US20090105882A1 - Medical Tele-Robotic System - Google Patents

Abstract

A robotic system that includes a remote controlled robot. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform allows the robot to move about a home or facility to locate and/or follow a patient.

Description

BACKGROUND OF THE INVENTION
• 1. Field of the Invention
• The subject matter disclosed generally relates to the field of robotics used in the medical field.
• 2. Background Information
• There is a growing need to provide remote health care to patients that have a variety of ailments ranging from Alzheimers to stress disorders. To minimize costs it is desirable to provide home care for such patients. Home care typically requires a periodic visit by a health care provider such as a nurse or some type of assistant. Due to financial and/or staffing issues the health care provider may not be there when the patient needs some type of assistance. Additionally, existing staff must be continuously trained, which can create a burden on training personnel. It would be desirable to provide a system that would allow a health care provider to remotely care for a patient without being physically present.
• 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. There have also been developed “toy” robots for home use. Such robots typically have a relatively simple movement platform and some type of speech synthesis for generating words and sounds. It would be desirable to provide a robotic system that would allow for remote patient monitoring and assistance.
BRIEF SUMMARY OF THE INVENTION
• A robot that may include a camera and a monitor that are attached to a housing. The robot may also have a platform that is attached to the housing and coupled to a controller. The controller may be coupled to a broadband interface.
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 a further schematic of the electrical system of the robot;
• FIG. 4 is an illustration of a robot with an arm in an upward position;
• FIG. 5 is an illustration of the robot with the arm in a lower position;
• FIG. 6 is an illustration of a holonomic platform of the robot;
• FIG. 7 is an illustration of a roller assembly of the holonomic platform;
• FIG. 8 is an illustration of an arm assembly of the robot;
• FIG. 9 is an illustration of a gripper assembly of the arm;
• FIG. 10 is a schematic of a battery recharger for the robot;
• FIG. 11 is a vector diagram that may be used to compute movement of the robot.
DETAILED DESCRIPTION
• Disclosed is a robotic system that includes a remote controlled robot. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform allows the robot to move about a home or facility to locate and/or follow a patient.
• Referring to the drawings more particularly by reference numbers,FIG. 1 shows arobotic system10. Therobotic system10 includes arobot12, abase station14 and aremote control station16. Theremote control station16 may be coupled to thebase station14 through anetwork18. By way of example, thenetwork18 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. Thebase station14 may be coupled to thenetwork18 by amodem20 or other broadband network interface device.
• Theremote control station16 may include acomputer22 that has a monitor .24, acamera26, amicrophone28 and aspeaker30. Thecomputer22 may also contain aninput device32 such as a joystick or a mouse. Thecontrol station16 is typically located in a place that is remote from therobot12. Although only oneremote control station16 is shown, thesystem10 may include a plurality of remote stations. Additionally, although only onerobot12 is shown, it is to be understood that thesystem10 may have a plurality ofrobots12. In general any number ofrobots12 may be controlled by any number of remote stations. For example, oneremote station16 may be coupled to a plurality ofrobots12, or onerobot12 may be coupled to a plurality ofremote stations16.
• Therobot12 includes amovement platform34 that is attached to arobot housing36. Also-attached to therobot housing36 are acamera38, amonitor40, a microphone(s)42 and aspeaker44. Themicrophone42 andspeaker30 may create a stereophonic sound. Therobot12 may also have anantennae44 that is wirelessly coupled to anantennae46 of thebase station14. Thesystem10 allows a user at theremote control station16 to move therobot12 through theinput device32. Therobot camera38 is coupled to theremote monitor24 so that a user at theremote station16 can view a patient. Likewise, therobot monitor40 is coupled to theremote camera26 so that the patient can view the user. Themicrophones28 and42, andspeakers30 and44, allow for audible communication between the patient and the user.
• Theremote station computer22 may operate Microsoft OS software and WINDOWS XP or other operating systems such as LINUX. Theremote computer22 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.
• FIGS. 2 and 3 show an embodiment of therobot12. Therobot12 may include a highlevel control system50 and a lowlevel control system52. The highlevel control system50 may include aprocessor54 that is connected to abus56. The bus is coupled to thecamera38 by an input/output (I/O)port58, and to themonitor40 by aserial output port60 and aVGA driver62. Themonitor40 may include a touchscreen function that allows the patient to enter input by touching the monitor screen.
• Thespeaker44 is coupled to thebus56 by a digital toanalog converter64. Themicrophone42 is coupled to thebus56 by an analog todigital converter66. Thehigh level controller50 may also contain random access memory (RAM)device68, anon-volatile RAM device70 and amass storage device72 that are all coupled to thebus62. Themass storage device72 may contain medical files of the patient that can be accessed by the user at theremote control station16. For example, themass storage device72 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 themonitor24 with a present video image of the patient provided by thecamera38. Therobot antennae44 may be coupled to awireless transceiver74. By way of example, thetransceiver74 may transmit and receive information in accordance with IEEE 802.11a.
