Patent Publication Number: US-8116910-B2

Title: Telepresence robot with a printer

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The subject matter disclosed generally relates to the field of mobile two-way teleconferencing. 
     2. Background Information 
     Robots have been used in a variety of applications ranging from remote control of hazardous material to assisting in the performance of surgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al. discloses a system that allows a surgeon to perform minimally invasive medical procedures through the use of robotically controlled instruments. One of the robotic arms in the Wang system moves an endoscope that has a camera. The camera allows a surgeon to view a surgical area of a patient. 
     Tele-robots such as hazardous waste handlers and bomb detectors may contain a camera that allows the operator to view the remote site. Canadian Pat. No. 2289697 issued to Treviranus, et al. discloses a teleconferencing platform that has both a camera and a monitor. The platform includes mechanisms to both pivot and raise the camera and monitor. The Treviranus patent also discloses embodiments with a mobile platform, and different mechanisms to move the camera and the monitor. 
     There has been marketed a mobile robot introduced by InTouch Technologies, Inc., the assignee of this application, under the trademark RP-7. The InTouch robot is controlled by a user at a remote station. The remote station may be a personal computer with a joystick that allows the user to remotely control the movement of the robot. Both the robot and remote station have cameras, monitors, speakers and microphones to allow for two-way video/audio communication. The robot camera provides video images to a screen at the remote station so that the user can view the robot&#39;s surroundings and move the robot accordingly. 
     The InTouch robot system can be used by doctors to remotely view and diagnose patients. For example, a doctor can move the robot from room to room at a medical facility to observe and interact with patients. If the diagnosis requires the prescription of drugs the doctor must fax the prescription to the medical facility. This process can be time consuming and is ripe for error. It would be desirable to provide a remote control robot system that would allow the user to more readily provide a patient with a prescription or other information. 
     BRIEF SUMMARY OF THE INVENTION 
     A remote controlled robot that has a camera and an output device such as a printer coupled to a mobile platform. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration of a robotic system; 
         FIG. 2  is an illustration of a graphical user interface; 
         FIG. 3  is an illustration of a graphical user interface; 
         FIG. 4  is an illustration of a graphical user interface; 
         FIG. 5  is an illustration of a print-out; 
         FIG. 6  is an illustration of a graphical user interface; 
         FIG. 7  is an illustration of a graphical user interface; 
         FIG. 8  is a schematic of an electrical system of the robot; 
         FIG. 9  is a further schematic of the electrical system of the robot; 
         FIG. 10  is an illustration of a robot; 
         FIG. 11  is a graphical user interface of a remote station. 
         FIG. 12  is an illustration of a robot head. 
     
    
    
