Patent Description:
Embodiments of the present disclosure generally relate to the delivery and application of medicine. More specifically, aspects of the present disclosure provide a solution for delivering and/or applying medicine to a region of the body (e.g., perianal region) that may difficult for the user to access. More specifically, aspects of the present disclosure provide a method and a wash system with nozzles for washing and applying medication, to a region of a human body (e.g., skin, genital or anal area, intimate parts, perianal region) and cleaning thereof.

Many maladies that are treated today existed in antiquity. Bodily sores, lesions, rashes, hemorrhoids, and the like have a long history whose treatment often included the application of a medicinal substance of one kind or another to the source of irritation. Although medicine has advanced greatly in recent times, existing medicinal delivery methods still usually involve the same principles of application as those used in antiquity; the patient must hold the medicinal applicator by hand, and then contort their body to enable the medicine (be it in the form of aerosol spray, pump mist, cream, etc.) to reach the affected area. This often results in an uncomfortable, imprecise method of delivery when self-administered by the user. Alternatively, having a third-party administer the medicine can be embarrassing. Thus, there is a need to provide a remote-controlled guidance system for delivery of a medicine to a region of a body.

On the other hand, bidets and other modern toilet seat systems have been used to spray water and clean private parts of a user using a toilet. The bidet systems are used for washing the genital and anal areas using cleaning water of appropriate temperature sprayed from the center of the bidet system, instead of a toilet paper after relief stool or urination. Originally being developed for washing the pubic area for females, bidet systems have now been popular among people of all ages and both sexes because it is known to be more hygienic to wash the intimate parts and anus with water instead of paper after relief. In addition, cleansing the pubic/anal regions with water may help to avoid infection and prevent hemorrhoids and other anal disease. Furthermore, it is very effective for women with gynecology diseases. It is also very useful for the elderly or obese people to relieve themselves with great convenience. Thus, it is contemplated to provide a remote-controlled system to be incorporated into a bidet toilet seat system to be used for washing a body part and applying and delivery of a medicine.

Examples of such systems are disclosed in e.g. <CIT>, <CIT>, <CIT>, and <CIT>.

The present invention provides a remote-controlled delivery system according to claim <NUM>.

The present disclosure generally provides a remote-controlled delivery system for delivering and applying medicines to a region of the body that may not otherwise be easily accessible (e.g., to the perianal region). A method of operating the remote-controlled delivery system is also provided. The remote-controlled delivery system is designed to enable the user to administer their medicine at an angle they control, while the user is in a relatively comfortable and efficacious position for the treatment. The system can present a safer, more hygienic, and more effective alternative method to self-administer perianal medicines than any option currently available. To this extent, the system can present a discreet, "hands-free" alternative to the current options, thereby substantially eliminating any discomfort, ineffectiveness, and/or embarrassment a user might otherwise experience.

A first aspect of the disclosure provides a remote-controlled system for the delivery of medicine, comprising: a nozzle delivery assembly having a remote nozzle applicator that delivers the medicine across a space to a localized region of a body of a user; a set of navigation control units that receive a user input; and a dynamic steering motor unit that adjusts at least one of an angle or a location of the medicine delivery apparatus based on the user input.

A second aspect of the disclosure provides a system for delivery of medicine to a perianal region of a user, comprising: a base unit (e.g., a bidet toilet seat washing system, a bidet medicine delivery seat, a toilet seat assembly, a bedpan, a hydraulic chair, a commode, a hospital bed, among others) adapted to receive the perianal region of the user; a nozzle delivery apparatus coupled to the base unit and having one or more remote nozzle applicator that delivers the medicine across a space to a localized region of the perianal region; a set of navigation control units that receive a user input; and a dynamic steering motor unit that adjusts at least one of an angle or a location of the medicine delivery apparatus based on the user input.

In one embodiment of this disclosure, a remote-controlled delivery system is provided and includes a toilet seat assembly, a nozzle delivery assembly inside the housing of the toilet seat assembly, a set of dynamic remote controls that receive a user input; and one or more dynamic steering motor units that adjusts at least one of an angle or a location of the nozzle delivery assembly based on the user input. In another embodiment, the remote-controlled delivery system further includes a medicine delivery assembly. In one aspect, one or more nozzles of the nozzle assembly are adapted to move back and forth, sideway, and/or rotatably in three-dimensional direction.

So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments. The drawings are merely schematic representations, not intended to portray specific parameters of the invention.

The present disclosure generally includes a remote-controlled delivery system for delivering and applying medicines to a region of the body that may not otherwise be easily accessible (e.g., to the perianal region), a method of operating the remote-controlled delivery system. In one embodiment, the remote-controlled delivery system include a removable control unit coupled to a nozzle delivery assembly for the delivery of water and medication, etc., to a surface area of a human subject.

In another embodiment, a remote-controlled delivery system is provided and includes a nozzle delivery assembly, a first motor being connected to the nozzle delivery assembly and capable of directing one or more extending and retracting movements of the nozzle delivery assembly, one or more second motors being connected to the nozzle delivery assembly and capable of directing one or more three-dimensional rotational movements of the nozzle delivery assembly, and one or more dynamic steering remote control units adapted to be communicating with both the first motor and the one or more second motors and directing one or more movements of the first motor and the one or more second motors.

In one embodiment, the nozzle delivery assembly includes a wash nozzle and a medicinal delivery nozzle. In one example, the wash nozzle may include a water jet head. In another example, the medicinal delivery nozzle includes a medicinal liquid inlet being connected to a medicinal storage assembly. In addition, the medicinal storage assembly includes one or more cartridges that store medicines to be applied, and a pressurized pump adapted to pump and deliver the medicines from the one or more cartridges to the medicinal liquid inlet. The medicinal delivery nozzle may further include a medicinal atomizer head adapted to modify a medicine to achieve a consistency that can be applied over a distance and deliver a stream of the medicine to an user. In one aspect, the medicinal delivery nozzle is adapted to deliver one or more medicines across a space to a localized region of a body of an user. One example of the localized region is a perianal region of the body of the user.

In another embodiment, the remote-controlled delivery system provided herein include one or more dynamic steering remote control units that receive a user input to direct the one or more movements of a first motor and one or more second motors and adjust at least one of an angle or a location of the delivery nozzle assembly based on the user input. In still another embodiment, the remote-controlled delivery system further includes a base unit coupled to the nozzle delivery assembly and adapted to receive a perianal region of an user. Examples of the base unit include, but are not limiting to, a bidet toilet seat washing system, a bidet medicine delivery seat, a toilet seat assembly, a bedpan, a hydraulic chair, a commode, a hospital bed, among others. In one example, the base unit of the remote-controlled delivery system is a toilet seat assembly, which contains a housing and a base seat.

In one aspect, the nozzle delivery assembly is positioned inside the housing of the toilet seat assembly. In another aspect, one or more nozzles of the nozzle delivery assembly of the remote-controlled delivery system are controlled by one or more dynamic steering remote control units and adapted to be moving in and out of the housing of the toilet seat assembly.

Additional embodiments of the disclosure provide one or more methods of operating and/or using a remote-controlled delivery system. The method includes controlling one or more movements of a nozzle delivery assembly by one or more dynamic steering remote control units. In one aspect, the one or more movements of a nozzle delivery assembly is controlled by one or more dynamic steering remote control units remotely via wireless means or long-wired means.

For example, the one or more dynamic steering remote control units are adapted to direct one or more extending and retracting movements of a nozzle delivery assembly by communicating the one or more dynamic steering remote control units with a first motor connected to the nozzle delivery assembly. In another example, the one or more dynamic steering remote control units are adapted to direct one or more three-dimensional rotational movements of the nozzle delivery assembly by communicating the one or more dynamic steering remote control units with one or more second motors.

In one aspect, the method includes jetting out a liquid solution from a water jet head of a wash nozzle of the nozzle delivery assembly. In another aspect, the method includes delivering one or more medicines from a medicinal storage assembly connected to a medicinal delivery nozzle of the nozzle delivery assembly, and spraying out the one or more medicines from a medicinal atomizer head of the medicinal delivery nozzle.

In still another aspect, the method further includes modifying the one or more medicines by the medicinal atomizer head so as to achieve a consistency that can be applied over a distance and deliver a stream of the one or more medicines to an user. In addition, the method further includes receiving an user input from the nozzle assembly by the one or more dynamic steering remote control units to direct one or more movements of the first motor and the one or more second motors and adjust at least one of an angle or a location of the delivery nozzle assembly based on the user input.

The nozzle assembly of the remote-controlled delivery system is easy-to-handle and easy to apply and spray water, fluids, solutions, suspensions, in combination of one or more medicament to a region (e.g., a skin area, etc.) of a person, and allow for easy operation and easy handling by an user controlling the dynamic remote control units manually. In one embodiment, a remote-controlled delivery system is incorporated into a base unit, such as a wash bidet system and is deigned to easily dispense water, liquid and medication from a wash, clean and dry bidet system to a surface area of a human subject.

<FIG> shows one example of a remote controlled delivery system according to embodiments of the disclosure. In one embodiment, the remote controlled delivery system includes a nozzle delivery assembly <NUM>, a dynamic steering unit <NUM>, and one or more dynamic steering remote control units <NUM>, <NUM>. The dynamic steering unit <NUM> include one or more motors <NUM>, <NUM>, <NUM> that are coupled to function coherently by one or more gears <NUM>.

The dynamic steering remote control units <NUM>, <NUM> are adapted to be communicating with the motors <NUM>, <NUM>, <NUM> and directing one or more movements of the motors <NUM>, <NUM>, <NUM>. The motors <NUM>, <NUM>, <NUM> may be coupled together by the one or more gears <NUM> in order to coordinate and direct the movements of the nozzle delivery assembly <NUM>. In addition, the remote controlled delivery system may further include a medicinal storage assembly <NUM>.

As shown in <FIG>, the nozzle delivery assembly <NUM> includes a wash nozzle device <NUM> and a medicinal delivery nozzle device <NUM>. In one aspect, the wash nozzle device <NUM> includes a water jet head for jetting water or any liquid stored within the wash nozzle device of the nozzle delivery assembly <NUM> to be sprayed out of the remote controlled delivery system. In one embodiment, the medicinal delivery nozzle device <NUM> includes a medicinal liquid inlet <NUM> being connected to the medicinal storage assembly <NUM>.

The dynamic steering unit <NUM> includes a motor <NUM> being connected to the nozzle delivery assembly <NUM> and capable of directing one or more extending and retracting movements of the nozzle delivery assembly <NUM> (also see <FIG>). The dynamic steering unit <NUM> includes one or more motors <NUM>, <NUM> being connected to the nozzle delivery assembly <NUM> and capable of directing one or more three-dimensional rotational movements of the nozzle delivery assembly <NUM>.

In <FIG>, the remote controlled delivery system <NUM> a remote applicator, such as the nozzle delivery assembly <NUM> that is adapted to couple the delivery of water and liquid in conjunction with one ore more medicines, medicate, medicinal, or other therapeutics across a space to a localized region (e.g., perianal region) of the body of a user by being spraying out of one ore more nozzle heads of the nozzle delivery assembly <NUM>. As shown, the nozzle delivery assembly <NUM> includes a water jet head located at the front end of the wash nozzle device <NUM>, a medicinal atomizer head located at the front end of the front tip end of the medicinal delivery device <NUM> near the medicinal liquid inlet <NUM>.

In operation, the water jet head of the wash nozzle device <NUM> sprays out and applies a fluid to a region of the body of the user that is currently being targeted by a remote applicator, i.e., the nozzle delivery assembly <NUM>. In this way, the currently targeted area can be indicated and it can be determined whether the currently target area is a localized region to which one or more medicine are to be applied by the medicinal deliver device <NUM>. In one example, the water jet head of the wash nozzle device <NUM> uses water or a liquid other than the medicine to be used, the water jet head can be used (e.g., by being coupled to a sensor) to indicate whether the target area is the localized region to which the medicine is to be applied without the potential of wasting any medicine being applied on a region other that where it is intended. Further, the liquid applied by water jet head can be used to clean the region of the body (e.g., perianal region) prior to the application of the medicine by the medicinal delivery device <NUM>.

As indicated above, aspects of the present disclosure provide a remote-controlled liquid and medicinal delivery system for delivering and applying water, liquid in combination with one or more medicines to a region of the body that may not otherwise be easily accessible (e.g., to the perianal region). To this extent, the remote controlled delivery system can present a discreet, "hands-free" alternative to the current options, thereby substantially eliminating any discomfort, ineffectiveness, and/or embarrassment a user might otherwise experience.

As indicated, the nozzle delivery system <NUM> also includes a medicinal atomizer head at the tip of the medicinal delivery device <NUM>. The medicinal atomizer head delivers medicines to the target area. Medicines can be in the form of a liquid, a gel, a foam, a paste, or any other form that is now known or later developed that can be taken by a medicine. To this extent, the medicinal atomizer head of the medicinal delivery device <NUM> can modify the consistency of the medicine to achieve a consistency that can be applied over a distance (e.g., across a space). This modification can include, but is not limited to: aeration of a liquid medicine, aquafication of a gel or paste, and/or the like. In any case, the medicinal atomizer head is connected to the medicinal liquid inlet <NUM> for delivering one or more medicines from the medicinal storage assembly <NUM> to the medicinal atomizer head. To this extent, the water and medicinal atomizer can have the same target area on a surface region of a human user subject but function independently in terms of substances to be applied.

<FIG> is a side view of an example of a portion of the remote controlled delivery system according to another embodiment of the present disclosure. As shown in <FIG>, the motors <NUM>, <NUM>, <NUM> may be coupled together in order to coordinate and direct the movements of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> of the nozzle delivery assembly <NUM>. In one example, the motor <NUM> can be adapted to control the movement of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> to be able to move in a direction marked as "IN-OUT" to be extended and retracted in and out of the front end of the nozzle delivery assembly <NUM>. In another example, the motors <NUM>, <NUM> can be adapted to control the movement of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> to be able to move in a direction marked as "UP-DOWN" to be move up and down (e.g., in a Z-direction or a gravitational direction) around the front end of the nozzle delivery assembly <NUM>, particularly when the nozzle heads of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> are being extended.

<FIG> is a perspective view of an example of a portion of the remote controlled medicinal delivery system according to another embodiment of the present disclosure. The motors <NUM>, <NUM>, <NUM> may be coupled together by one or more gears <NUM>, <NUM> in order to coordinate and direct the movements of the nozzle delivery assembly <NUM>. In one example, the motors <NUM>, <NUM>, <NUM> can be adapted to control the movements of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> to be able to move in a direction marked as "LEFT-RIGHT" as well as "C" (e.g., circular, or rotational, in three-dimensional, etc.), particularly after the nozzle heads of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> are extended and retracted out at the front end of the nozzle delivery assembly <NUM>.

Also shown in <FIG>, the dynamic steering unit <NUM> is controlled remotely by the one or more dynamic steering remote control units <NUM>, <NUM> so as to function to direct the mechanical movements of the nozzle delivery assembly <NUM>. The dynamic steering unit <NUM> includes one or more motors <NUM> that can be used to control angles (e.g., extending or retracting, raising up or lowering the angle of delivery respective to the body of the user) for the water and medicinal atomizer nozzle heads of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> systems. Further, one or more motors <NUM> with gears <NUM>, <NUM>, can be used to control the location of the nozzle heads of the nozzle delivery assembly <NUM>. It should be understood that even though the dynamic steering unit <NUM> has been described in terms of motors and/or gears, any solution for altering the location and or angle of an apparatus should be envisioned.

<FIG> illustrate examples of controls units, one or more dynamic steering remote control units <NUM>, <NUM>, <NUM> that can be used for a remote controlled delivery system according to embodiments of the present disclosure. In one embodiment, each of the dynamic steering remote control units <NUM>, <NUM>, <NUM>, may include touch-sensitive panels controlled by an user's fingers. In other embodiments, the one or more dynamic steering remote control units <NUM>, <NUM>, <NUM> may include push buttons, a joystick, a trackball, a slider, a mouse, a wheel and/or any other solution now known or later developed.

In any case, navigation controls, such as the one or more dynamic steering remote control units <NUM>, <NUM>, <NUM> can receive an input from an user of the remote-controlled medicine delivery system and transmits the user input to the dynamic steering unit <NUM>. Such transmission can occur via any wired or wireless solution now known or later developed. The dynamic steering unit <NUM> can receive the user input and adjust the angle and/or location of nozzle heads of the wash nozzle device <NUM> and the medicinal delivery device <NUM>, based on the user input, and/or can begin the delivery of fluid from the water jet head or the medicinal atomizer in response to the user input. To this extent, navigation control commands for the one or more dynamic steering remote control units <NUM>, <NUM>, <NUM> can include controls for adjustment of the angle, adjustment of the locations of nozzles heads of the wash nozzle device <NUM> and the medicine delivery device <NUM> of the nozzle delivery assembly <NUM>, indicating a start and/or stop to delivery of fluid from the water jet head, indicating a start and/or stop to delivery of medicine from the medicinal atomizer, and/or the like.

The one or more dynamic steering remote control units <NUM>, <NUM>, <NUM> may be further coupled to one or more power switches or control units such that various motors and electric circuits contained within the system can be turned on for powering up the system and operating water or liquid washing, and the delivery of one or more medicines, and/or other functions of the remote controlled medicinal delivery system. The control dynamic steering remote control units <NUM>, <NUM>, <NUM> can be positioned, in one example, on the top or the side of the system, and can be easily visible to a user for the user to grasp and manually controlled the system.

In one embodiment, at least one of the dynamic steering remote control units <NUM>, <NUM>, <NUM> is a remote control unit. In addition, one or more power indicators can be positioned on the dynamic steering remote control units <NUM>, <NUM>, <NUM> to indicate turning on of the electric power and proper functioning and control of the remote controlled medicinal delivery system.

In one example, as shown in <FIG>, the dynamic steering remote control unit <NUM> include one or more control buttons <NUM>, <NUM> for controlling various functions of the system. It may also include display screens, sensor screens, as well as touch sensing control pads that may include an user input sensor 408A and a control base 408A. The dynamic steering remote control unit <NUM> may be connected remotely in distance to the nozzle delivery assembly <NUM> and the motors <NUM>, <NUM>, <NUM> of the dynamic steering unit <NUM>.

In <FIG>, the dynamic steering remote control unit <NUM> includes a power indicator, one or more control buttons <NUM> for controlling various functions of the system. The dynamic steering remote control unit <NUM> may additional includes one or more user input sensor 428A and control base 428A can be connected remotely in distance to the nozzle delivery assembly <NUM> and the motors <NUM>, <NUM>, <NUM> of the dynamic steering unit <NUM> by wireless communication, as exemplarily shown in <FIG>.

<FIG> illustrate side views of the dynamic steering remote control units <NUM>, <NUM>, <NUM>, respectively. The dynamic steering remote control units <NUM>, <NUM>, <NUM>, may include base bodies <NUM>, <NUM>, <NUM>, respectively, for storing electric circuits and other necessary electronic parts for the functioning of the dynamic steering remote control units <NUM>, <NUM>, <NUM>. In operation, an user can direct the control of the remote control medicinal delivery system by directly touches one or more control buttons <NUM>, 404A, 404B, 422A, 422B, <NUM>, etc., positioned on top of the base bodies <NUM>, <NUM>, <NUM>. Each button may be adapted to direct to one or more functioning commands (e.g., washing, moving up and down, moving left and right, extending and retracting, medicine delivery, etc.) for the functioning of various parts and components of the remote controlled medicinal delivery system to be carried out by the dynamic steering remote control units <NUM>, <NUM>, <NUM>.

Alternatively, an user can direct the control of the remote control medicinal delivery system by directly touching one or more sensor pads, sensor mouse-like or joystick-like sensor controls. The sensor pads or joystick-like sensor controls may include one or more user control bases 408B, 418B, and 428B, and one or more input sensors 408A, 418A, 428A, etc., positioned on top of the base bodies <NUM>, <NUM>, <NUM>. Each input sensor 408A, 418A, 428A, etc., may be adapted to direct to all of the functioning commands (e.g., washing, moving up and down, moving left and right, extending and retracting, medicine delivery, etc.) for the functioning of various parts and components of the remote controlled medicinal delivery system to be carried out by the dynamic steering remote control units <NUM>, <NUM>, <NUM>.

In one aspect, the remote controlled medicinal delivery system is connected to a power cord via a power connector. The power cord is adapted to be connected to an electric outlet and provides electric power to power up the system. In another aspect, the wash and dry system is connected to a battery power pack in order to conveniently power up the wash and dry system without the need to find an electric outlet.

