U.S. patent application number 13/461687 was filed with the patent office on 2012-11-08 for mobile medical robotic system.
This patent application is currently assigned to Hstar Technologies. Invention is credited to John Hu, Yi-Je Lim.
Application Number | 20120283746 13/461687 |
Document ID | / |
Family ID | 47090751 |
Filed Date | 2012-11-08 |
United States Patent
Application |
20120283746 |
Kind Code |
A1 |
Hu; John ; et al. |
November 8, 2012 |
Mobile Medical Robotic System
Abstract
A medical robotic system comprises a drive track unit being
operable for moving the medical robotic system along a floor. An
upper torso unit is joined to the drive track unit. The upper torso
unit comprises at least one actuator assembly. At least one
bimanual dexterous manipulator is joined to the actuator assembly
in which the actuator assembly imparts torque and movement to the
bimanual dexterous manipulator for lifting an object. The bimanual
dexterous manipulator comprises a pair of dexterous manipulators.
Each of the dexterous manipulators comprises a length being
configured to support lifting an adult patient, and an end
comprising a planar structure being configured for placing between
the adult patient and a patient platform. The drive track unit is
operable for moving the medical robotic system to the patient
platform and the bimanual dexterous manipulator is operable for
lifting the adult patient from the patient platform.
Inventors: |
Hu; John; (Boxborough,
MA) ; Lim; Yi-Je; (Boxborough, MA) |
Assignee: |
Hstar Technologies
Cambridge
MA
|
Family ID: |
47090751 |
Appl. No.: |
13/461687 |
Filed: |
May 1, 2012 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61518096 |
May 2, 2011 |
|
|
|
Current U.S.
Class: |
606/130 ; 901/1;
901/30 |
Current CPC
Class: |
A61B 34/30 20160201;
B25J 5/007 20130101; B25J 11/009 20130101 |
Class at
Publication: |
606/130 ; 901/30;
901/1 |
International
Class: |
A61B 19/00 20060101
A61B019/00 |
Goverment Interests
FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0002] This patent is partially developed through US Army SBIR
Phase II Project under Contract W81XWH-08-C-0002 with project
title: An Advanced Medical Robotic System Augmenting Healthcare
Capabilities.
Claims
1. A medical robotic system comprising: a drive track unit being
operable for moving the medical robotic system along a floor; an
upper torso unit being joined to said drive track unit, said upper
torso unit comprising at least one actuator assembly; and at least
one bimanual dexterous manipulator being joined to said actuator
assembly in which said actuator assembly imparts torque and
movement to said bimanual dexterous manipulator for lifting an
object, said bimanual dexterous manipulator comprising a pair of
dexterous manipulators, each of said dexterous manipulators
comprising a plurality of joints, a length being configured to
support lifting an adult patient, and an extreme end comprising a
planar structure being configured for placing between the adult
patient and a patient platform, in which said drive track unit is
operable for moving the medical robotic system to the patient
platform and said bimanual dexterous manipulator is operable for
lifting the adult patient from the patient platform.
2. The medical robotic system as recited in claim 1, further
comprising a stability device being joined to said drive track
unit, said stability device being configured to increase dimensions
of said drive track unit to increase stability of the medical
robotic system while lifting objects.
3. The medical robotic system as recited in claim 2, in which said
stability device is retractable within said drive track unit.
4. The medical robotic system as recited in claim 2, in which said
stability device further comprises a plurality of wheels or
supporting legs.
5. The medical robotic system as recited in claim 1, in which said
drive track unit is further configured to be holonomic.
6. The medical robotic system as recited in claim 5, in which said
drive track unit further comprises a plurality of mecanum
wheels.
7. The medical robotic system as recited in claim 1, in which said
drive track unit utilizes zero moment point methodology for
enhanced stability.
8. The medical robotic system as recited in claim 1, further
comprising an interface for remote communication between a health
care professional and the adult patient.
9. The medical robotic system as recited in claim 8, in which said
interface is joined to said upper torso unit.
10. The medical robotic system as recited in claim 9, further
comprising means for adjusting a height of said upper torso unit to
place said interface at eye level with the adult patient on the
patient platform.
11. The medical robotic system as recited in claim 1, in which said
extreme end is configured to be removable and replaced by another
extreme end comprising a different structure.
12. The medical robotic system as recited in claim 1, said bimanual
dexterous manipulator further comprises a fabric efficacious for
providing sensitive contact with human skin.