     DETAILED DESCRIPTION 
     Disclosed is a remote controlled robot system that includes a robot and a remote controlled station. The robot includes a camera and a printer coupled to a mobile platform. The remote control station may display one or more graphical user interfaces with data fields. The graphical user interfaces allow a user to enter information into the data fields. The information is then transmitted to the robot and printed by the robot printer. The information may include a medical prescription and the name of the patient. Providing a robot printer allows the user to directly provide a medical prescription while remotely observing and interacting with a patient. 
     Referring to the drawings more particularly by reference numbers,  FIG. 1  shows a robotic system  10  that can be used to conduct a remote visit. The robotic system  10  includes a robot  12 , a base station  14  and a remote control station  16 . The remote control station  16  may be coupled to the base station  14  through a network  18 . By way of example, the network  18  may be either a packet switched network such as the Internet, or a circuit switched network such has a Public Switched Telephone Network (PSTN) or other broadband system. The base station  14  may be coupled to the network  18  by a modem  20  or other broadband network interface device. By way of example, the base station  14  may be a wireless router. Alternatively, the robot  12  may have a direct connection to the network thru for example a satellite. 
     The remote control station  16  may include a computer  22  that has a monitor  24 , a camera  26 , a microphone  28  and a speaker  30 . The computer  22  may also contain an input device  32  such as a joystick or a mouse. The control station  16  is typically located in a place that is remote from the robot  12 . Although only one remote control station  16  is shown, the system  10  may include a plurality of remote stations. In general any number of robots  12  may be controlled by any number of remote stations  16  or other robots  12 . For example, one remote station  16  may be coupled to a plurality of robots  12 , or one robot  12  may be coupled to a plurality of remote stations  16 , or a plurality of robots  12 . 
     Each robot  12  includes a movement platform  34  that is attached to a robot housing  36 . Also attached to the robot housing  36  is a camera  38 , a monitor  40 , a microphone(s)  42  and a speaker(s)  44 . The microphone  42  and speaker  30  may create a stereophonic sound. The robot  12  may also have an antenna  46  that is wirelessly coupled to an antenna  48  of the base station  14 . The system  10  allows a user at the remote control station  16  to move the robot  12  through operation of the input device  32 . The robot camera  38  is coupled to the remote monitor  24  so that a user at the remote station  16  can view a subject such as a patient. Likewise, the robot monitor  40  is coupled to the remote camera  26  so that the patient can view the user. The microphones  28  and  42 , and speakers  30  and  44 , allow for audible communication between the patient and the user. 
     The remote station computer  22  may operate Microsoft OS software and WINDOWS XP or other operating systems such as LINUX. The remote computer  22  may also operate a video driver, a camera driver, an audio driver and a joystick driver. The video images may be transmitted and received with compression software such as MPEG CODEC. 
     The robot  12  includes a printer  50  that is attached to the robot housing  36  and coupled to the mobile platform  34 . The printer  50  can print information on printer paper  52  attached thereto. To minimize space and the profile of the robot the printer  50  may be a customized panel mounted thermal device. The printer  50  can print information provided by the remote control station  16 . 
     The remote control station  16  may display a plurality of graphical user interfaces.  FIG. 2  shows a graphical user interface  60  that displays a plurality of tabs in an ADVANCED CONTROLS section of the station operating system. One of the tabs may be a PRINTER tab  62 . Selection of the PRINTER tab  62  may cause the display of the graphical user interface  64  shown in  FIG. 3 . The interface  64  may include a PATIENT data field  66 , a PATIENT ID data field  68  and a ROOM data field  70 . The user can enter appropriate data into the fields  66 ,  68  and  70 . The PATIENT field  66  may include a drop down button  72  that can be selected to display a drop down menu with the names of patients that have been stored and/or previously entered into the system. Selecting one of the names from the drop down menu can cause the automatic population of the PATIENT ID  68  and ROOM  70  fields, respectively. 
     The user can select the NEXT button  74  which may cause the display of the graphical user interface  76  shown in  FIG. 4 . The graphical user interface  76  may have a ENTER ORDER TEXT data field  78 . The field  78  allows a user to enter information such as a medical prescription. The user can then select a PRINT button  80  which causes the remote control station to send the information entered into fields  66 ,  68 ,  70  and/or  78  to the robot. The robot printer then prints the information in fields  66 ,  68 ,  70  and/or  78 . The interface  76  may also have a BACK button  82  that can be selected to re-display the graphical user interface  64 . The user can then repeat the process for a new prescription order and/or patient. 
       FIG. 5  provides an example of a print-out  84  of the information provided by the remote station. The system allows a doctor to remotely observe and diagnose a patient, and provide a medical prescription through the robot and printer. 
     The system may allow for password authentication to print the information. It may be desirable to insure that the information is electronically authenticated to prevent unauthorized personnel from ordering prescriptions.  FIG. 6  shows a graphical user interface  86  with a PASSWORD data field  88 , a RETYPE PASSWORD data field  90  and a PASSWORD HINT data field  92 . The user can create a password by entering relevant information into fields  88  and  90 . A password hint can be entered into field  92 . The creation of the password and hint can be completed by selecting the DONE button  94 . 
     Selecting the PRINT button  78  in the graphical user interface  74  can cause the display of the graphical user interface  96  shown in  FIG. 7 . The interface  96  includes a PASSWORD data field  98  that allows the user to enter their password. The user can then select an OK button  100  to cause the information (e.g., data in fields  66 ,  68 ,  70  and/or  78 ) to be printed by the robot printer. If the entered password is incorrect a prompt may be displayed so the user enters a new password or selects the FORGOT PASSWORD button  102  to display the hint that was created in field  92  of interface  88 . 
       FIGS. 8 and 9  show an embodiment of a robot  12 . Each robot  12  may include a high level control system  150  and a low level control system  152 . The high level control system  150  may include a processor  154  that is connected to a bus  156 . The bus  156  is coupled to the camera  38  by an input/output (I/O) port  158 . The monitor  40  is coupled to the bus  156  by a serial output port  160  and a VGA driver  162 . The monitor  40  may include a touchscreen function that allows the patient to enter input by touching the monitor screen. 
