US6925357B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Medical tele-robotic system
Assignee: Teladoc Health Inc
•
Filing: 2002-07-25
•
Granted: 2005-08-02
•
Expires: 2022-07-25
Abstract
Abstract A robotic system that includes a remote controlled robot. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform allows the robot to move about a home or facility to locate and/or follow a patient.
Inventors
- 👤 Yulun Wang
- 👤 Keith Phillip Laby
- 👤 Charles S. Jordan
- 👤 Steven Edward Butner
- 👤 Jonathan Southard
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 09:04
CPC Classifications
B; B25; B25J; B25J5/00; B25J5/007; B25J11/00; B25J11/0005; B25J19/00; B25J19/02; B25J19/021; B25J19/022; B25J19/023; B25J9/00; B25J9/0003; B25J9/16; B25J9/1615; B25J9/162; B25J9/1679; B25J9/1689; G; G05; G05D; G05D1/00; G05D1/0011; G05D1/0038; G05D1/02; G05D1/021; G05D1/0212; G05D1/0225; G16; G16H; G16H40/00; G16H40/60; G16H40/67; H; H04; H04N; H04N7/00; H04N7/14; H04N7/141; H04N7/142; H04N7/18; H04N7/183; H04N7/185; B25J9/1602; B25J9/1628; B25J9/163; B25J9/1633; B25J9/1692; G16H10/00; G16H10/60; G16H30/00; G16H30/20
Claims Analysis
Total Claims: 89
Claim 1
Independent Claim
60 words
A method for remotely operating a robot to monitor a patient, comprising: transmitting a first command to move a mobile robot from a first remote control station; transmitting a second command to move the mobile robot from a second remote control station; determining which command has priority; and, moving the mobile robot in response to the transmitted command with priority.
Claim 2
Independent Claim
60 words
A method for remotely operating a robot to monitor a patient, comprising: transmitting a first command to move a mobile robot from a first remote control station; transmitting a second command to move the mobile robot from a second remote control station; determining which command has priority; and, moving the mobile robot in response to the transmitted command with priority.
Claim 3
Dependent Claim
21 words
The method of claim 1 , further comprising transmitting a video image from the mobile robot to the remote control station.
Claim 4
Dependent Claim
27 words
The method of claim 2 , wherein an existing video image and a pre-existing video image is transmitted to the remote control station from the mobile robot.
Claim 5
Dependent Claim
21 words
The method of claim 1 , further comprising transmitting a video image from the remote control station to the mobile robot.
Claim 6
Dependent Claim
23 words
The method of claim 1 , further comprising moving a drawer of the mobile robot to an open position to dispense a drug.
Claim 7
Dependent Claim
16 words
The method of claim 1 , wherein the robot autonomously moves to a battery recharger station.
Claim 8
Dependent Claim
39 words
A robot, comprising: a housing; a movement platform attached to said housing; a camera attached to said housing; a mass storage device that stores a pre-existing video image of a patient; and, a controller coupled to said movement platform.
Claim 9
Dependent Claim
39 words
A robot, comprising: a housing; a movement platform attached to said housing; a camera attached to said housing; a mass storage device that stores a pre-existing video image of a patient; and, a controller coupled to said movement platform.
Claim 10
Dependent Claim
14 words
The robot of claim 7 , further comprising an arm coupled to said housing.
Claim 11
Dependent Claim
12 words
The robot of claim 8 , wherein said arm includes a gripper.
Claim 12
Dependent Claim
14 words
The robot of claim 7 , further comprising a speaker coupled to said housing.
Claim 13
Dependent Claim
14 words
The robot of claim 7 , further comprising a microphone coupled to said housing.
Claim 14
Dependent Claim
15 words
The robot of claim 7 , further comprising a wireless transceiver coupled to said housing.
Claim 15
Dependent Claim
53 words
The robot of claim 7 , further comprising a battery recharger station, a battery that is coupled to said housing and can be coupled to said battery recharger station, and a power management software routine wherein said holonomic platform moves said housing so that said battery is coupled to said battery recharger station.
Claim 16
Dependent Claim
16 words
The robot of claim 7 , wherein said movement platform includes a plurality of roller assemblies.
Claim 17
Dependent Claim
23 words
The robot of claim 7 , wherein said controller runs a routine to moves a drawer of said housing to an open position.