13. The medical robotic system as recited in claim 1, in which said
actuator assembly further comprises elastic materials to produce
high torsional spring rates in a minimal space.
14. The medical robotic system as recited in claim 1, in which said
upper torso is further configured to resemble a human torso.
15. A medical robotic system comprising: means for moving the
medical robotic system along a floor; means, being joined to said
moving means, for imparting torque and movement; and means,
receiving said torque and movement, being configured for lifting an
adult patient from a patient platform, in which said moving means
is operable for moving the medical robotic system to the patient
platform and said lifting means is operable for lifting the adult
patient from the patient platform.
16. The medical robotic system as recited in claim 15, further
comprising means, being joined to said moving means, for increasing
stability of the medical robotic system while lifting objects.
17. The medical robotic system as recited in claim 15, further
comprising means for remote communicating between a health care
professional and the adult patient.
18. The medical robotic system as recited in claim 17, further
comprising means for adjusting a height of said communicating means
to be at eye level with the adult patient on the patient
platform.
19. A medical robotic system comprising: a drive track unit being
operable for moving the medical robotic system along a floor, said
drive track unit being configured to be holonomic and comprising a
plurality of mecanum wheels, said drive track unit utilizing zero
moment point mechanism for enhanced stability of the medical
robotic system; an upper torso unit being joined to said drive
track unit, said upper torso unit comprising at least one actuator
assembly, said actuator assembly comprising elastic materials to
produce high torsional spring rates in a minimal space; at least
one bimanual dexterous manipulator being joined to said actuator
assembly in which said actuator assembly imparts torque and
movement to said bimanual dexterous manipulator for lifting an
object, said bimanual dexterous manipulator comprising a pair of
dexterous manipulators, each of said dexterous manipulators
comprising a fabric efficacious for providing sensitive contact
with human skin, a plurality of joints, a length being configured
to support lifting an adult patient, and an extreme end comprising
a planar structure being configured for placing between the adult
patient and a patient platform, said extreme end being configured
to be removable and replaced by another extreme end comprising a
different structure; an interface for remote communication between
a health care professional and the adult patient, said interface
being joined to said upper torso unit; means for adjusting a height
of said upper torso unit to place said interface at eye level with
the adult patient on the patient platform; and a stability device
being retractably joined to said drive track unit, said stability
device comprising a plurality of wheels and being configured to
increase dimensions of said drive track unit to increase stability
of the medical robotic system while lifting, in which said drive
track unit is operable for moving the medical robotic system to the
patient platform and said bimanual dexterous manipulator is
operable for lifting the adult patient from the patient
platform.
20. The medical robotic system as recited in claim 19, in which
said upper torso is further configured to resemble a human torso.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present Utility patent application claims priority
benefit of the U.S. provisional application for patent Ser. No.
61/518,096 filed on May 2, 2011 under 35 U.S.C. 119(e). The
contents of this related provisional application are incorporated
herein by reference for all purposes to the extent that such
subject matter is not inconsistent herewith or limiting hereof.
REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER LISTING
APPENDIX
[0003] Not applicable.
COPYRIGHT NOTICE
[0004] A portion of the disclosure of this patent document contains
material that is subject to copyright protection. The copyright
owner has no objection to the facsimile reproduction by anyone of
the patent document or patent disclosure as it appears in the
Patent and Trademark Office, patent file or records, but otherwise
reserves all copyright rights whatsoever.
FIELD OF THE INVENTION
[0005] One or more embodiments of the invention generally relate to
robots. More particularly, one or more embodiments of the invention
relate to medical robots.
BACKGROUND OF THE INVENTION
[0006] The following background information may present examples of
specific aspects of the prior art (e.g., without limitation,
approaches, facts, or common wisdom) that, while expected to be
helpful to further educate the reader as to additional aspects of
the prior art, is not to be construed as limiting the present
invention, or any embodiments thereof, to anything stated or
implied therein or inferred thereupon.
[0007] The following is an example of a specific aspect in the
prior art that, while expected to be helpful to further educate the
reader as to additional aspects of the prior art, is not to be
construed as limiting the present invention, or any embodiments
thereof, to anything stated or implied therein or inferred
thereupon. By way of educational background, another aspect of the
prior art generally useful to be aware of is that a robot is a
mechanical or virtual intelligent agent that can perform tasks
automatically or with guidance, typically by remote control. In
practice a robot is usually an electro-mechanical machine that is
controlled by means of computer and electronic programming. By
mimicking a lifelike appearance or automating movements, a robot
may convey a sense that it has intent or agency of its own. More
importantly, a robot working with nurse and supporting patient
should be also have an intrinsically safe actuation and being able
to cooperate with human safely which is significantly different
from those industrial robots constrained in a protected area.