In operation, once the electric power is turned on and the motors within the system are adapted to deliver all desirable liquids (e.g., water and liquid from a water hose assembly via a water inlet, a medication liquid solution from the medicine storage assembly <NUM>, and combinations thereof) from one or more channels therein to the nozzle delivery assembly.

<FIG> shows a medicinal storage and delivery assembly of the remote controlled medicinal delivery system according to embodiments of the present disclosure. One example of the medicinal storage and delivery assembly is a medicinal storage assembly <NUM> which includes one or more liquid cartridges <NUM> that hold one or more kinds of medicines, a pump <NUM>, that is connected to the liquid cartridge <NUM> via one or more channels <NUM>, <NUM> to be used to pressurize medicines for delivering the medicine from the one or more liquid cartridges <NUM> to the medicinal atomizer nozzle head of the medicinal delivery nozzle <NUM> through the medicinal liquid inlet <NUM>. The pump <NUM> can include any solutions for moving a liquid or other viscous substance that is now known or later developed and can be powered by any power source that is now known or later developed. In general, one or more medicines are stored in the one or more cartridges <NUM> positioned within a medicinal storage housing <NUM>. The medicinal storage housing <NUM> may include a body <NUM> and one or more fasteners <NUM>. The medicinal storage housing <NUM> may be connected to a delivery housing <NUM> for coupling to the pump <NUM> via the channels <NUM>, <NUM>.

<FIG> shows one example of a remote controlled medicinal delivery system in conjunction with a base unit, e.g., a bidet wash seat system, according to embodiments of the present disclosure. One example of a remote controlled medicinal delivery system used in conjunction with a base unit. One example is a wash toilet with a bidet seat device as shown in <FIG> according to embodiments of the present disclosure. In an embodiment, the integrated structure includes a toilet seat assembly <NUM> that contains a seat cover <NUM>, a base housing <NUM>, and a seat body <NUM>.

As shown in <FIG>, the nozzle heads of the wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> (shown fully extended), being stored within the base housing <NUM>, can be seen emerging from a bottom side of the seat body <NUM>. The wash nozzle device <NUM> and the medicinal delivery nozzle device <NUM> of the nozzle delivery assembly <NUM> are sued to deliver a jet of water and a spray of medicine, respectively, to the user.

Although shown in <FIG> as being used in conjunction with a wash toilet seat, it should be understood that the remote control medicinal delivery system as mentioned herein is contemplated to be adapted to a variety of devices intrinsic to Activities of Daily Living (ADL), including, but not limited to, a hydraulic chair, a wash toilet seat, a commode, a specially-modified hospital bed and/or the like. Further, those skilled in the art should appreciate that portable devices such as a bedpan or other portable apparatuses that are now known or later developed are also envisioned. In each case, the result of the incorporation of a remote control medicinal delivery system into those ADL devices is that perianal medicine will now be capable of being administered in a more effective and discreet manner across the whole spectrum of users' postural limitations around which any given ADL device is designed.

Claim 1:
A remote-controlled delivery system, comprising:
a nozzle delivery assembly including a wash nozzle (<NUM>) and a medicinal delivery nozzle (<NUM>);
a first motor (<NUM>) being connected to the nozzle delivery assembly (<NUM>) and capable of directing one or more extending and retracting movements of the nozzle delivery assembly (<NUM>);
one or more second motors (<NUM>, <NUM>) being connected to the nozzle delivery assembly (<NUM>) and capable of directing one or more three-dimensional rotational movements of the nozzle delivery assembly (<NUM>); and
one or more dynamic steering remote control units (<NUM>, <NUM>, <NUM>) adapted to be communicating with both the first motor (<NUM>) and the one or more second motors (<NUM>, <NUM>) and directing one or more movements of the first motor (<NUM>) and the one or more second motors (<NUM>, <NUM>);
wherein the first motor (<NUM>) is configured to move one or both of the wash nozzle (<NUM>) and the medicinal delivery nozzle (<NUM>) between a retracted position and an extended position in response to the one or more dynamic steering remote control units (<NUM>, <NUM>, <NUM>) receiving a user input;
wherein one of the one or more second motors (<NUM>, <NUM>) is configured to rotate one or both of the wash nozzle (<NUM>) and the medicinal delivery nozzle (<NUM>) in response to the one or more dynamic steering remote control units (<NUM>, <NUM>, <NUM>) receiving the user input.