Claim 18
Independent Claim
39 words
A method for monitoring a patient, comprising: storing a pre-existing video image of a patient; capturing an existing video image of the patient; and, transmitting the pre-existing video image and the existing video image to a remote control station.
Claim 19
Independent Claim
39 words
A method for monitoring a patient, comprising: storing a pre-existing video image of a patient; capturing an existing video image of the patient; and, transmitting the pre-existing video image and the existing video image to a remote control station.
Claim 20
Dependent Claim
12 words
The method of claim 16 , wherein the robot is remotely controlled.
Claim 21
Dependent Claim
77 words
A robot system, comprising: a battery recharger station; a robot housing; a battery coupled to said robot housing; a movement platform attached to said robot housing; a camera attached to said robot housing; and, a controller that is attached to said robot housing and coupled to said movement platform, said controller operates a power management software routine that causes said movement platform to move said robot housing so that said battery is coupled to said battery recharger.
Claim 22
Dependent Claim
77 words
A robot system, comprising: a battery recharger station; a robot housing; a battery coupled to said robot housing; a movement platform attached to said robot housing; a camera attached to said robot housing; and, a controller that is attached to said robot housing and coupled to said movement platform, said controller operates a power management software routine that causes said movement platform to move said robot housing so that said battery is coupled to said battery recharger.
Claim 23
Dependent Claim
16 words
The robot system of claim 18 , further comprising an arm coupled to said robot housing.
Claim 24
Dependent Claim
13 words
The robot system of claim 19 , wherein said arm includes a gripper.
Claim 25
Dependent Claim
16 words
The robot system of claim 18 , further comprising a speaker coupled to said robot housing.
Claim 26
Dependent Claim
16 words
The robot system of claim 18 , further comprising a microphone coupled to said robot housing.
Claim 27
Dependent Claim
17 words
The robot system of claim 18 , further comprising a wireless transceiver coupled to said robot housing.
Claim 28
Dependent Claim
17 words
The robot system of claim 18 , wherein said movement platform includes a plurality of roller assemblies.
Claim 29
Dependent Claim
18 words
The robot system of claim 18 , further comprising a mass storage device that stores a video image.
Claim 30
Independent Claim
35 words
A method for operating a robot, comprising: operating a software routine within a robot to determine whether the robot needs power; and, moving the robot to a battery recharger station when the robot needs power.
Claim 31
Independent Claim
35 words
A method for operating a robot, comprising: operating a software routine within a robot to determine whether the robot needs power; and, moving the robot to a battery recharger station when the robot needs power.
Claim 32
Dependent Claim
12 words
The method of claim 26 , wherein the robot is remotely controlled.
Claim 33
Independent Claim
112 words
A system for remotely visiting a person located in a healthcare facility, comprising: a broadband network; a remote station that is coupled to said broadband network, said remote station includes a monitor, a speaker and an input device to generate a robot command; and, a robot that is coupled to said remote station through said broadband network, said robot having a camera that captures video of a person that is transmitted to said remote station and a microphone that captures audio from the person that is transmitted to said remote station, said robot moves across a surface of the healthcare facility in response to receiving said robot command from said remote station.
Claim 34
Independent Claim
112 words
A system for remotely visiting a person located in a healthcare facility, comprising: a broadband network; a remote station that is coupled to said broadband network, said remote station includes a monitor, a speaker and an input device to generate a robot command; and, a robot that is coupled to said remote station through said broadband network, said robot having a camera that captures video of a person that is transmitted to said remote station and a microphone that captures audio from the person that is transmitted to said remote station, said robot moves across a surface of the healthcare facility in response to receiving said robot command from said remote station.
Claim 35
Dependent Claim
25 words
The system of claim 28 , wherein said remote station includes a camera and a microphone and said robot includes a monitor and a speaker.
Claim 36
Dependent Claim
13 words
The system of claim 28 , wherein said robot includes a holonomic platform.
Claim 37
Dependent Claim
13 words
The system of claim 28 , wherein said robot includes a wireless transceiver.
Claim 38
Dependent Claim
13 words
The system of claim 28 , wherein said remote station includes a computer.
Claim 39
Dependent Claim
15 words
The system of claim 28 , wherein said remote station is assigned a family priority.
Claim 40
Dependent Claim
13 words
The system of claim 28 , wherein said input device is a joystick.
Claim 41
Dependent Claim
15 words
The system of claim 28 , wherein said broadband network is a packet switched network.
Claim 42
Dependent Claim
14 words
The system of claim 28 , wherein said robot is located in a hospital.