[0008] Typically, a wide range of mechanical lifting and transfer
solutions have evolved to enable safe patient lifting and
handling.
[0009] Typically, one can expect that the aging population will
require greater medical assistance, which may result in inadequate
health services. The human workforce does not have the same
capacity to service the aging population as a robotic device would.
The time and effort needed are great.
[0010] In view of the foregoing, it is clear that these traditional
techniques are not perfect and leave room for more optimal
approaches.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] The present invention is illustrated by way of example, and
not by way of limitation, in the figures of the accompanying
drawings and in which like reference numerals refer to similar
elements and in which:
[0012] FIG. 1 illustrates an exemplary medical robotic system that
displays an interface and is positioned to lift an object, in
accordance with an embodiment of the present invention;
[0013] FIGS. 2a and 2b illustrate an exemplary medical robotic
system performing medical services for a patient, in accordance
with an embodiment of the present invention, where FIG. 2a
illustrates medical robotic system displaying an interface to
communicate with the patient in an exemplary position, and FIG. 2b
illustrates the medical robotic system utilizing a pair of
dexterous manipulators to lift the patient in an exemplary
position;
[0014] FIG. 3a illustrates exemplary dexterous manipulator in an
extended position, in accordance with an embodiment of the present
invention;
[0015] FIG. 3b illustrates a blow up view of an exemplary dexterous
manipulator in relation to medical robotic system, in accordance
with an embodiment of the present invention;
[0016] FIG. 4a illustrates a detailed perspective view of actuator
assembly encased inside an upper torso, in accordance with an
embodiment of the present invention;
[0017] FIG. 4b illustrates a blow up view of actuator assembly that
powers bimanual dexterous manipulator, in accordance with an
embodiment of the present invention;
[0018] FIG. 4c illustrates a sectioned view of actuator assembly
that moves the bimanual dexterous manipulators, in accordance with
an embodiment of the present invention;
[0019] FIGS. 4d and 4e illustrate an exemplary output shaft, where
FIG. 4d illustrates a blow up view of output shaft, and FIG. 4e
illustrates a side view of three separate sets of torsional springs
positioned for modular design by removing or adding rods, in
accordance with an embodiment of the present invention;
[0020] FIG. 5 illustrates an exemplary upper torso that attaches to
dexterous manipulator and receives an interface, in accordance with
an embodiment of the present invention;
[0021] FIGS. 6a and 6b illustrates a detailed perspective view of
an exemplary mobile platform that provides an enhanced stability
with zero moment point extender for the medical robotic system, in
accordance with an embodiment of the present invention, where FIG.
6a provides a mobile platform for movement of the medical robotic
system, and FIG. 6b expands to provide a wide base for stability
for the medical robotic system; and
[0022] FIG. 7 illustrates an exemplary navigation control system on
mobile medical robotic system that traverses through a medical
facility, in accordance with an embodiment of the present
invention.
[0023] Unless otherwise indicated illustrations in the figures are
not necessarily drawn to scale.
DETAILED DESCRIPTION OF SOME EMBODIMENTS
[0024] Embodiments of the present invention are best understood by
reference to the detailed figures and description set forth
herein.
[0025] Embodiments of the invention are discussed below with
reference to the Figures. However, those skilled in the art will
readily appreciate that the detailed description given herein with
respect to these figures is for explanatory purposes as the
invention extends beyond these limited embodiments. For example, it
should be appreciated that those skilled in the art will, in light
of the teachings of the present invention, recognize a multiplicity
of alternate and suitable approaches, depending upon the needs of
the particular application, to implement the functionality of any
given detail described herein, beyond the particular implementation
choices in the following embodiments described and shown. That is,
there are numerous modifications and variations of the invention
that are too numerous to be listed but that all fit within the
scope of the invention. Also, singular words should be read as
plural and vice versa and masculine as feminine and vice versa,
where appropriate, and alternative embodiments do not necessarily
imply that the two are mutually exclusive.