     The speaker  44  is coupled to the bus  156  by a digital to analog converter  164 . The microphone  42  is coupled to the bus  156  by an analog to digital converter  166 . The high level controller  150  may also contain random access memory (RAM) device  168 , a non-volatile RAM device  170  and a mass storage device  172  that are all coupled to the bus  156 . The mass storage device  172  may contain medical files of the patient that can be accessed by the user at the remote control station  16 . For example, the mass storage device  172  may contain a picture of the patient. The user, particularly a health care provider, can recall the old picture and make a side by side comparison on the monitor  24  with a present video image of the patient provided by the camera  38 . The robot antennae  46  may be coupled to a wireless transceiver  174 . By way of example, the transceiver  174  may transmit and receive information in accordance with IEEE 802.11b. 
     The printer  50  is coupled to the bus  156  by a serial output port  175 . The serial port  175  may include a Universal Asynchronous Receiver/Transmitter (“UART”) interface. 
     The controller  154  may operate with a LINUX OS operating system. The controller  154  may also operate MS WINDOWS along with video, camera and audio drivers for communication with the remote control station  16 . Video information may be transceived using MPEG CODEC compression techniques. The software may allow the user to send e-mail to the patient and vice versa, or allow the patient to access the Internet. In general the high level controller  150  operates to control communication between the robot  12  and the remote control station  16 . 
     The remote control station  16  may include a computer that is similar to the high level controller  150 . The computer would have a processor, memory, I/O, software, firmware, etc. for generating, transmitting, receiving and processing information. 
     The high level controller  150  may be linked to the low level controller  152  by serial ports  176  and  178 . The low level controller  152  includes a processor  180  that is coupled to a RAM device  182  and non-volatile RAM device  184  by a bus  186 . Each robot  12  contains a plurality of motors  188  and motor encoders  190 . The motors  188  can actuate the movement platform and move other parts of the robot such as the monitor and camera. The encoders  190  provide feedback information regarding the output of the motors  188 . The motors  188  can be coupled to the bus  186  by a digital to analog converter  192  and a driver amplifier  194 . The encoders  190  can be coupled to the bus  186  by a decoder  196 . Each robot  12  also has a number of proximity sensors  198  (see also  FIG. 1 ). The sensors  198  can be coupled to the bus  186  by a signal conditioning circuit  200  and an analog to digital converter  202 . 
     The low level controller  152  runs software routines that mechanically actuate the robot  12 . For example, the low level controller  152  provides instructions to actuate the movement platform to move the robot  12 . The low level controller  152  may receive movement instructions from the high level controller  150 . The movement instructions may be received as movement commands from the remote control station or another robot. Although two controllers are shown, it is to be understood that each robot  12  may have one controller, or more than two controllers, controlling the high and low level functions. 
     The various electrical devices of each robot  12  may be powered by a battery(ies)  204 . The battery  204  may be recharged by a battery recharger station  206  (see also  FIG. 1 ). The low level controller  152  may include a battery control circuit  208  that senses the power level of the battery  204 . The low level controller  152  can sense when the power falls below a threshold and then send a message to the high level controller  150 . 
       FIG. 10  shows an embodiment of the robot  12 . The robot  12  may include a holonomic platform  250  that is attached to a robot housing  250 . The holonomic platform  250  provides three degrees of freedom to allow the robot  12  to move in any direction. 
     The robot  12  may have a pedestal assembly  254  that supports the camera  38  and the monitor  40 . The pedestal assembly  254  may have two degrees of freedom so that the camera  38  and monitor  40  can together be swiveled and pivoted as indicated by the arrows. 
     The platform  250  is located within a platform reference coordinate system that may have axes X p , Y p  and Z p . By way of example, the y-axis Y p  may extend from a nose of the platform  250 . The camera  38  is fixed to a camera reference coordinate system that may have axes X c , Y c  and Z c . The y-axis Y c  may extend perpendicular from the camera lens. When the robot is initialized, the y-axis Y c  of the camera coordinate system may be aligned with the y-axis Y p  of the platform coordinate system. A forward pivoting of the joystick  32  (shown in  FIG. 1 ) may cause a corresponding movement of the platform  250  in the direction of the y-axis Y p  in the platform coordinate system. 
     The robot may have a drive vector that may have axes X d , Y d , and Z d  that is mapped to the camera coordinate system, the platform coordinate system or some other system. By way of example, the y-axis Y p  may extend in the direction of forward motion. Mapping includes the process of transforming an input command into a directional movement relative to one or more coordinate systems. The robot controller may perform certain algorithms to translate input commands to platform movement in accordance with a specified mapping scheme. For example, when the drive vector is mapped to the camera coordinate system the controller computes the drive vector of the input command relative to the camera coordinate system. In a platform mapping scheme the input drive vector is computed relative to the platform coordinate system. In yet another scheme the drive vector can be computed relative to another coordinate system, such as a world coordinate system (e.g. coordinate system relative to the ground) that is independent of the camera or platform coordinate systems. Mapping the drive vector to the camera coordinate system may be desirable because all movement would be relative to the image viewed by the user, providing a system that is intuitive to use. 
     A twisting of the joystick  32  may cause the camera  38  to swivel as indicated by arrows  4 . For example, if the joystick  32  is twisted +45 degrees the camera  38  will pivot +45 degrees. Swiveling the camera  38  also moves the y-axis Y c  of the camera coordinate system, because the y-axis Y c  is fixed to the camera. This may be different than the drive direction. The remote station computer may operate a program to generate a command that will automatically rotate the platform  250  to realign the y-axis Y p  of the platform coordinate system with the y-axis Y c  of the camera coordinate system. For the above example, the platform  250  is rotated +45 degrees. This approach keeps the platform  250  aligned with the camera  38 , so that any subsequent movement of the robot will be intuitive relative to the image provided by the camera. For example, a forward pivot of the joystick will induce a forward movement of the robot as viewed through the monitor of the remote station. In this driving scheme, the platform may not be aligned with the head. The computer may generate trajectory planning for the platform coordinate system to move into alignment with the head coordinate system over a period of time or distance traveled, with or without an initial delay in time or some distance. 
     The system may be configured so that pivotal movement of the joystick  32  may be mapped to a corresponding directional movement of the robot. For example, pivoting the joystick along a +45 degree may cause the robot to move in a +45 degree direction relative to the y-axis Y c  of the camera coordinate frame. Alternatively, the camera may pan +45 degrees and the platform  250  may rotate +45 degrees before forward movement by the robot. The automatic panning and platform rotation causes the robot to move in a forward direction as depicted by the image provided by the camera. The robot may have a mode wherein the user can twist the joystick to pan the camera during robot movement such that the movement is not in the direction the camera is pointing. This allows the user to visually pan while moving the robot. The joystick may have a spring return that automatically returns the position of the stick when released by the user. This causes the camera to be aligned with the direction of movement. 
     In general the robot may have a number of different mapping schemes and relative, dependent or independent, movement between the camera, the platform and drive direction. Relative movement between the camera and platform may occur in a camera based mapping scheme, a platform based mapping scheme, or some other scheme. 
     Although, the automatic platform rotation commands have been described as be generated by the remote station computer, it is to be understood that the robot may determine the commands and signals necessary to re-orient the platform  250  and/or the camera  38 . The robot  12  may include a potentiometer (not shown) that tracks the position of the camera and provides feedback to the low level controller  180 . The low level controller  180  may automatically rotate the platform to align the y-axes Y c  and Y p  or otherwise compensate for camera movement. A mode button (not shown) may allow the operator to place the system in either a tracking mode or a normal mode. In the tracking mode the robot moves relative to the camera coordinate system so that movement is intuitive relative to the screen even when the camera is panned. In normal mode the robot moves within the platform coordinate system. 
     The robot  12  includes a printer  256  that prints information on printer paper  258 . The information may be provided by a remote control station connected to the robot 
     The system may be the same or similar to a robotic system provided by the assignee InTouch-Health, Inc. of Santa Barbara, Calif. under the name RP-7. The system may also be the same or similar to the system disclosed in U.S. Pat. No. 6,925,357 issued Aug. 2, 2005, which is hereby incorporated by reference. 
       FIG. 11  shows a display user interface (“DUI”)  300  that can be displayed at the remote station  16 . The DUI  300  may include a robot view field  302  that displays a video image provided by the camera of the robot. The DUI  300  may also include a station view field  304  that displays a video image provided by the camera of the remote station  16 . The DUI  300  may be part of an application program stored and operated by the computer  22  of the remote station  16 . The display user interface and the various features and functions provided by the interface may be the same or similar as the DUI provided by the RP-7 system. 
     The DUI  300  may also have a control button  306  that can be selected to display the interface shown in  FIG. 2 . 
     In operation, the robot  12  may be placed in a home or a facility where one or more patients are to be monitored and/or assisted. The facility may be a hospital or a residential care facility. By way of example, the robot  12  may be placed in a home where a health care provider may monitor and/or assist the patient. Likewise, a friend or family member may communicate with the patient. The cameras and monitors at both the robot and remote control stations allow for teleconferencing between the patient and the person at the remote station(s). 
     The robot  12  can be maneuvered through the home or a facility by manipulating the input device  32  at a remote station  16 . The robot  10  may be controlled by a number of different users. To accommodate for this the robot may have an arbitration system. The arbitration system may be integrated into the operating system of the robot  12 . For example, the arbitration technique may be embedded into the operating system of the high-level controller  150 . 
     By way of example, the users may be divided into classes that include the robot itself, a local user, a caregiver, a doctor, a family member, or a service provider. The robot  12  may override input commands that conflict with robot operation. For example, if the robot runs into a wall, the system may ignore all additional commands to continue in the direction of the wall. A local user is a person who is physically present with the robot. The robot could have an input device that allows local operation. For example, the robot may incorporate a voice recognition system that receives and interprets audible commands. 
     A caregiver is someone who remotely monitors the patient. A doctor is a medical professional who can remotely control, the robot and also access medical files contained in the robot memory. The family and service users remotely access the robot. The service user may service the system such as by upgrading software, or setting operational parameters. 
     The robot  12  may operate in one of two different modes; an exclusive mode, or a sharing mode. In the exclusive mode only one user has access control of the robot. The exclusive mode may have a priority assigned to each type of user. By way of example, the priority may be in order of local, doctor, caregiver, family and then service user. In the sharing mode two or more users may share access with the robot. For example, a caregiver may have access to the robot, the caregiver may then enter the sharing mode to allow a doctor to also access the robot. Both the caregiver and the doctor can conduct a simultaneous tele-conference with the patient. 
     The system  10  can be used for doctor proctoring where a doctor at the remote station provides instructions and feedback to a doctor located in the vicinity of the robot. For example, a doctor at the remote location can view a patient and assist a doctor at the patient location in a diagnosis. Likewise, the remote doctor can assist in the performance of a medical procedure at the robot location. 
     The arbitration scheme may have one of four mechanisms; notification, timeouts, queue and call back. The notification mechanism may inform either a present user or a requesting user that another user has, or wants, access to the robot. The timeout mechanism gives certain types of users a prescribed amount of time to finish access to the robot. The queue mechanism is an orderly waiting list for access to the robot. The call back mechanism informs a user that the robot can be accessed. By way of example, a family user may receive an e-mail message that the robot is free for usage. Tables I and II, show how the mechanisms resolve access request from the various users. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE I 
               
