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1. 发明申请

WO2012103525A3 INTERFACING WITH A MOBILE TELEPRESENCE ROBOT 审中-公开
标题翻译：与移动电话机器人接口
公开(公告)号：WO2012103525A3
公开(公告)日：2013-01-24
申请号：PCT/US2012023036
申请日：2012-01-27
申请人： INTOUCH TECHNOLOGIES INC , IROBOT CORP , WANG YULUN , JORDAN CHARLES S , WRIGHT TIM , CHAN MICHAEL , PINTER MARCO , HANRAHAN KEVIN , SANCHEZ DANIEL , BALLANTYNE JAMES , HERZOG CODY , WHITNEY BLAIR , LAI FUJI , TEMBY KELTON , NEUSHUL ANDREW , RAUHUT EBEN CHRISTOPHER , KEARNS JUSTIN H , WONG CHEUK WAH , FARLOW TIMOTHY STURTEVANT
发明人： WANG YULUN , JORDAN CHARLES S , WRIGHT TIM , CHAN MICHAEL , PINTER MARCO , HANRAHAN KEVIN , SANCHEZ DANIEL , BALLANTYNE JAMES , HERZOG CODY , WHITNEY BLAIR , LAI FUJI , TEMBY KELTON , NEUSHUL ANDREW , RAUHUT EBEN CHRISTOPHER , KEARNS JUSTIN H , WONG CHEUK WAH , FARLOW TIMOTHY STURTEVANT
IPC分类号： B25J5/00 , B25J13/08 , G05D1/02 , G06F9/44
CPC分类号： B25J9/1664 , B25J5/00 , B25J9/1689 , B25J9/1697 , B25J11/009 , B25J11/0095 , G05D1/0038 , G05D1/024 , G05D1/0274 , G05D2201/0206 , G06F3/0482 , G06F3/04842 , G06F3/04847 , G06F19/3418 , G06T11/00 , G06T11/60 , G06T15/10 , G06T2200/24 , Y10S901/01 , Y10S901/47
摘要： A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.
摘要翻译：远程呈现机器人可以包括驱动系统，控制系统，成像系统和映射模块。映射模块可以访问与该区域相关联的区域和标签的平面图。在各种实施例中，每个标签可以包括标签坐标和标签信息，其可以包括标签注释。标签识别系统可以识别当前位置的预定范围内的标签，并且控制系统可以基于识别的标签执行动作，其标签信息包括远程呈现机器人动作修改器。远程呈现机器人可以独立于下部旋转上部部分。远程终端可以允许操作者使用任何控制方法的组合来控制远程呈现机器人，包括通过在平面图上选择目的地，或者通过使用操纵杆或其它外围设备来选择实况视频馈送中的目的地。

2. 发明申请

WO2011097130A2 ROBOT USER INTERFACE FOR TELEPRESENCE ROBOT SYSTEM 审中-公开
标题翻译：机器人用户界面，用于电视机器人系统
公开(公告)号：WO2011097130A2
公开(公告)日：2011-08-11
申请号：PCT/US2011022953
申请日：2011-01-28
申请人： INTOUCH TECHNOLOGIES INC , WANG YULUN , JORDAN CHARLES S , PINTER MARCO , HANRAHAN KEVIN P , WHITNEY BLAIR , SANCHEZ DANIEL S , ROE DAVID B
发明人： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , HANRAHAN KEVIN P , WHITNEY BLAIR , SANCHEZ DANIEL S , ROE DAVID B
IPC分类号： B25J13/00 , A61B5/00 , G06Q50/00
CPC分类号： B25J9/0003 , B25J9/1689 , G06F19/3418 , G06Q10/06 , G06Q50/22 , G16H40/20
摘要： A robot system that includes a remote control station and a robot that has a camera, a monitor and a microphone. The robot includes a user interface that allows a user to link the remote control station to access the robot. By way of example, the user interface may include a list of remote control stations that can be selected by a user at the robot site to link the robot to the selected control station. The user interface can display a connectivity prompt that allows a user at the robot site to grant access to the robot. The connectivity prompt is generated in response to a request for access by a remote control station. The robot may include a laser pointer and a button that allows a user at the robot site to turn the laser pointer on and off.
摘要翻译：一种机器人系统，其包括远程控制站和具有照相机，监视器和麦克风的机器人。机器人包括允许用户链接远程控制站以访问机器人的用户界面。作为示例，用户界面可以包括可以由机器人站点上的用户选择以将机器人链接到所选择的控制站的远程控制站的列表。用户界面可以显示连接提示，允许机器人站点上的用户授予对机器人的访问权限。响应于远程控制站的访问请求而生成连接提示。机器人可以包括激光指示器和允许机器人位置处的用户打开和关闭激光指示器的按钮。