• Thecontroller54 may operate with a LINUX OS operating system. Thecontroller54 may also operate X WINDOWS along with video, camera and audio drivers for communication with theremote control station16. 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 thehigh level controller50 operates to control the communication between therobot12 and theremote control station16.
• Thehigh level controller50 may be linked to thelow level controller52 byserial ports76 and78. Thelow level controller52 includes aprocessor80 that is coupled to aRAM device82 andnon-volatile RAM device84 by abus86. Therobot12 contains a plurality ofmotors88 andmotor encoders90. Theencoders90 provide feedback information regarding the output of themotors88. Themotors88 can be coupled to thebus86 by a digital toanalog converter92 and adriver amplifier94. Theencoders90 can be coupled to thebus86 by adecoder96. Therobot12 also has a number of proximity sensors98 (see alsoFIG. 1). Theposition sensors98 can be coupled to thebus86 by asignal conditioning circuit100 and an analog todigital converter102.
• Thelow level controller52 runs software routines that mechanically actuate therobot12. For example, thelow level controller52 provides instructions to actuate the movement platform to move therobot12, or to actuate an arm of the robot. Thelow level controller52 may receive movement instructions from thehigh level controller50. 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 therobot12 may have one controller controlling the high and low level functions.
• The various electrical devices of therobot12 may be powered by a battery(ies)104. Thebattery104 may be recharged by a battery recharger station106 (see alsoFIG. 1). Thelow level controller52 may include abattery control circuit108 that senses the power level of thebattery104. Thelow level controller52 can sense when the power falls below a threshold and then send a message to thehigh level controller50. Thehigh level controller50 may include a power management software routine that causes therobot12 to move so that thebattery104 is coupled to therecharger106 when the battery power falls below a threshold value. Alternatively, the user can direct therobot12 to thebattery recharger106. Additionally, the battery may be replaced or therobot12 may be coupled to a wall power outlet by an electrical cord (not shown).
• FIG. 4 shows an embodiment of therobot12. Therobot12 may include aholonomic platform110 that is attached to arobot housing112. Theholonomic platform110 allows therobot12 to move in any direction. Although not shown therobot housing112 may include bumpers.
• Therobot12 may have anarm114 that supports thecamera38 and monitor40. Thearm114 may have two degrees of freedom so that thecamera26 and monitor24 can be moved from an upper position shown inFIG. 4 to a lower position shown inFIG. 5. Thearm114 may have anend effector116 such as a gripper that can grasp objects.
• Therobot12 may include adrawer118 that can automatically move between a closed position and an open position. Thedrawer118 can be used to dispense drugs to a patient. For example, thedrawer118 may include a drug(s) that must be taken at a certain time. Therobot12 may be programmed so that thedrawer118 is opened at the desired time. A nurse or other health care provider may periodically “load” thedrawer118. The robot may also have abattery recharger port119. Although drugs are described, it is to be understood that thedrawer118 could hold any item.
• As shown inFIG. 6 theholonomic platform110 may include threeroller assemblies120 that are mounted to abase plate122. Theroller assemblies120 are typically equally spaced about theplatform110 and allow for movement in any direction.
• FIG. 7 shows an embodiment of aroller assembly120. Eachassembly120 may include adrive ball124 that is driven by a pair oftransmission rollers126. Theassembly120 includes aretainer ring128 and a plurality ofbushings130 that allow theball124 to rotate in an x and y direction but prevents movement in a z direction.
• Thetransmission rollers126 are coupled to amotor assembly132. Theassembly132 corresponds to themotor88 shown inFIG. 3. Themotor assembly132 includes anoutput pulley134 attached to amotor136. Theoutput pulley134 is coupled to a pair of ball pulleys138 by adrive belt140. The ball pulleys138 are attached to drivepins142 that are attached to atransmission bracket144. Thetransmission rollers126 are attached toa-transmission bracket144 by aroller pin146. Thetransmission brackets144 each have apin143 that is supported by a part of the housing.
• Rotation of theoutput pulley134 rotates the ball pulleys138. Rotation of the ball pulleys138 causes thetransmission rollers126 to rotate and spin theball124 through frictional forces. Spinning theball124 will move therobot12. Thedrive balls126 are out of phase so that one of theballs126 is always in contact withball124. Theroller pin146 andbracket144 allow thetransmission rollers126 to freely spin and allow orthoganal directional passive movement when one of theother roller assemblies120 is driving and moving therobot12.
• FIGS. 8 and 9 show an embodiment of thearm114. Thearm114 may include afirst linkage150 that is pivotally mounted to a fixedplate152 of therobot housing12. Thearm114 may also include asecond linkage154 that is pivotally connected to thefirst linkage150 and athird linkage156 that is pivotally connected to thesecond linkage154.
• Thefirst linkage150 may be coupled to afirst motor158 andmotor encoder160 by agear assembly162. Rotation of themotor158 will cause a corresponding pivotal movement of thelinkage150 andarm114. Thelinkage150 may be coupled to the fixedplate152 by abearing164.