Claim 43
Dependent Claim
16 words
The system of claim 28 , wherein said robot is located in a residential care facility.
Claim 44
Independent Claim
96 words
A system for remotely visiting a person located in a healthcare facility, comprising: broadband network means for transmitting information; remote station means for receiving video and audio transmitted through said broadband network means and generating a robot command that is transmitted through said broadband network means; and, robot means for capturing video and audio of a person that is transmitted to said remote station means through said broadband network means, and moving across a surface of the healthcare facility in response to receiving said robot command from said remote station means through said broadband network means.
Claim 45
Independent Claim
96 words
A system for remotely visiting a person located in a healthcare facility, comprising: broadband network means for transmitting information; remote station means for receiving video and audio transmitted through said broadband network means and generating a robot command that is transmitted through said broadband network means; and, robot means for capturing video and audio of a person that is transmitted to said remote station means through said broadband network means, and moving across a surface of the healthcare facility in response to receiving said robot command from said remote station means through said broadband network means.
Claim 46
Dependent Claim
24 words
The system of claim 38 , wherein said remote station means transmits video and audio to said robot means through said broadband network means.
Claim 47
Dependent Claim
14 words
The system of claim 38 , wherein said robot means includes a holonomic platform.
Claim 48
Dependent Claim
14 words
The system of claim 38 , wherein said robot means includes a wireless transceiver.
Claim 49
Dependent Claim
14 words
The system of claim 38 , wherein said remote station means includes a computer.
Claim 50
Dependent Claim
16 words
The system of claim 38 , wherein said remote station means is assigned a family priority.
Claim 51
Dependent Claim
19 words
The system of claim 38 , wherein said remote station means includes a joystick to generate said robot command.
Claim 52
Dependent Claim
15 words
The system of claim 38 , wherein said robot means is located in a hospital.
Claim 53
Dependent Claim
17 words
The system of claim 38 , wherein said robot means is located in a residential care facility.
Claim 54
Dependent Claim
52 words
A robot system, comprising: a mobile robot that has a camera and a monitor; a first remote station that can access said mobile robot; a second remote station that can access said mobile robot; and, an arbitrator that can control access to said mobile robot by said first and second remote stations.
Claim 55
Dependent Claim
52 words
A robot system, comprising: a mobile robot that has a camera and a monitor; a first remote station that can access said mobile robot; a second remote station that can access said mobile robot; and, an arbitrator that can control access to said mobile robot by said first and second remote stations.
Claim 56
Dependent Claim
13 words
The system of claim 47 , wherein said arbitrator includes a notification mechanism.
Claim 57
Dependent Claim
13 words
The system of claim 47 , wherein said arbitrator includes a timeout mechanism.
Claim 58
Dependent Claim
13 words
The system of claim 47 , wherein said arbitrator includes a queue mechanism.
Claim 59
Dependent Claim
14 words
The system of claim 47 , wherein said arbitrator includes a call back mechanism.
Claim 60
Dependent Claim
31 words
The system of claim 47 , wherein said first and second remote stations each have a priority and said arbitrator provides robot access to said remote station with a highest priority.
Claim 61
Dependent Claim
35 words
The system of claim 52 , wherein said first and second remote stations may be given priority as a local user, a doctor, a caregiver, a family member, a service user or another mobile robot.
Claim 62
Dependent Claim
14 words
The system of claim 47 , wherein said arbitrator is located within said robot.
Claim 63
Dependent Claim
51 words
A robot system, comprising: a mobile robot that has a camera and a monitor; a first remote station that can access said mobile robot; a second remote station that can access said mobile robot; and, arbitration means for controlling access to said mobile robot by said first and second remote stations.
Claim 64
Dependent Claim
51 words
A robot system, comprising: a mobile robot that has a camera and a monitor; a first remote station that can access said mobile robot; a second remote station that can access said mobile robot; and, arbitration means for controlling access to said mobile robot by said first and second remote stations.
Claim 65
Dependent Claim
31 words
The system of claim 55 , wherein said arbitrator means includes notification means for notifying said first remote station that said second remote station is requesting access to said mobile robot.
Claim 66
Dependent Claim
32 words
The system of claim 55 , wherein said arbitrator means includes timeout means that creates a time interval in which one of said remote stations must relinquish access to said mobile robot.
Claim 67
Dependent Claim
27 words
The system of claim 55 , wherein said arbitrator means includes queue means for establishing a waiting list of remote stations seeking access to said mobile robot.