3. 发明申请

WO2011097132A2 ROBOT FACE USED IN A STERILE ENVIRONMENT 审中-公开
标题翻译：无菌环境中使用的机器人脸
公开(公告)号：WO2011097132A2
公开(公告)日：2011-08-11
申请号：PCT/US2011022969
申请日：2011-01-28
申请人： INTOUCH TECHNOLOGIES INC , WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SANCHEZ DANIEL S , HANRAHAN KEVIN P
发明人： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SANCHEZ DANIEL S , HANRAHAN KEVIN P
IPC分类号： A61B19/00 , A61B1/04 , A61B1/045 , A61B1/05 , B25J13/06
CPC分类号： A61B34/30 , A61B34/35
摘要： A robot system that includes a robot face with a monitor, a camera, a speaker and a microphone. The system may include a removable handle attached to the robot face. The robot face may be controlled through a remote controller. The handle can be remove and replaced with another handle. The remote controller can be covered with a sterile drape or sterilized after each use of the system. The handle and remote controller allow the robot to be utilized in a clean environment such as an operating room without requiring the robot face to be sterilized after a medical procedure. The robot face can be attached to a boom with active joints. The robot face may include a user interface that allows a user to individually move the active joints of the boom.
摘要翻译：一个机器人系统，其中包括一个机器人脸与监视器，相机，扬声器和麦克风。该系统可以包括附接到机器人面部的可移除手柄。机器人脸部可以通过遥控器进行控制。手柄可以拆下并换成另一个手柄。每次使用该系统后，遥控器可以覆盖无菌盖布或灭菌。手柄和遥控器允许机器人在手术室等干净的环境中使用，而不需要在医疗程序后对机器人面部进行消毒。机器人的脸部可以连接到具有主动关节的悬臂上。机器人面部可以包括用户界面，其允许用户单独地移动吊杆的主动关节。

4. 发明申请

WO2012154231A3 TELEROBOTIC SYSTEM WITH A DUAL APPLICATION SCREEN PRESENTATION 审中-公开
标题翻译：具有双重应用程序画面的电话系统
公开(公告)号：WO2012154231A3
公开(公告)日：2013-02-28
申请号：PCT/US2012021749
申请日：2012-01-18
申请人： STUART DAVID A , CHAN MICHAEL C , WRIGHT TIMOTHY C , WANG YULUN , LAI FUJI , INTOUCH TECHNOLOGIES INC
发明人： STUART DAVID A , CHAN MICHAEL C , WRIGHT TIMOTHY C , WANG YULUN , LAI FUJI
IPC分类号： G06Q50/24
CPC分类号： G05D1/0038 , G05D2201/0206 , G06F19/3418 , G06Q50/22 , H04N7/183
摘要： A proctoring system that includes a communication device coupled to a remote station. The remote station has a visual display that displays first information relating to an action that causes an effect on an object, and simultaneously displays second information relating to the effect on the object. The remote station includes at least one input device that allows a communication to be transmitted by an operator to the communication device. By way of example, during the deployment of a heart stent, a specialist doctor may remotely view real-time fluoroscopy imagery and patient hemodynamics. The specialist can remotely proctor medical personnel on the proper orientation and timing requirements for installing the stent.
摘要翻译：一种监视系统，其包括耦合到远程站的通信设备。远程站具有显示关于对对象产生影响的动作的第一信息的视觉显示，并且同时显示与对象的效果有关的第二信息。远程站包括至少一个输入设备，其允许操作者向通信设备发送通信。例如，在部署心脏支架期间，专科医生可以远程查看实时荧光透视图像和患者血液动力学。专家可以根据正确的安装支架方向和时间要求远程监督医务人员。

