-05-22 2013-11-28 Intouch Technologies, Inc. Clinical workflows utilizing autonomous and semi-autonomous telemedicine devices
US9361021B2 (en) 2012-05-22 2016-06-07 Irobot Corporation Graphical user interfaces including touchpad driving interfaces for telemedicine devices
CN103051924A (en) * 2012-12-27 2013-04-17 宁波中研瑞华数字技术有限公司 Dual-mode third-generation (3G) video server
CN104063192B (en) * 2013-03-19 2017-05-24 联想(北京)有限公司 Display method and electronic equipment
US11862302B2 (en) 2017-04-24 2024-01-02 Teladoc Health, Inc. Automated transcription and documentation of tele-health encounters
US10483007B2 (en) 2017-07-25 2019-11-19 Intouch Technologies, 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
US10617299B2 (en) 2018-04-27 2020-04-14 Intouch Technologies, Inc. Telehealth cart that supports a removable tablet with seamless audio/video switching
EP4185195A4 (en) * 2020-07-23 2024-08-07 Michael Francis Mersinger Multi-functional telemedical device
WO2023150575A2 (en) * 2022-02-01 2023-08-10 The George Washington University Cyber-physical system to enhance usability and quality of telehealth consultation

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101049017A (en) * 2004-10-15 2007-10-03 英塔茨科技公司 Tele-robotic videoconferencing in a corporte environment
CN101106939A (en) * 2004-09-07 2008-01-16 英塔茨科技公司 Tele-presence system that allows for remote monitoring/observation and review of a patient and their medical records
CN100407729C (en) * 2002-06-21 2008-07-30 夏普公司 Foldable portable telephone
US7557758B2 (en) * 2007-03-26 2009-07-07 Broadcom Corporation Very high frequency dielectric substrate wave guide
CN101507260A (en) * 2006-06-15 2009-08-12 英塔茨科技公司 Mobile teleconferencing system that projects an image provided by a mobile robot

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6369847B1 (en) * 2000-03-17 2002-04-09 Emtel, Inc. Emergency facility video-conferencing system
JP3513084B2 (en) * 2000-06-14 2004-03-31 株式会社東芝 Information processing system, information equipment and information processing method
US7307653B2 (en) * 2001-10-19 2007-12-11 Nokia Corporation Image stabilizer for a microcamera module of a handheld device, and method for stabilizing a microcamera module of a handheld device
US7539504B2 (en) * 2001-12-05 2009-05-26 Espre Solutions, Inc. Wireless telepresence collaboration system
US6925357B2 (en) * 2002-07-25 2005-08-02 Intouch Health, Inc. Medical tele-robotic system
US6753899B2 (en) * 2002-09-03 2004-06-22 Audisoft Method and apparatus for telepresence
CN1315351C (en) * 2004-09-20 2007-05-09 华为技术有限公司 Mobile communication terminal, mobile communication system and its method
US7379664B2 (en) * 2005-07-26 2008-05-27 Tinkers & Chance Remote view and controller for a camera
US7643051B2 (en) * 2005-09-09 2010-01-05 Roy Benjamin Sandberg Mobile video teleconferencing system and control method
KR100672338B1 (en) * 2005-09-09 2007-01-24 엘지전자 주식회사 Mobile communication terminal having dual display equipment and method of taking picture using same
US8049678B2 (en) * 2005-09-09 2011-11-01 Lg Electronics, Inc. Image capturing and displaying method and system
US7761185B2 (en) * 2006-10-03 2010-07-20 Intouch Technologies, Inc. Remote presence display through remotely controlled robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100407729C (en) * 2002-06-21 2008-07-30 夏普公司 Foldable portable telephone
CN101106939A (en) * 2004-09-07 2008-01-16 英塔茨科技公司 Tele-presence system that allows for remote monitoring/observation and review of a patient and their medical records
CN101049017A (en) * 2004-10-15 2007-10-03 英塔茨科技公司 Tele-robotic videoconferencing in a corporte environment
CN101507260A (en) * 2006-06-15 2009-08-12 英塔茨科技公司 Mobile teleconferencing system that projects an image provided by a mobile robot
US7557758B2 (en) * 2007-03-26 2009-07-07 Broadcom Corporation Very high frequency dielectric substrate wave guide

Also Published As

Publication number Publication date
WO2011028589A3 (en) 2011-04-28
JP2013503571A (en) 2013-01-31
EP2470986A2 (en) 2012-07-04
WO2011028589A2 (en) 2011-03-10
IN2012DN02197A (en) 2015-08-07
CN106406801A (en) 2017-02-15
KR20120068879A (en) 2012-06-27
CN102473081A (en) 2012-05-23
EP2470986A4 (en) 2013-06-26

Similar Documents

Publication Publication Date Title
CN102473081B (en) Portable telepresence apparatus
US10871889B2 (en) Tele-presence system with a user interface that displays different communication links
US11399153B2 (en) Portable telepresence apparatus
US11389962B2 (en) Telepresence robot system that can be accessed by a cellular phone
US20210260749A1 (en) Graphical interface for a remote presence system
US20210366605A1 (en) Tele-presence robot system with multi-cast features
US7761185B2 (en) Remote presence display through remotely controlled robot
US8780165B2 (en) Portable remote presence robot
US20060259193A1 (en) Telerobotic system with a dual application screen presentation
US20120072024A1 (en) Telerobotic system with dual application screen presentation
US20110190930A1 (en) Robot user interface for telepresence robot system
US20070291109A1 (en) Remote controlled mobile robot with auxillary input ports
US20090240371A1 (en) Remote presence system mounted to operating room hardware
US20060082642A1 (en) Tele-robotic videoconferencing in a corporate environment
WO2010065257A1 (en) A remote controlled robot system that provides medical images
US20110267462A1 (en) Versatile remote video monitoring through the internet
EP2446851A2 (en) One touch button for operating room support
JP2001128149A (en) Method and system for supporting walking visually handicapped person
EP2549398A2 (en) Telepresence system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant