Patent Publication Number: US-11389962-B2

Title: Telepresence robot system that can be accessed by a cellular phone

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of application Ser. No. 12/785,791, filed May 24, 2010, now U.S. Pat. No. 10,343,283. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The subject matter disclosed generally relates to the field of robotics. 
     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. 
     There has been marketed a mobile tele-presence 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 include 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 remote stations of the InTouch systems are either laptop or personal computers. A user may not always have access to a computer. It would thus be desirable to allow access to a videoconferencing robot with other devices. This is particularly true when the user is in the medical field, such as a doctor, and time is of the essence. 
     BRIEF SUMMARY OF THE INVENTION 
     A robot system with a robot that has a camera, a monitor, a microphone and a speaker. The system also includes a cellular phone that can establish communication with the robot microphone and speaker. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration of a robotic system; 
         FIG. 2  is a schematic of an electrical system of a robot; 
         FIG. 3  is side view of the robot; 
         FIG. 4  is a schematic of a robotic system wherein a robot can be coupled to one or more remote stations and/or one or more robots; 
         FIG. 5  is an illustration of a user interface session prompt; 
         FIG. 6  is an illustration of a user interface; 
         FIG. 7  is an illustration of a message popup of the user interface; 
         FIGS. 8A-C  are illustrations of graphical messages; 
         FIG. 9  is an illustration of the user interface shown in  FIG. 6  with a pull-down menu; 
         FIG. 10  is an illustration showing a user interface for an observer remote control station; 
         FIG. 11  is an illustration similar to  FIG. 5  showing microphone volume control features; 
         FIG. 12  is an illustration of a dialog box showing bandwidth requirement of the system during a session; 
         FIG. 13  is a side view of a robot head; 
         FIG. 14  is a front view showing a user interface of a robot head; and, 
         FIG. 15  is a front view of the robot head showing a connectivity prompt; 
         FIG. 16  is an illustration of an alternate embodiment of a tele-presence system; 
         FIG. 17  is an enlarged view of a robot face of the system; 
         FIG. 18  is a rear view of the robot face; 
         FIG. 19  is an illustration showing a phone that can be moved to activate a robot face; 
         FIG. 20  is an illustration of the phone showing a cursor and zoom highlight box. 
     
    
    
     DETAILED DESCRIPTION 
     Disclosed is a robot system with a robot that has a camera, a monitor, a microphone and a speaker. A communication link can be established with the robot through a cellular phone. The link may include an audio only communication. Alternatively, the link may include audio and video communication between the cellular phone and the robot. Because cellular phones typically have a lower resolution than devices such as computer monitors, the phone can transmit its resolution to the robot and cause the robot to transmit captured images at the phone resolution. The user can cause the robot to move through input on the cellular phone. For example, the phone may include an accelerometer that senses movement, and movement commands are then sent to the robot to cause a corresponding robot movement. The phone may have a touch screen that can be manipulated by the user to cause robot movement and/or camera zoom. The robot can also be accessed by different devices such as a laptop or a personal computer. Access by a laptop may include establishing both cellular and LAN links. Data such as video can be transmitted through the cellular link, while audio is sent through the LAN link. 
     Referring to the drawings more particularly by reference numbers,  FIG. 1  shows an embodiment of robot system  10 . The robot system  10  includes a robot  12 , a base station  14  and a plurality of remote control stations  16 . Each 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. 
     Each 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. Each control station  16  is typically located in a place that is remote from the robot  12 . Although only one robot  12  is shown, it is to be understood that the system  10  may have a plurality of robots  12 . In general any number of robots  12  may be controlled by any number of remote stations. 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 . Likewise, one robot may be accessed through another robot. 
     The robot  12  includes a movement platform  34  that is attached to a robot housing  36 . Also attached to the robot housing  36  are a camera  38 , a monitor  40 , a microphone(s)  42  and a speaker  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 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 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. 
     Each 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 system  10  may allow a user to access the robot  12  through a cellular phone  50 . A user can dial a number that is routed to a PBX switch  52 . The PBX switch  52  can route the call to a server  54 . The server  54  may include a database of robots and associated phone numbers and direct the call to the appropriate robot. The server database may include a caller ID field and cause a caller ID message to be sent to the robot. By way of example, the robot monitor may display a caller ID “Dr. Smith is calling”. The caller ID may include a picture of the caller. The communication link between the robot  12  and the PBX  52  may be conducted in accordance with the Session Initiation Protocol (“SIP”). The link may only allow audio communication between the robot  12  and the cellular phone  50 . Alternatively, if phone  50  is a “smart phone” and capable of video input and/or display, the link may allow both video and audio to be transmitted between the phone  50  and robot  12 . 
     The video resolution of the cellular phone  50  is typically lower than the resolution of a computer monitor. The cellular phone  50  may transmit its video resolution to the robot  12 . The robot  12  can compensate by either adjusting the resolution of the camera  38  or varying the resolution of the image after it is captured by the camera  38 . The video transmitted from the robot  12  to the cellular phone  50  has a resolution that is consistent with the phone resolution. 
     The remote control station  16  may be a laptop or personal computer that has a cellular transceiver (not shown). When accessing a robot  12 , the control station  16  may establish both a cellular link and a LAN link. By way of example, the cellular link may be in accordance with 3G protocol and the LAN link may operate under 802.11g. A first type of data may be sent through the cellular link and a second type of data may be transmitted with the LAN link. For example, video may be transmitted with the cellular link and audio may be sent through the LAN link. Some types of data may be sent through both links. For example, a stethoscope (not shown) may be connected to the robot and audio data of a heart beat is sent back to the control station through both the cellular and LAN links. This ensures the most rapid and robust delivery of data, which is particularly important given that delayed stethoscope audio may create false heart anomaly sounds, or mask heart anomalies. The control station can monitor one or more network parameters such as latency, packet loss and/or jitter. Unacceptable parameter values on one link may cause the station  16  to switch certain categories of data to the other link. 
       FIGS. 2 and 3  show an embodiment of the robot  12 . The robot  12  may include a high level control system  60  and a low level control system  62 . The high level control system  60  may include a processor  64  that is connected to a bus  66 . The bus is coupled to the camera  38  by an input/output (I/O) port  68 , and to the monitor  40  by a serial output port  70  and a VGA driver  72 . 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  66  by a digital to analog converter  74 . The microphone  42  is coupled to the bus  66  by an analog to digital converter  76 . The high level controller  60  may also contain random access memory (RAM) device  78 , a non-volatile RAM device  80  and a mass storage device  82  that are all coupled to the bus  72 . The mass storage device  82  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  82  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  84 . By way of example, the transceiver  84  may transmit and receive information in accordance with IEEE 802.11. 
     The controller  64  may operate with a LINUX OS operating system. The controller  64  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 someone at the robot site and vice versa, or allow someone at the robot site to access the Internet. In general the high level controller  60  operates to control the communication between the robot  12  and the remote control station  16 . 
     The high level controller  60  may be linked to the low level controller  62  by serial port  86 . The low level controller  62  runs software routines that mechanically actuate the robot  12 . For example, the low level controller  62  provides instructions to actuate the movement platform to move the robot  12 . The low level controller  62  may receive movement instructions from the high level controller  60 . The movement instructions may be received as movement commands from the remote control station. Although two controllers are shown, it is to be understood that the robot  12  may have one controller controlling the high and low level functions. 
       FIG. 3  shows an embodiment of the robot  12 . The robot  12  may include a holonomic platform  110  that is attached to a robot housing  112 . The holonomic platform  110  provides three degrees of freedom to allow the robot  12  to move in any direction. 
     The robot  12  may have a head  114  that supports the camera  38  and the monitor  40 . The head  114  may have two degrees of freedom (W, X and y) so that the camera  26  and monitor  24  can swivel and pivot as indicated by the arrows. 
     The system may be the same or similar to a robot system provided by the assignee InTouch Technologies, Inc. of Goleta, Calif. under the trademark 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. 
     In operation, the robot  12  may be placed in a home, public or commercial property, 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, property or 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  50 . 
     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. 
     Message packets may be transmitted between a robot  12  and a remote station  16 . The packets provide commands and feedback. Each packet may have multiple fields. By way of example, a packet may include an ID field a forward speed field, an angular speed field, a stop field, a bumper field, a sensor range field, a configuration field, a text field and a debug field. 
     The identification of remote users can be set in an ID field of the information that is transmitted from the remote control station  16  to the robot  12 . For example, a user may enter a user ID into a setup table in the application software run by the remote control station  16 . The user ID is then sent with each message transmitted to the robot. 
     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 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 1 and 2, 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 
                 Local 
                 Not Allowed 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
               
               
                 User 
                   
                   
                 pending user 
                 pending user 
                 pending user 
                 pending user 
               
               
                   
                   
                   
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting user 
               
               
                   
                   
                   
                 that system is in use 
                 that system is in use 
                 that system is in use 
                 that system is in use 
               
               
                   
                   
                   
                 Set timeout 
                 Set timeout = 5 m 
                 Set timeout = 5 m 
                 No timeout 
               
               
                   
                   
                   
                   
                   
                 Call back 
                 Call back 
               
               
                   
                 Caregiver 
                 Warn current user of 
                 Not Allowed 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
               
               
                   
                   
                 pending user. 
                   
                 pending user 
                 pending user 
                 pending user 
               
               
                   
                   
                 Notify requesting user 
                   
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting user 
               
               
                   
                   
                 that system is in use. 
                   
                 that system is in use 
                 that system is in use 
                 that system is in use 
               
               
                   
                   
                 Release control 
                   
                 Set timeout = 5 m 
                 Set timeout = 5 m 
                 No timeout 
               
               
                   
                   
                   
                   
                 Queue or callback 
                   
                 Callback 
               
               
                   
                 Doctor 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
                 Notify requesting user 
                 Warn current user of 
               
               
                   
                   
                 pending user 
                 pending user 
                 pending user 
                 that system is in use 
                 pending user 
               
               
                   
                   
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting user 
                 No timeout 
                 Notify requesting user 
               
               
                   
                   
                 that system is in use 
                 that system is in use 
                 that system is in use 
                 Queue or callback 
                 that system is in use 
               
               
                   
                   
                 Release control 
                 Set timeout = 5 m 
                 No timeout 
                   
                 No timeout 
               
               
                   
                   
                   
                   
                 Callback 
                   
                 Callback 
               
               
                   
                 Family 
                 Warn current user of 
                 Notify requesting user 
                 Warn current user of 
                 Warn current user of 
                 Warn current user of 
               
               
                   
                   
                 pending user 
                 that system is in use 
                 pending user 
                 pending user 
                 pending user 
               
               
                   
                   
                 Notify requesting user 
                 No timeout 
                 Notify requesting user 
                 Notify requesting user 
                 Notify requesting user 
               
               
                   
                   
                 that system is in use 
                 Put in queue or 
                 that system is in use 
                 that system is in use 
                 that system is in use 
               
               
                   
                   
                 Release Control 
                 callback 
                 Set timeout = 1 m 
                 Set timeout = 5 m 
                 No timeout 
               
               
                   
                   
                   
                   
                   
                 Queue or callback 
                 Callback 
               
               
                   
                 Service 
                 Warn current user of 
                 Notify requesting user 
                 Warn current user of 
                 Warn current user of 
                 Not Allowed 
               
               
                   
                   
                 pending user 
                 that system is in use 
                 request 
                 pending user 
               
               
                   
                   
                 Notify requesting user 
                 No timeout 
                 Notify requesting user 
                 Notify requesting user 
               
               
                   
                   
                 that system is in use 
                 Callback 
                 that system is in use 
                 that system is in use 
               
               
                   
                   
                 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. 
       FIG. 4  shows a system with a plurality of remote stations  16 A,  16 B and  16 C, and a cellular phone  50  that can access one or more robots  12 A,  12 B and  12 C through the network  18 . The system also allows one robot to access other robots. The system can be set into an observation mode wherein a master remote station  16 A controls movement of the robot and receives both video and audio information from the robot camera and speaker, respectively. The observer stations  16 B and  16 C and phone  50  may also receive audio and visual information transmitted between the robot  12  and the station  16 A. This mode allows multiple users at stations  16 B and  16 C and phone  50  to observe use of the robot while a teacher or master at station  16 A moves the robot. The session may be initiated in audio-only mode by phone  50 , after which station  16 A with camera, display and joystick may be invited to join, and station  16 A takes master control. 
     During a session the master remote station  16 A can retransmit the audio/visual information received from the robot  12  to the observer stations  16 B and  16 C and phone  50 . This can be done by changing the ID(s) in the ID field of the data packets received from the robot and then retransmitting the packets to the observer stations. Alternatively, the master remote station  16 A can instruct the robot to transmit the audio and visual information to the master  16 A, the observer  16 B and  16 C remote stations and phone  50 . It being understood that each remote station  16 A,  16 B and  16 C, and phone  50 , has a unique network identifier that allows the robot to direct information to each station. The packets may contain a BROADCAST field that contains the station IDs for the remote stations that are to receive packets from the robot. The BROADCAST field may be filled by the master station  16 A. 
     The session mode allows for training through the robot. For example, the master remote station  16 A may be operated by a physician who moves the robot into visual and audio contact with a patient. The observer remote stations  16 B an  16 C and phone  50  may be manned by personnel such as interns that observe and receive instructional training on providing care giving to the patient. Although instruction of medical personnel is described, the system can be used to train any group of users that are remotely located from a training area. For example, the system may be used to train personnel at a department store or allow potential buyers of real estate property to remotely view the property. 
     Another session can occur as follows. The robot  12  may be in the vicinity of a patient. A doctor may not have ready access to a control station but does possess a cellular phone. The doctor calls into the robot to establish audio communication with the patient and any other medical personnel at the robot site. The doctor can then walk to a control station and establish both audio and video communication with the patient through the robot and station. The control station joystick also allows the doctor to control movement of the robot. The server can sense that the same doctor is accessing the robot through the control station and terminate then back to the doctor&#39;s phone. 
     The doctor may seek the input of another doctor such as a cardiologist. The doctor may call or text the cardiologist from the cellular phone. The cardiologist may have a videoconferencing capability. The cardiologist may enter and navigate the system until presented with the display shown in  FIG. 5 . The display provides a list of various robotic teleconferencing sessions  120 . The cardiologist highlights the desired sessions and selects the graphical CONNECT NOW button  122 . The cardiologist is then provided access to video and audio in the session. The cardiologist&#39;s image may be displayed by the robot monitor. 
       FIG. 6  shows a display user interface (“DUI”)  200  displayed at the master control station  16 A. The DUI  200  may include a robot view field  202  that displays a video image captured by the camera of the robot. The DUI  200  may also include a station view field  204  that displays a video image provided by the camera of the master remote station  16 A. The DUI  200  may be part of an application program stored and operated by the computer  22  of the remote station  16 A. 
     The DUI  200  may include a “Connect” button  206  that can be selected to connect the station to a robot. Selection of the Connect button  206  may cause the display of pull-down screens, etc. that allow the user to select a desired robot. System settings and options can be selected through buttons  208  and  210 , respectively. 
     One of the options is to allow for multicasting.  FIG. 7  shows a menu  212  with an “Enable Multicasting” box  214  that can be “checked” to allow for other remote station and/or phone to join a multi-cast session. The other stations/phone may have audio only, video only, or both video and audio communication. 
     A user at an observer station may attempt a connection with the same robot. If a robot is already in use the screen may display a message box  216  as shown in  FIG. 8A . The message box  216  includes an “OK” button  218  that allows the user to request joining the session as an observer. If the user presently connected to the robot has not enabled the multicasting feature then a message  220  may be displayed indicating this fact as shown in  FIG. 8B . If the user selected the OK button  218  then the master user may receive the message  222  shown in  FIG. 8C . The message includes an “Accept” button  224  and a “Deny” button  226  that allows the master user to accept or deny the request to observe the session, respectively. When an observer is accepted the observers may receive the audio/video feeds from by the robot. 
     User&#39;s that are accepted are displayed in an observer view field  228  of the master control station DUI  200  shown in  FIG. 6 . The field  228  can provide video images of the users captured by the cameras of the observer remote control stations. Each video image may also include a caption of the observer&#39;s name. The field includes a scroll down tab  230  that allows the master user to scroll down the video images of the observers. 
     The master user can right click on any observer video image to display the pull down menu  232  shown in  FIG. 9 . The pull down menu  228  allows the master user to select various options for the selected observer. The pull down menu  232  includes an “Allow The Robot To Hear This User” feature  234  that can be selected so that the observer can provide audio to the robot. The system may allow for simultaneous three way audio between the robot, master user and one observer. Both the master and the observer stations include a “Push To Talk” icon  236 . If there is more than one observer then the “Push To Talk” icon  236  is enabled and the observer must continuously select the icon  232  to talk, much like a walkie-talkie button. The space bar may also be pushed after the icon  236  is selected to allow audio communication to the robot. When Push To Talk is selected then an icon  238  can be displayed in the observers video image to indicate which observer is providing audio input to the robot. The master and observer stations may also have a “Local Talk” icon  240 . Selecting the Local Talk icon allows for textual communication between just the remote stations, popping up a text chat dialog box within each interface, which allows the master and observers to exchange text messages. Prior to displaying the text chat dialog box, a popup dialog box (not shown) may be displayed to the user who initiated Local Talk, which would list all current session participants, and allow the user to select only those participants to be part of the Local Talk. There may be a “Limit Voice” box (not shown) that can be selected to limit audio output of participants in the local chat to only those other remote stations participating in the local chat. 
     An “Allow Robot To See This User” feature  242  can be selected so that the observer&#39;s video image is provided to the monitor of the robot instead of the master user&#39;s video image. The observer&#39;s video image may be displayed in the station view field  204  when that observer&#39;s image is provided to the robot. The “Allow This User To See Robot Video”  244  and “Allow This User To Hear Robot Audio” features  246  can be selected so that the observer receives the video and audio feeds from the robot, respectively. 
     The “Head Control” feature  248  allows the selected observer to control the robot head to move the robot camera. The “Driving” feature  250  allows the observer to drive the robot. When the Driving feature is selected robot data such as position sensor data, battery power, etc. are provided to the selected observer&#39;s remote station. The “Camera &amp; Aux Video Control” feature  252  allows the observer to control robot camera functions such as zoom, brightness, etc. The master no longer has the head, driving and camera controls when these features are transferred to an observer. 
     The menu  232  includes a “Telestration” feature  254  that allows an observer to annotate an image provided by to robot. For example, the image can be a document or an X-ray. An observer can annotate the image, for example to circle and area of the X-ray to help communicate with a patient at the robot site. The master or any observer can enable a cursor function by selecting a “Live Cursor” icon  256 . Selecting the icon  256  allows the user to move a cursor  258  that is overlayed on the robot video image. The cursor  258  is provided on the image field  202  for all remote stations in a session. The master and observers can each be designated a different color so that different cursors can be distinguished by the users. The cursor color  260  can be displayed in the video image of the master or the observer. 
     The robot may connected to a medical instrument such as a stethoscope. The “Stethescope” feature  262  of the pull down menu  232  allows the observers to receive instrument input from the stethoscope. The menu  232  may have a “Give This User Master Control” feature  264  that allows the selected observer to become a master user. The master can also disconnect an observer by selecting the “Disconnect This User” feature  266 . 
       FIG. 10  shows a user interface  270  for an observer. The interface does not include robot control functions unless enabled by the master user. The interface  270  is similar to the master DUI  200 , but lacks certain robot controls. 
     Referring again to  FIG. 6 , both the robot view field  202  and the station view field  204  may have associated graphics to vary the video and audio displays. For example, each field may have graphical slide bars  280  and  282  to vary the zoom and brightness of the cameras, respectively. A still picture may be taken at either the robot or remote station by selecting one of the graphical camera icons  284 . The still picture may be the image presented at the corresponding field  202  or  204  at the time the camera icon  284  is selected. Capturing and playing back video can be taken through graphical icons  286 . A return to real time video can be resumed, after the taking of a still picture, captured video, or reviewing a slide show, by selecting a graphical LIVE button  288 . 
     The local controls can include slide bars for the local station speaker  290  and microphone  292 . Also displayed is a microphone meter icon  294  that varies with the volume of the user&#39;s voice. The robot volume may be different from the user&#39;s input volume. The remote controls also includes a microphone meter icon  296  that represents the user&#39;s audio volume at the robot. The robot may have a local volume control so that user&#39;s at the robot site can vary the robot speaker volume. Normally the meter icons  294  and  296  will represent essentially the same value. The robot volume may be different from the user&#39;s input volume, for example, if the robot local volume control is adjusted the at the robot site. As shown in  FIG. 11 , if this occurs the volume slide bar  292  may be enabled to allow the user to vary the microphone. The DUI may also display a “Reset” button  298  that can be selected to automatically reset the robot speaker volume to a center position. 
     Referring to  FIG. 6 , the robot view field  202  may include a “Video Mute To Robot” feature  300  which when selected prevents audio and video transmission to the robot from all remote stations. Field  202  may also have a “Master/Robot Privacy” feature  302  that can prevent the observer stations from receiving robot video and audio from both the robot and the master control station. 
     The master user can also be allowed to control the bandwidth of the system by controlling the video feeds to the observer stations.  FIG. 12  shows a dialog box  310  that displays the bandwidth usage of various participants in a session, along with network health parameters such as packet losses and jitter between participants. “Drop Vid” buttons  312  may be placed next to observer stations so that the master user can drop a particular observer&#39;s video. 
       FIG. 13  shows a non-mobile robot head  320  that can both pivot and spin the camera  38  and the monitor  40 . The robot head  320  can be similar to the robot  12  but without the platform  110 . The robot head  320  may have the same mechanisms and parts to both 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  320  that both pivots and spins provides a wide viewing area. The robot head  320  may be in the system either with or instead of the mobile robot  12 . 
       FIG. 14  shows a robot head  400  that has a user interface  402 . The robot head  400  may be part of a robot with a mobile platform as shown in  FIGS. 1 and 3 , the head shown in  FIG. 13 , or some other robotic system. For example, the head  400  may be attached to a boom. The user interface  402  allows an operator at the robot site to initiate and control access to the head  400 . The interface  402  may include a “Connect” button  404  and a “Disconnect” button  406 , that allow a user to initiate and terminate access to the head  400 , respectively. Menu buttons  408  may be located below the buttons  404  and  406 . 
     The interface  402  may display a list of remote stations (Available Doctors)  410  and a list of robots (Available Robots)  412 . The user can create a link with one or more remote station by manipulating the Menu buttons  408  and selecting a highlighted station  414 . More than one remote station can be selected to create a multi-casting session. The user can create access to other robots by manipulating the Menu buttons  408  and selecting a highlighted robot. A multi-casting session may also be created with multiple robots by selecting multiple robots. By way of example, a doctor at the robot site may provide access to another doctor at another remote station. The doctor may also obtain access to another robot located at another hospital location. The interface  402  allows a user at the robot site to initiate a teleconferencing sessions. The head  400  includes a camera(s)  416 , microphone  418 , speakers  420  and monitor  422  to allow for two-way teleconferencing with one or more remote stations and/or on or more other robots. The head may also have a laser pointer  424  that emits a laser (not shown). 
       FIG. 15  shows the robot head  400  displaying a connectivity prompt  430 . The prompt  430  may include a message  432  such as “DR. SMITH IS REQUESTING ACCESS. ACCEPT?” and YES  434  and NO  436  graphical buttons. The user of a remote station may select a graphical icon (not shown) that causes the connectivity prompt  430  to appear. Access to the head  400  is not granted until a user at the robot site selects the YES button  434  through the Menu buttons  408 . Granting access may then allow the video and audio provided by the head to be transmitted to the remote station. Alternatively, audio may be provided when the prompt  430  is generated but before access is granted. Granting access then provides the remote station with the video feed from the head  400 . 
     The head  400  may have a laser pointer  440  that can be used to point at objects, etc. The head  400  may include a Laser Enable button  438  that allows the user at the robot site to turn the laser pointer  424  on and off. The user at the robot site may disable the laser pointer, if for example, the laser creates a safety issue. 