5. 发明申请

WO2009117274A3 REMOTE PRESENCE SYSTEM MOUNTED TO OPERATING ROOM HARDWARE 审中-公开
标题翻译：远程存储系统安装在操作室硬件上
公开(公告)号：WO2009117274A3
公开(公告)日：2010-05-14
申请号：PCT/US2009036573
申请日：2009-03-09
申请人： INTOUCH TECHNOLOGIES INC
发明人： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SANCHEZ DANIEL STEVEN , HANRAHAN KEVIN P
IPC分类号： G06F15/16
CPC分类号： B25J9/1689 , B25J19/023 , G06F19/3418 , G06F19/3481 , G16H80/00
摘要： A robot system that includes a remote station and a robot face. The robot face includes a camera that is coupled to a monitor of the remote station and a monitor that is coupled to a camera of the remote station. The robot face and remote station also have speakers and microphones that are coupled together. The robot face may be coupled to a boom. The boom can extend from the ceiling of a medical facility. Alternatively, the robot face may be attached to a medical table with an attachment mechanism. The robot face and remote station allows medical personnel to provide medical consultation through the system.
摘要翻译：机器人系统，包括远程站和机器人面。机器人面部包括耦合到远程站的监视器的摄像机和耦合到远程站的摄像机的监视器。机器人面部和远程站也具有耦合在一起的扬声器和麦克风。机器人面可以联接到起重臂。繁荣可以从医疗设施的天花板延伸。或者，机器人面部可以附接到具有附接机构的医疗台。机器人面部和远程站允许医务人员通过系统提供医疗咨询。

6. 发明申请

WO2006078611A3 A MOBILE VIDEOCONFERENCING PLATFORM WITH AUTOMATIC SHUT-OFF FEATURES 审中-公开
标题翻译：具有自动关机功能的移动视频平台
公开(公告)号：WO2006078611A3
公开(公告)日：2007-11-22
申请号：PCT/US2006001517
申请日：2006-01-17
申请人： INTOUCH TECHNOLOGIES INC
发明人： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SOUTHARD JONATHAN
IPC分类号： G06F19/00
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , G05B2219/40061 , G05B2219/40136 , G05B2219/40169 , G05B2219/40172 , G05B2219/40173 , G05B2219/40174 , G05B2219/45119
摘要： A remote controlled robot (12) system (10) that includes a robot (12) and a remote control station (16). A user can control movement the robot (12) from the remote control station (16). The remote control station (16) may generate robot (12) control commands that are transmitted through a broadband network. The robot (12) has a camera (26) that generates video images that are transmitted to the remote control station (16) through the network. The user can control movement of the robot (12) while viewing the video images provided by the robot (12) camera (26). The robot (12) can automatically stop movement if it does not receive a robot (12) control command within a time interval. The remote control station (16) may transmit a stop command to the robot (12) if the station does not receive an updated video image within a time interval.
摘要翻译：一种包括机器人（12）和远程控制站（16）的遥控机器人（12）系统（10）。用户可以控制机器人（12）从远程控制站（16）的移动。远程控制站（16）可以生成通过宽带网络发送的机器人（12）控制命令。机器人（12）具有摄像机（26），其生成通过网络发送到远程控制站（16）的视频图像。用户可以在观看由机器人（12）相机（26）提供的视频图像的同时控制机器人（12）的移动。如果机器人（12）在一段时间间隔内没有收到机器人（12）控制命令，则自动停止运动。如果站在时间间隔内没有接收到更新的视频图像，则遥控站（16）可以向机器人（12）发送停止命令。

7. 发明申请

WO2006127297A3 TELEROBOTIC SYSTEM WITH A DUAL APPLICATION SCREEN PRESENTATION 审中-公开
标题翻译：具有双重应用程序画面的电话系统
公开(公告)号：WO2006127297A3
公开(公告)日：2009-04-30
申请号：PCT/US2006018362
申请日：2006-05-11
申请人： INTOUCH TECHNOLOGIES INC
发明人： WANG YULUN
IPC分类号： G06F19/00
CPC分类号： G06F19/3418 , G16H10/60
摘要： A robot system (10) that includes a robot (12) and a remote station (16). The remote station (16) may be a personal computer (22) coupled to the robot through a broadband network (18). A user at the remote station (16) may receive both video and audio from a camera (26) and a microphone (28) of the robot (12), respectively. The remote station (16) may include a visual display that displays both a first screen field and a second screen field. The first screen field may display a video image provided by a robot camera (26). The second screen field may display information such as patient records. The information from the second screen field may be moved to the first screen field and also transmitted to the robot (12) for display by a robot monitor (24). The user at the remote station (16) may annotate the information displayed by the robot monitor (24) to provide a more active video-conferencing experience.
摘要翻译：一种包括机器人（12）和远程站（16）的机器人系统（10）。远程站（16）可以是通过宽带网络（18）耦合到机器人的个人计算机（22）。远程站（16）处的用户可以分别从机器人（12）的摄像机（26）和麦克风（28）接收视频和音频。远程站（16）可以包括显示第一屏幕场和第二屏幕场的视觉显示器。第一屏幕字段可以显示由机器人照相机（26）提供的视频图像。第二屏幕字段可以显示诸如患者记录的信息。来自第二屏幕字段的信息可以被移动到第一屏幕字段，并且还被发送到机器人（12）以由机器人监视器（24）显示。远程站（16）处的用户可以注释由机器人监视器（24）显示的信息，以提供更活跃的视频会议体验。

8. 发明申请

WO2008100272A3 MOBILE TELECONFERENCING SYSTEM THAT PROJECTS AN IMAGE PROVIDED BY A MOBILE ROBOT 审中-公开
标题翻译：移动智能手机提供的图像的移动电话系统
公开(公告)号：WO2008100272A3
公开(公告)日：2008-10-23
申请号：PCT/US2007014099
申请日：2007-06-13
申请人： INTOUCH TECHNOLOGIES INC
发明人： WANG YULUN , JORDAN CHARLES S , PINTER MARCO
IPC分类号： H04N5/232
CPC分类号： H04N7/185 , G06F19/3418
摘要： A remote controlled robot system that includes a mobile robot and a remote control station. The mobile robot includes a camera that captures an image. The remote control station may include a monitor that displays the image captured by the robot camera. A projector is coupled to the remote control station to project the image. The system allows for the projection of the image captured by the robot to a relatively large viewing audience. The audience can thus view images provided by a moving robot.
摘要翻译：一种遥控机器人系统，包括移动机器人和遥控站。移动机器人包括拍摄图像的相机。遥控站可以包括显示由机器人摄像机拍摄的图像的监视器。投影仪耦合到远程控制站以投影图像。该系统允许将由机器人捕获的图像投影到相对较大的观看者。因此观众可以观看移动机器人提供的图像。

9. 发明申请

WO2007041038A2 A MULTI-CAMERA MOBILE TELECONFERENCING PLATFORM 审中-公开
标题翻译：多摄像机移动电话平台
公开(公告)号：WO2007041038A2
公开(公告)日：2007-04-12
申请号：PCT/US2006037076
申请日：2006-09-22
申请人： INTOUCH TECHNOLOGIES INC
发明人： WANG YULUN , JORDAN CHARLES S , PINTER MARCO , SOUTHARD JONATHAN , HERZOG JOHN CODY , LABY KEITH PHILIP
IPC分类号： G06F19/00
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , B25J5/00 , B25J13/006 , B25J13/06 , B25J19/021 , G06F19/3418 , G16H50/50 , H04N7/185
摘要： A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
摘要翻译：一种遥控机器人系统，包括移动机器人和遥控站。用户可以控制机器人从遥控站的移动。移动机器人包括可以捕获并向远程站传送缩放图像和非缩放图像的照相机系统。遥控站包括显示机器人视野的监视器。机器人视图字段可以显示非缩放图像。缩放图像可以通过突出显示非缩放字段的区域来显示在机器人视图字段中。遥控站还可以存储允许用户将相机系统移动到预设位置的照相机位置。

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