• Thesecond linkage154 may be coupled to asecond motor166 andencoder168 by agear assembly170 and apulley assembly172. Thepulley assembly172 may be connected to thegear assembly170 by apin174 that extends through thegear assembly162 of thefirst motor158. Thesecond linkage154 may be attached to apin176 that can spin relative to thefirst linkage150. Thepulley assembly172 may have abelt178 that couples a pair ofpulleys180 and182 that are attached topins174 and176, respectively.Pin176 may be coupled to thefirst linkage150 bybearings182. Thearm114 is configured to allowwires183 to be internally routed through thelinkages150,154 and156.
• Thethird linkage156 may be connected to apin184 that can spin relative to thesecond linkage154. Thepin184 may be coupled to thesecond linkage154 by a bearingassembly186. Thethird linkage156 may be structurally coupled to thefirst linkage150 by a pair ofpulley assemblies188. Thepulley assembly188 insures a horizontal position of thethird linkage156 no matter what position the first150 and second154 linkages are in. As shown inFIGS. 4 and 5 thethird linkage156 is always in a horizontal position. This insures that thecamera26 is always in the same orientation, thus reducing the possibility of disorientation at the remote control station when viewing the patient.
• Thegripper116 is attached to thethird linkage156. Thegripper116 may include a pair offingers190 that are pivotally attached to abase plate192. Thefingers190 are coupled to amotor194 andencoder196 by agear assembly198. Thebase plate192 is coupled to thethird linkage156 by a bearingassembly200. Themotor194 can spin thebase plate192 andfingers192 relative to thethird linkage156.
• Thegripper116 may further have apush rod202 that can engagecam surfaces204 of thefingers190 to move thegripper fingers190 between open and closed positions. Thepush rod202 may be coupled to amotor206 and encoder (not shown) by alinkage assembly208. Actuation of themotor206 will translate thepush rod202 and move thefingers190. Themotor206 may have a force sensor that provides force feedback back to the remote control station. The input device of the remote control station may have a force feedback mechanism so that the user feels the force being exerted onto thegripper fingers190.
• In operation, therobot12 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, therobot12 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 station allow for teleconferencing between the patient and the person at the remote station.
• Therobot12 can be maneuvered through the home or facility by manipulating theinput device32 at theremote station16. Therobot12 may also have autonomous movement. For example, therobot12 may be programmed to automatically move to a patients room at a certain time to dispense drugs in thedrawer118 without input from theremote station16. Therobot12 can be programmed to monitor and/or assist a patient 24 hours a day, 7 days a week. Such a monitoring capability is enhanced by the autonomous recharging function of the robot.
• Therobot10 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 therobot12. For example, the arbitration technique may be embedded into the operating system of the high-level controller50.
• 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 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 arobot12 and aremote station16. 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 theremote control station16 to therobot12. For example, a user may enter a user ID into a setup table in the application software run by theremote control station16. The user ID is then sent with each message transmitted to the robot.
• Therobot12 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 teleconference 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	Warn current user	Warn current user	Warn current user
  User			of pending user	of pending user	of pending user	of pending user
  			Notify requesting	Notify requesting	Notify requesting	Notify requesting
  			user that system	user that system	user that system	user that system
  			is in use	is in use	is in use	is in use
  			Set timeout	Set timeout = 5 m	Set timeout = 5 m	No timeout
  					Call back	Call back
  	Caregiver	Warn current user	Not Allowed	Warn current user	Warn current user	Warn current user
  		of pending user.		of pending user	of pending user	of pending user
  		Notify requesting		Notify requesting	Notify requesting	Notify requesting
  		user that system		user that system	user that system	user that system
  		is in use.		is in use	is in use	is in use
  		Release control		Set timeout = 5 m	Set timeout = 5 m	No timeout
  				Queue or callback		Callback
  	Doctor	Warn current user	Warn current user	Warn current user	Notify requesting	Warn current user
  		of pending user	of pending user	of pending user	user that system	of pending user
  		Notify requesting	Notify requesting	Notify requesting	is in use	Notify requesting
  		user that system	user that system	user that system	No timeout	user that system
  		is in use	is in use	is in use	Queue or callback	is in use
  		Release control	Set timeout = 5 m	No timeout		No timeout
  				Callback		Callback
  	Family	Warn current user	Notify requesting	Warn current user	Warn current user	Warn current user
  		of pending user	user that system	of pending user	of pending user	of pending user
  		Notify requesting	is in use	Notify requesting	Notify requesting	Notify requesting
  		user that system	No timeout	user that system	user that system	user that system
  		is in use	Put in queue or	is in use	is in use	is in use
  		Release Control	callback	Set timeout = 1 m	Set timeout = 5 m	No timeout
  					Queue or callback	Callback
  	Service	Warn current user	Notify requesting	Warn current user	Warn current user	Not Allowed
  		of pending user	user that system	of request	of pending user
  		Notify requesting	is in use	Notify requesting	Notify requesting
  		user that system	No timeout	user that system	user that system
  		is in use	Callback	is in use	is in use
  		No timeout		No timeout	No timeout
  				Callback	Queue or callback