Claim 68
Dependent Claim
31 words
The system of claim 55 , wherein said arbitrator means includes call back means for providing a message to one of said remote stations that said mobile robot can be accessed.
Claim 69
Dependent Claim
32 words
The system of claim 55 , wherein said first and second remote stations each have a priority and said arbitrator means provides robot access to said remote station with a highest priority.
Claim 70
Dependent Claim
35 words
The system of claim 60 , wherein said first and second remote stations may be given priority as a local user, a doctor, a caregiver, a family member, a service user or another mobile robot.
Claim 71
Dependent Claim
15 words
The system of claim 55 , wherein said arbitrator means is located within said robot.
Claim 72
Dependent Claim
70 words
A robot system, comprising: a broadband network; a mobile robot that is coupled to said broadband network, and has a camera and a monitor; a first remote station that can access said mobile robot through said broadband network; a second remote station that can access said mobile robot through said broadband network; and, an arbitrator that can control access to said mobile robot by said first and second remote stations.
Claim 73
Dependent Claim
70 words
A robot system, comprising: a broadband network; a mobile robot that is coupled to said broadband network, and has a camera and a monitor; a first remote station that can access said mobile robot through said broadband network; a second remote station that can access said mobile robot through said broadband network; and, an arbitrator that can control access to said mobile robot by said first and second remote stations.
Claim 74
Dependent Claim
13 words
The system of claim 63 , wherein said arbitrator includes a notification mechanism.
Claim 75
Dependent Claim
13 words
The system of claim 63 , wherein said arbitrator includes a timeout mechanism.
Claim 76
Dependent Claim
13 words
The system of claim 63 , wherein said arbitrator includes a queue mechanism.
Claim 77
Dependent Claim
14 words
The system of claim 63 , wherein said arbitrator includes a call back mechanism.
Claim 78
Dependent Claim
31 words
The system of claim 63 , wherein said first and second remote stations each have a priority and said arbitrator provides robot access to said remote station with a highest priority.
Claim 79
Dependent Claim
35 words
The system of claim 68 , wherein said first and second remote stations may be given priority as a local user, a doctor, a caregiver, a family member, a service user or another mobile robot.
Claim 80
Dependent Claim
14 words
The system of claim 63 , wherein said arbitrator is located within said robot.
Claim 81
Dependent Claim
68 words
A robot system, comprising: a broadband network; a mobile robot that is coupled to said broadband network, and has a camera and a monitor; a first remote station that can access said mobile robot through said broadband network; a second remote station that can access said mobile robot through said broadband network; and, arbitration means for controlling access to said robot by said first and second remote stations.
Claim 82
Dependent Claim
68 words
A robot system, comprising: a broadband network; a mobile robot that is coupled to said broadband network, and has a camera and a monitor; a first remote station that can access said mobile robot through said broadband network; a second remote station that can access said mobile robot through said broadband network; and, arbitration means for controlling access to said robot by said first and second remote stations.
Claim 83
Dependent Claim
31 words
The system of claim 71 , wherein said arbitrator means includes notification means for notifying said first remote station that said second remote station is requesting access to said mobile robot.
Claim 84
Dependent Claim
32 words
The system of claim 71 , wherein said arbitrator means includes timeout means that creates a time interval in which one of said remote stations must relinquish access to said mobile robot.
Claim 85
Dependent Claim
26 words
The system of claim 71 , wherein said arbitrator means includes queue means for establishing waiting list of remote stations seeking access to said mobile robot.
Claim 86
Dependent Claim
31 words
The system of claim 71 , wherein said arbitrator means includes call back means for providing a message to one of said remote stations that said mobile robot can be accessed.
Claim 87
Dependent Claim
32 words
The system of claim 71 , wherein said first and second remote stations each have a priority and said arbitrator means provides robot access to said remote station with a highest priority.
Claim 88
Dependent Claim
35 words
The system of claim 76 , wherein said first and second remote stations may be given priority as a local user, a doctor, a caregiver, a family member, a service user or another mobile robot.
Claim 89
Dependent Claim
15 words
The system of claim 71 , wherein said arbitrator means is located within said robot.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2008-08-01 | 2009-01-31 | 2009-08-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2012-08-01 | 2013-01-31 | 2013-08-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2016-08-01 | 2017-01-31 | 2017-08-02 | $7700.00 | Window Closed / Lapsed |