               
                   
               
               
                   
                 Access 
                 Medical 
                 Command 
                 Software/Debug 
                 Set 
               
               
                 User 
                 Control 
                 Record 
                 Override 
                 Access 
                 Priority 
               
               
                   
               
             
            
               
                 Robot 
                 No 
                 No 
                 Yes (1) 
                 No 
                 No 
               
               
                 Local 
                 No 
                 No 
                 Yes (2) 
                 No 
                 No 
               
               
                 Caregiver 
                 Yes 
                 Yes 
                 Yes (3) 
                 No 
                 No 
               
               
                 Doctor 
                 No 
                 Yes 
                 No 
                 No 
                 No 
               
               
                 Family 
                 No 
                 No 
                 No 
                 No 
                 No 
               
               
                 Service 
                 Yes 
                 No 
                 Yes 
                 Yes 
                 Yes 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
             
               
                 TABLE II 
               
             
            
               
                   
               
               
                   
                 Requesting User 
               
            
           
           
               
               
               
               
               
               
            
               
                   
                 Local 
                 Caregiver 
                 Doctor 
                 Family 
                 Service 
               
               
                   
               
            
           
           
               
               
               
               
               
               
               
            
               
                 Current User 
                 Local 
                 Not Allowed 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of  
               
               
                   
                   
                   
                 pending user 
                 pending user 
                 pending user 
                 pending user 
               
               
                   
                   
                   
                 Notify requesting 
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting 
               
               
                   
                   
                   
                 user that system is in 
                 that system is in use 
                 that system is in use 
                 user that system is in 
               
               
                   
                   
                   
                 use 
                 Set timeout = 5 m 
                 Set timeout = 5 m 
                 use 
               
               
                   
                   
                   
                 Set timeout 
                   
                 Call back 
                 No timeout 
               
               
                   
                   
                   
                   
                   
                   
                 Call back 
               
               
                   
                 Caregiver 
                 Warn current user 
                 Not Allowed 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
               
               
                   
                   
                 of pending user. 
                   
                 pending user 
                 pending user 
                 pending user 
               
               
                   
                   
                 Notify requesting 
                   
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting 
               
               
                   
                   
                 user that system is 
                   
                 that system is in use 
                 that system is in use 
                 user that system is in 
               
               
                   
                   
                 in use. 
                   
                 Set timeout = 5 m 
                 Set timeout = 5 m 
                 use 
               
               
                   
                   
                 Release control 
                   
                 Queue or callback 
                   
                 No timeout 
               
               
                   
                   
                   
                   
                   
                   
                 Callback 
               
               
                   
                 Doctor 
                 Warn current user 
                 Warn current user of 
                 Warn current user of 
                 Notify requesting user 
                 Warn current user of 
               
               
                   
                   
                 of pending user 
                 pending user 
                 pending user 
                 that system is in use 
                 pending user 
               
               
                   
                   
                 Notify requesting 
                 Notify requesting 
                 Notify requesting user 
                 No timeout 
                 Notify requesting 
               
               
                   
                   
                 user that system is 
                 user that system is in 
                 that system is in use 
                 Queue or callback 
                 user that system is in 
               
               
                   
                   
                 in use 
                 use 
                 No timeout 
                   
                 use 
               
               
                   
                   
                 Release control 
                 Set timeout = 5 m 
                 Callback 
                   
                 No timeout 
               
               
                   
                   
                   
                   
                   
                   
                 Callback 
               
               
                   
                 Family 
                 Warn current user 
                 Notify requesting 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
               
               
                   
                   
                 of pending user 
                 user that system is in 
                 pending user 
                 pending user 
                 pending user 
               
               
                   
                   
                 Notify requesting 
                 use 
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting 
               
               
                   
                   
                 user that system is 
                 No timeout 
                 that system is in use 
                 that system is in use 
                 user that system is in 
               
               
                   
                   
                 in use 
                 Put in queue or 
                 Set timeout = 1 m 
                 Set timeout = 5 m 
                 use 
               
               
                   
                   
                 Release Control 
                 callback 
                   
                 Queue or callback 
                 No timeout 
               
               
                   
                   
                   
                   
                   
                   
                 Callback 
               
               
                   
                 Service 
                 Warn current user 
                 Notify requesting 
                 Warn current user of 
                 Warn current user of 
                 Not Allowed 
               
               
                   
                   
                 of pending user 
                 user that system is in 
                 request 
                 pending user 
                   
               
               
                   
                   
                 Notify requesting 
                 use 
                 Notify requesting user 
                 Notify requesting user 
                   
               
               
                   
                   
                 user that system is 
                 No timeout 
                 that system is in use 
                 that system is in use 
                   
               
               
                   
                   
                 in use 
                 Callback 
                 No timeout 
                 No timeout 
                   
               
               
                   
                   
                 No timeout 
                   
                 Callback 
                 Queue or callback 
               
               
                   
               
            
           
         
       
     
     The information transmitted between the station  16  and the robot  12  may be encrypted. Additionally, the user may have to enter a password to enter the system  10 . A selected robot is then given an electronic key by the station  16 . The robot  12  validates the key and returns another key to the station  16 . The keys are used to encrypt information transmitted in the session. 
     The robot  12  and remote station  16  transmit commands through the broadband network  18 . The commands can be generated by the user in a variety of ways. For example, commands to move the robot may be generated by moving the joystick  32  (see  FIG. 1 ). The commands are preferably assembled into packets in accordance with TCP/IP protocol. Table III provides a list of control commands that are generated at the remote station and transmitted to the robot through the network. 
     
       
         
           
               
             
               
                 TABLE III 
               
             
            
               
                   
               
               
                 Control Commands 
               
            
           
           
               
               
               
            
               
                 Command 
                 Example 
                 Description 
               
               
                   
               
               
                 drive 
                 drive 10.0 0.0 5.0 
                 The drive command directs the robot to move 
               
               
                   
                   
                 at the specified velocity (in cm/sec) in the 
               
               
                   
                   
                 (x, y) plane, and turn its facing at the 
               
               
                   
                   
                 specified rate (degrees/sec). 
               
               
                 goodbye 
                 goodbye 
                 The goodbye command terminates a user 
               
               
                   
                   
                 session and relinquishes control of the 
               
               
                   
                   
                 robot 
               
               
                 gotoHomePosition 
                 gotoHomePosition 1 
                 The gotoHomePosition command moves the head 
               
               
                   
                   
                 to a fixed “home” position (pan and tilt), 
               
               
                   
                   
                 and restores zoom to default value. The 
               
               
                   
                   
                 index value can be 0, 1, or 2. The exact 
               
               
                   
                   
                 pan/tilt values for each index are specified 
               
               
                   
                   
                 in robot configuration files. 
               
               
                 head 
                 head vel pan 5.0 tilt 
                 The head command controls the head motion. 
               
               
                   
                 10.0 
                 It can send commands in two modes, 
               
               
                   
                   
                 identified by keyword: either positional 
               
               
                   
                   
                 (“pos”) or velocity (“vol”). In velocity 
               
               
                   
                   
                 mode, the pan and tilt values are desired 
               
               
                   
                   
                 velocities of the head on the pan and tilt 
               
               
                   
                   
                 axes, in degree/sec. A single command can 
               
               
                   
                   
                 include just the pan section, or just the 
               
               
                   
                   
                 tilt section, or both. 
               
               
                 keepalive 
                 keepalive 
                 The keepalive command causes no action, but 
               
               
                   
                   
                 keeps the communication (socket) link open 
               
               
                   
                   
                 so that a session can continue. In scripts, 
               
               
                   
                   
                 it can be used to introduce delay time into 
               
               
                   
                   
                 the action. 
               
               
                 odometry 
                 odometry 5 
                 The odometry command enables the flow of 
               
               
                   
                   
                 odometry messages from the robot. The 
               
               
                   
                   
                 argument is the number of times odometry is 
               
               
                   
                   
                 to be reported each second. A value of 0 
               
               
                   
                   
                 turns odometry off. 
               
               
                 reboot 
                 reboot 
                 The reboot command causes the robot computer 
               
               
                   
                   
                 to reboot immediately. The ongoing session 
               
               
                   
                   
                 is immediately broken off. 
               
               
                 restoreHeadPosition 
                 restoreHeadPosition 
                 The restoreHeadPosition functions like the 
               
               
                   
                   
                 gotoHomePosition command, but it homes the 
               
               
                   
                   
                 head to a position previously saved with 
               
               
                   
                   
                 gotoHomePosition. 
               
               
                 saveHeadPosition 
                 saveHeadPosition 
                 The saveHeadPosition command causes the 
               
               
                   
                   
                 robot to save the current head position (pan 
               
               
                   
                   
                 and tilt) in a scratch location in temporary 
               
               
                   
                   
                 storage so that this position can be 
               
               
                   
                   
                 restored. Subsequent calls to 
               
               
                   
                   
                 “restoreHeadPosition” will restore this 
               
               
                   
                   
                 saved position. Each call to 
               
               
                   
                   
                 saveHeadPosition overwrites any previously 
               
               
                   
                   
                 saved position. 
               
               
                 setCameraFocus 
                 setCameraFocus 100.0 
                 The setCameraFocus command controls focus 
               
               
                   
                   
                 for the camera on the robot side. The value 
               
               
                   
                   
                 sent is passed “raw” to the video 
               
               
                   
                   
                 application running on the robot, which 
               
               
                   
                   
                 interprets it according to its own 
               
               
                   
                   
                 specification. 
               
               
                 setCameraZoom 
                 setCameraZoom 100.0 
                 The setCameraZoom command controls zoom for 
               
               
                   
                   
                 the camera on the robot side. The value 
               
               
                   
                   
                 sent is passed “raw” to the video 
               
               
                   
                   
                 application running on the robot, which 
               
               
                   
                   
                 interprets it according to its own 
               
               
                   
                   
                 specification. 
               
               
                 shutdown 
                 Shutdown 
                 The shutdown command shuts down the robot 
               
               
                   
                   
                 and powers down its computer. 
               
               
                 stop 
                 stop 
                 The stop command directs the robot to stop 
               
               
                   
                   
                 moving immediately. It is assumed this will 
               
               
                   
                   
                 be as sudden a stop as the mechanism can 
               
               
                   
                   
                 safely accommodate. 
               
               
                 timing 
                 Timing 3245629 500 
                 The timing message is used to estimate 
               
               
                   
                   
                 message latency. It holds the UCT value 
               
               
                   
                   
                 (seconds + milliseconds) of the time the 
               
               
                   
                   
                 message was sent, as recorded on the sending 
               
               
                   
                   
                 machine. To do a valid test, you must 
               
               
                   
                   
                 compare results in each direction (i.e., 
               
               
                   
                   
                 sending from machine A to machine B, then 
               
               
                   
                   
                 from machine B to machine A) in order to 
               
               
                   
                   
                 account for differences in the clocks 
               
               
                   
                   
                 between the two machines. The robot records 
               
               
                   
                   
                 data internally to estimate average and 
               
               
                   
                   
                 maximum latency over the course of a 
               
               
                   
                   
                 session, which it prints to log files. 
               
               
                 userTask 
                 userTask “Jane Doe” 
                 The userTask command notifies the robot of 
               
               
                   
                 “Remote Visit” 
                 the current user and task. It typically is 
               
               
                   
                   
                 sent once at the start of the session, 
               
               
                   
                   
                 although it can be sent during a session if 
               
               
                   
                   
                 the user and/or task change. The robot uses 
               
               
                   
                   
                 this information for record-keeping. 
               
               
                 print 
                 print -doctor 
                 The print command causes the robot printer 
               
               
                   
                 “&lt;string&gt;” -patient 
                 to print accompanying information. 
               
               
                   
                 “&lt;string&gt;” -order 
               
               
                   
                 “&lt;string&gt;” [-room 
               
               
                   
                 “&lt;string&gt;”] [-id 
               
               
                   
                 “&lt;string&gt;”] 
               
               
                   
               
            
           
         
       
     
     Table IV provides a list of reporting commands that are generated by the robot and transmitted to the remote station through the network. 
     
       
         
           
               
             
               
                 TABLE IV 
               
             
            
               
                   
               
               
                 Reporting Commands 
               
            
           
           
               
               
               
            
               
                 Command 
                 Example 
                 Description 
               
               
                   
               
               
                 abnormalExit 
                 abnormalExit 
                 This message informs the user that the robot 
               
               
                   
                   
                 software has crashed or otherwise exited 
               
               
                   
                   
                 abnormally. Te robot software catches top- 
               
               
                   
                   
                 level exceptions and generates this message 
               
               
                   
                   
                 if any such exceptions occur. 
               
               
                 bodyType 
                 bodyType 3 
                 The bodyType message informs the station 
               
               
                   
                   
                 which type body (using the numbering of the 
               
               
                   
                   
                 mechanical team) the current robot has. 
               
               
                   
                   
                 This allows the robot to be drawn correctly 
               
               
                   
                   
                 in the station user interface, and allows 
               
               
                   
                   
                 for any other necessary body-specific 
               
               
                   
                   
                 adjustments. 
               
               
                 driveEnabled 
                 driveEnabled true 
                 This message is sent at the start of a 
               
               
                   
                   
                 session to indicate whether the drive system 
               
               
                   
                   
                 is operational. 
               
               
                 emergencyShutdown 
                 emergencyShutdown 
                 This message informs the station that the 
               
               
                   
                   
                 robot software has detected a possible 
               
               
                   
                   
                 “runaway” condition (an failure causing the 
               
               
                   
                   
                 robot to move out of control) and is 
               
               
                   
                   
                 shutting the entire system down to prevent 
               
               
                   
                   
                 hazardous motion. 
               
               
                 odometry 
                 odometry 10 20 340 
                 The odometry command reports the current 
               
               
                   
                   
                 (x, y) position (cm) and body orientation 
               
               
                   
                   
                 (degrees) of the robot, in the original 
               
               
                   
                   
                 coordinate space of the robot at the start 
               
               
                   
                   
                 of the session. 
               
               
                 sensorGroup 
                 group_data 
                 Sensors on the robot are arranged into 
               
               
                   
                   
                 groups, each group of a single type (bumps, 
               
               
                   
                   
                 range sensors, charge meter, etc.) The 
               
               
                   
                   
                 sensorGroup message is sent once per group 
               
               
                   
                   
                 at the start of each session. It contains 
               
               
                   
                   
                 the number, type, locations, and any other 
               
               
                   
                   
                 relevant data for the sensors in that group. 
               
               
                   
                   
                 The station assumes nothing about the 
               
               
                   
                   
                 equipment carried on the robot; everything 
               
               
                   
                   
                 it knows about the sensors comes from the 
               
               
                   
                   
                 sensorGroup messages. 
               
               
                 sensorState 
                 groupName state data 
                 The sensorState command reports the current 
               
               
                   
                   
                 state values for a specified group of 
               
               
                   
                   
                 sensor. The syntax and interpretation for 
               
               
                   
                   
                 the state data is specific to each group. 
               
               
                   
                   
                 This message is sent once for each group at 
               
               
                   
                   
                 each sensor evaluation (normally several 
               
               
                   
                   
                 times per second). 
               
               
                 systemError 
                 systemError 
                 This message informs the station user of a 
               
               
                   
                 driveController 
                 failure in one of the robot&#39;s subsystems. 
               
               
                   
                   
                 The error_type argument indicates which 
               
               
                   
                   
                 subsystem failed, including driveController, 
               
               
                   
                   
                 sensorController, headHome. 
               
               
                 systemInfo 
                 systemInfo wireless 45 
                 This message allows regular reporting of 
               
               
                   
                   
                 information that falls outside the sensor 
               
               
                   
                   
                 system such as wireless signal strength. 
               
               
                 text 
                 text “This is some 
                 The text string sends a text string from the 
               
               
                   
                 text” 
                 robot to the station, where the string is 
               
               
                   
                   
                 displayed to the user. This message is used 
               
               
                   
                   
                 mainly for debugging. 
               
               
                 version 
                 version 1.6 
                 This message identifies the software version 
               
               
                   
                   
                 currently running on the robot. It is sent 
               
               
                   
                   
                 once at the start of the session to allow 
               
               
                   
                   
                 the station to do any necessary backward 
               
               
                   
                   
                 compatibility adjustments. 
               
               
                   
               
            
           
         
       
     
     The processor  154  of the robot high level controller  150  may operate a program that determines whether the robot  12  has received a robot control command within a time interval. For example, if the robot  12  does not receive a control command within 2 seconds then the processor  154  provides instructions to the low level controller  150  to stop the robot  12 . Although a software embodiment is described, it is to be understood that the control command monitoring feature could be implemented with hardware, or a combination of hardware and software. The hardware may include a timer that is reset each time a control command is received and generates, or terminates, a command or signal, to stop the robot. 
     The remote station computer  22  may monitor the receipt of video images provided by the robot camera. The computer  22  may generate and transmit a STOP command to the robot if the remote station does not receive or transmit an updated video image within a time interval. The STOP command causes the robot to stop. By way of example, the computer  22  may generate a STOP command if the remote control station does not receive a new video image within 2 seconds. Although a software embodiment is described, it is to be understood that the video image monitoring feature could be implemented with hardware, or a combination of hardware and software. The hardware may include a timer that is reset each time a new video image is received and generates, or terminates, a command or signal, to generate the robot STOP command. 
     The robot may also have internal safety failure features. For example, the robot may monitor communication between the robot controller and the robot servo used to operate the platform motors. The robot monitor may switch a relay to terminate power to the platform motors if the monitor detects a lack of communication between the robot controller and the motor servo. 
     The remote station may also have a safety feature for the input device  32 . For example, if there is no input from the joystick for a certain time interval (e.g. 10 seconds) the computer  22  may not relay subsequent input unless the user presses a button for another time interval (e.g. 2 seconds), which reactivates the input device. 
       FIG. 12  shows another embodiment of the robot as a robot head  350  that can both pivot and spin the camera  38  and the monitor  40 . The robot head  350  is controlled by a user operating a control station. The robot head  350  can be similar to the robot  12  but without the platform  250 . The robot head  350  may have actuators  352  and linkages  354  to pivot the camera  38  and monitor  40  about a pivot axis  4 , and spin the camera  38  and monitor  40  about a spin axis  5 . The pivot axis may intersect the spin axis. Having a robot head  350  that both pivots and spins provides a wide viewing area. 
     The robot head  350  may be in the system either with or instead of the mobile robot  12 . The robot head can be particularly useful for doctor proctoring. The head can be located at a medical facility such as an emergency room or a doctor&#39;s office. A doctor at the remote location can assist in the diagnosis and medical treatment of a patient located at the robot location. The doctor can move the head to view the patient through control commands from the remote control station. Doctor proctoring can also be performed with a mobile robot  12 . 
     The robot head  350  has a printer  356  that can print information on printer paper  358 . The information may be provided by a remote control station connected to the robot head. 
     While certain exemplary embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that this invention not be limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those ordinarily skilled in the art. 
     Although a printer is shown and described, the robot may have other mechanisms, subassemblies, etc. that create a tangible object in response to commands and instructions from the remote station. For example, the robot may include a 3-D rapid prototyping output device. For example, the rapid prototyping device may be a product sold by Desktop Factory of Pasadena, Calif. The remote station may include 3-D modeling software. For example, the remote station may have an Autodesk 3-D modeling software. The user at the remote station can create a 3-D model and then transmit the data to the robot. The data can include a series of software instructions and data, collectively referred to as commands, that can be interpreted to build the model. The robot then processes the data to create a physical model with its rapid prototyping output device.