     The system may have numerous applications. For example, a physician intensivist may initiate a remote presence session with a robot in order to diagnose a patient in an Emergency Room. Upon examining the patient, the physician may realize that the patient assessment will require consultation by a neurology specialist. The intensivist calls the neurologist by phone, asking him to join the session. Upon receiving the telephone request, the neurologist opens his laptop, selects the robot in question from the robot list in the interface, and clicks “Connect”. Seeing the message in  FIG. 8A , he clicks “OK” and then sees the message in  FIG. 8B . The intensivist meanwhile sees the message in  FIG. 8C  and clicks “Accept”. At this point the neurologist receives the robot video and can hear both the robot-side audio and the intensivist. 
     The intensivist uses the Live Cursor to point to the patient&#39;s face and EEG data on a wall. The neurologist obtains background information that can be provided by a nurse standing next to the patient and in front of the robot, as well as ICU-specific information provided by the intensivist on the master control station. Then, the neurologist can provide an audio assessment of the patient&#39;s condition. The intensivist then right-clicks on the thumbnail image of the neurologist in field  288 , and clicks the appropriate features in the pull-down menu to allow the neurologist to be seen and heard on the robot. The neurologist can then inform both the patient and family of the condition. 
     In another application, a surgeon may be logged onto a robot and performing rounds in patient rooms within a hospital. Residents from hospitals in other cities join the session in the manner described above. The surgeon describes what he is doing to the residents, who may ask questions, and thereby learn the best way to round patients. 
     In another application, a hospital CEO may connect to the robot, and telephones three prospective doctors whom the hospital is courting to join the staff. These doctors each join the session as discussed above. The CEO then uses the joystick to drive the robot through the hospital, performing a virtual tour, and discusses the facility with the observer physicians. 
     In yet another application, a sales VP of an MRI manufacturing company may connect to a robot in the laboratory wing of a hospital, and then phones the COO of a different hospital to join the session. Upon joining, the sales VP drives the robot into the MRI lab and drives around the MRI machine, describing its features. An on-site MRI technician operates certain controls on the direction of the sales VP. The sales VP explains to the COO the various benefits of purchasing the MRI machine. 
       FIGS. 16, 17 and 18  show another embodiment of a tele-presence system  500 . The system  500  includes a robot face  400  attached to a boom  502 . The boom  502  may extend from the ceiling  504  of a medical facility. The boom  12  may include articulate joints  506  and  508  that provide at least two degrees of freedom and allow a user to move the robot face  400  relative to a medical table  510  such as an operating room (“OR”) table. 
     The boom  502  may have additional joints  512  and  514  that allow the robot face  400  to be panned and tilted, respectively. The joints  512  and  514  may contain actuators  516  and  518 , respectively, that can be remotely actuated. 
     As shown in  FIG. 19  the cellular phone  50  may include an accelerometer  520  that can sense motion of the phone. The phone may transmit movement commands to the robot that are a function of the sensed movement of the cellular phone  50 . For example, the user can move the phone about a Tilt Axis that will cause a corresponding tilt movement of the robot head. Likewise, the user may move the phone about a Spin Axis that induces a corresponding pan movement of the head. When the controlled robot is connected to an overhead boom, this control may allow the user looking down at phone  50  to control the robot head as if they were looking down from the ceiling above the robot head. 
     The phone  50  may include a touch screen  522  that causes robot movement that corresponds to the movement of a user&#39;s fingers. For example as shown in  FIG. 20 , the phone may display a cursor  524  that can be moved by having the user drag their fingers across the screen. Movement of the cursor  524  causes a corresponding movement of the robot and/or robot head. The user may use two fingers to rotate about the cursor to cause pan and tilt movement at the robot head. Touching a corner of an image may cause the presentation of a highlighted box  526 . The highlighted box can be manipulated to cause the robot camera to zoom in or zoom out while simultaneously, in case of zooming in, pan and tilt the robot head to point in the direction of the center of the zoom. For example, the user can place two fingers on the box and either move their fingers apart to zoom in, or move the fingers together to zoom out. 
     The system  10  allows a system user such as a surgical specialist to view a patient on the table  40  and provide remote medical consultation through the remote station  16  and the robot face  14 . Personnel at the surgical site can transmit questions and responses through the system back to the system operator. The robot camera  50  allows the specialist to view the patient and enhance the medical consultation. The robot monitor  52  can display the specialist to provide a feeling of presence at the surgical site. The boom  12  allows the personnel to move the robot face  14  into and out of the surgical area. 
     The robot face  14  can be retrofitted onto booms that presently exist in medical facilities. For example, some present medical facilities include a monitor attached to a boom. The existing monitor can be replaced with the robot face  14  that is then coupled to the remote station  16 . 
     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.