• The information transmitted between thestation16 and therobot12 may be encrypted. Additionally, the user may have to enter a password to enter thesystem10. A selected robot is then given an electronic key by thestation16. Therobot12 validates the key and returns another key to thestation16. The keys are used to encrypt information transmitted in the session.
• FIG. 10 shows an embodiment of a battery recharger. Therobot port119 may include a secondary winding250 that is magnetically coupled to a primary winding252 of thebattery recharger station106. The primary winding252 is coupled to anelectrical outlet plug254 by arelay circuit256, afuse258 and aswitch260. Therelay256 is controlled by arecharger controller262.
• Therecharger controller262 is connected to a recharger infrared (IR)transceiver264. Therecharger IR transceiver264 is coupled to arobot IR transceiver266. Therobot IR transceiver266 is connected to thelow level controller52. Therobot10 may also have analignment sensor268 that can sense atarget270 on thestation106. By way of example, thesensor268 may include an optical emitter and receiver that detects a light beam reflected from thetarget270. Thecontroller52 may also sense a current flow into thebattery104 to determine whether therobot12 is aligned with thedocking station106.
• Thesecondary windings250 are connected to thebattery104 by acharger circuit272. The secondary250 and primary252 windings may each havewires274 wrapped about amagnetic core276. Thestation106 may also have an oscillator/chopper circuit (not shown) to increase the voltage magnetically transferred to the secondary winding250.
• In operation, therobot10 is moved to thebattery recharger station106 either autonomously, or by user control. Therobot10 is moved until thesensor268 is aligned with thetarget270. Thelow level controller52 then sends a command to therecharger controller262 through thetransceivers264 and266. Therecharger controller262 then closes therelay256 wherein power is transferred to thebattery104 through thewindings250 and252. When thebattery104 is recharged, or the battery recharging process is interrupted by the user, thelow level controller52 transmits a command to therecharger controller262 to open therelay256. Therobot10 then moves away from the rechargingstation106.
• FIG. 11 shows a vector diagram that can be used to compute movement of the robot with the following equations:
• $\begin{array}{cc}{\mathrm{<figure-callout\; label="w"\; filenames="US20090105882A1-20090423-D00004.png,US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">w</figure-callout>}}_1=\frac{V}{{\mathrm{<figure-callout\; label="R"\; filenames="US20090105882A1-20090423-D00004.png,US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">R</figure-callout>}}_1}\left(\mathrm{Sin}{\propto }_1\mathrm{Sin}\theta -\mathrm{Cos}{\propto }_1\mathrm{Cos}\theta \right)+\frac{\Psi L_1}{R_1}& \left(1\right)\\ {\mathrm{<figure-callout\; label="w"\; filenames="US20090105882A1-20090423-D00009.png,US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">w</figure-callout>}}_2=\frac{V}{{\mathrm{<figure-callout\; label="R"\; filenames="US20090105882A1-20090423-D00009.png,US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">R</figure-callout>}}_2}\mathrm{Sin}\theta +\frac{\Psi L_2}{R_2}& \left(2\right)\\ {\mathrm{<figure-callout\; label="w"\; filenames="US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">w</figure-callout>}}_3=\frac{V}{{\mathrm{<figure-callout\; label="R"\; filenames="US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">R</figure-callout>}}_3}\left(\mathrm{Sin}{\propto }_3\mathrm{Sin}\theta +\mathrm{Cos}{\propto }_3\mathrm{Cos}\theta \right)+\frac{\Psi L_3}{R_3}& \left(3\right)\end{array}$
• where,
• w₁=is the drive angular velocity of afirst ball124.
• w₂=is the drive angular velocity of asecond ball124.
• w₃=is the drive angular velocity of athird ball124.
• V=is the input linear velocity for the robot. V has components V_xand V_y, where; V_x=|V| cos θ and V_y=|V| sin θ.
• ψ=is the input angular velocity for the robot.
• 
  Let the angular velocity vectorw=[w₁, w₂, w₃]^T.  (4)
• $\begin{array}{cc}A=\left[\begin{array}{ccc}-\frac{\mathrm{Cos}{\propto }_1}{{\mathrm{<figure-callout\; label="R"\; filenames="US20090105882A1-20090423-D00004.png,US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">R</figure-callout>}}_1}& \frac{\mathrm{Sin}{\propto }_1}{R_1}& \frac{L_1}{R_1}\\ O& -\frac{1}{R_2}& \frac{L_2}{{\mathrm{<figure-callout\; label="R"\; filenames="US20090105882A1-20090423-D00009.png,US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">R</figure-callout>}}_2}\\ \frac{\mathrm{Cos}{\propto }_3}{{\mathrm{<figure-callout\; label="R"\; filenames="US20090105882A1-20090423-D00011.png"\; state="\{\{state\}\}">R</figure-callout>}}_3}& \frac{\mathrm{Sin}{\propto }_3}{R_3}& \frac{L_3}{R_3}\end{array}\right]& \left(5\right)\end{array}$
• and the velocity vector:
• 
  V=[vx, vy, ψ]^T  (6)
• 
  W=A·V  (7)
• The angular velocity vector w is calculated from equation (7) and compared with the actual w valves measured by the motor encoder. An algorithm performs an error correction routine to compensate for differences in the actual and desired valves.
• 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.

Claims (16)

1-85. (canceled)

86. A robotic system, comprising:

a robot that includes a camera and a monitor; and, a control station that can control said robot and allow a service personnel to remotely service said robot.

87. The system ofclaim 86, further comprising an arbitrator that controls access to said robot, said arbitrator has a plurality of arbitration mechanisms, different mechanisms are invoked for a plurality of different user types.

88. The system ofclaim 87, wherein said arbitration mechanisms include a notification, a timeout, a queue and a call back.

89. The system ofclaim 88, wherein the user types include a local operator, a caregiver, a doctor, a family member and a service personnel.

90. The system ofclaim 89, wherein a request for robot access from said service personnel user type invokes said callback mechanism if a current user is said local operator, said caregiver, said doctor or said family member user type.

91. The system ofclaim 86, wherein said robot monitor is coupled to a camera of said remote station.

92. The system ofclaim 86, wherein said robot includes a mobile platform.

93. The system ofclaim 86, wherein said robot includes a microphone coupled to a speaker of said control station and a speaker coupled to a microphone of said control station.

94. A method for servicing a remote controlled robot, comprising:

moving the robot in response to the commands transmitted from a control station;

accessing the robot from a service personnel at a service personnel control station; and, servicing the robot remotely through the service personnel control station.

96. The method ofclaim 94, wherein the servicing includes setting operational parameters.

97. The method ofclaim 94, further comprising arbitrating access to the robot with arbitration mechanisms that include a notification, a timeout, a queue and a call back.

98. The method of claim95, wherein request for robot access can be generated by different user types that include a local operator, a caregiver, a doctor, a family member and a service personnel.

99. The method ofclaim 98, wherein the request for robot access from the service personnel user type invokes the callback mechanism if a current user is the local operator, the caregiver, the doctor or the family member user type.

100. The method ofclaim 94, further comprising capturing an image of an operator with a control station camera, transmitting the captured operator image to the robot and displaying the transmitted captured operator image on a robot monitor.

101. The method ofclaim 94, wherein the robot includes a mobile platform that moves the robot input device relative to a surface.

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