[0026] It is to be further understood that the present invention is
not limited to the particular methodology, compounds, materials,
manufacturing techniques, uses, and applications, described herein,
as these may vary. It is also to be understood that the terminology
used herein is used for the purpose of describing particular
embodiments only, and is not intended to limit the scope of the
present invention. It must be noted that as used herein and in the
appended claims, the singular forms "a," "an," and "the" include
the plural reference unless the context clearly dictates otherwise.
Thus, for example, a reference to "an element" is a reference to
one or more elements and includes equivalents thereof known to
those skilled in the art. Similarly, for another example, a
reference to "a step" or "a means" is a reference to one or more
steps or means and may include sub-steps and subservient means. All
conjunctions used are to be understood in the most inclusive sense
possible. Thus, the word "or" should be understood as having the
definition of a logical "or" rather than that of a logical
"exclusive or" unless the context clearly necessitates otherwise.
Structures described herein are to be understood also to refer to
functional equivalents of such structures. Language that may be
construed to express approximation should be so understood unless
the context clearly dictates otherwise.
[0027] Unless defined otherwise, all technical and scientific terms
used herein have the same meanings as commonly understood by one of
ordinary skill in the art to which this invention belongs.
Preferred methods, techniques, devices, and materials are
described, although any methods, techniques, devices, or materials
similar or equivalent to those described herein may be used in the
practice or testing of the present invention. Structures described
herein are to be understood also to refer to functional equivalents
of such structures. The present invention will now be described in
detail with reference to embodiments thereof as illustrated in the
accompanying drawings.
[0028] From reading the present disclosure, other variations and
modifications will be apparent to persons skilled in the art. Such
variations and modifications may involve equivalent and other
features which are already known in the art, and which may be used
instead of or in addition to features already described herein.
[0029] Although Claims have been formulated in this Application to
particular combinations of features, it should be understood that
the scope of the disclosure of the present invention also includes
any novel feature or any novel combination of features disclosed
herein either explicitly or implicitly or any generalization
thereof, whether or not it relates to the same invention as
presently claimed in any Claim and whether or not it mitigates any
or all of the same technical problems as does the present
invention.
[0030] Features which are described in the context of separate
embodiments may also be provided in combination in a single
embodiment. Conversely, various features which are, for brevity,
described in the context of a single embodiment, may also be
provided separately or in any suitable subcombination. The
Applicants hereby give notice that new Claims may be formulated to
such features and/or combinations of such features during the
prosecution of the present Application or of any further
Application derived therefrom.
[0031] References to "one embodiment," "an embodiment," "example
embodiment," "various embodiments," etc., may indicate that the
embodiment(s) of the invention so described may include a
particular feature, structure, or characteristic, but not every
embodiment necessarily includes the particular feature, structure,
or characteristic. Further, repeated use of the phrase "in one
embodiment," or "in an exemplary embodiment," do not necessarily
refer to the same embodiment, although they may.
[0032] As is well known to those skilled in the art many careful
considerations and compromises typically must be made when
designing for the optimal manufacture of a commercial
implementation any system, and in particular, the embodiments of
the present invention. A commercial implementation in accordance
with the spirit and teachings of the present invention may
configured according to the needs of the particular application,
whereby any aspect(s), feature(s), function(s), result(s),
component(s), approach(es), or step(s) of the teachings related to
any described embodiment of the present invention may be suitably
omitted, included, adapted, mixed and matched, or improved and/or
optimized by those skilled in the art, using their average skills
and known techniques, to achieve the desired implementation that
addresses the needs of the particular application.
[0033] In the following description and claims, the terms "coupled"
and "connected," along with their derivatives, may be used. It
should be understood that these terms are not intended as synonyms
for each other. Rather, in particular embodiments, "connected" may
be used to indicate that two or more elements are in direct
physical or electrical contact with each other. "Coupled" may mean
that two or more elements are in direct physical or electrical
contact. However, "coupled" may also mean that two or more elements
are not in direct contact with each other, but yet still cooperate
or interact with each other.
[0034] It is to be understood that any exact
measurements/dimensions or particular construction materials
indicated herein are solely provided as examples of suitable
configurations and are not intended to be limiting in any way.
Depending on the needs of the particular application, those skilled
in the art will readily recognize, in light of the following
teachings, a multiplicity of suitable alternative implementation
details.
[0035] Those skilled in the art will readily recognize, in light of
and in accordance with the teachings of the present invention, that
any of the foregoing steps and/or system modules may be suitably
replaced, reordered, removed and additional steps and/or system
modules may be inserted depending upon the needs of the particular
application, and that the systems of the foregoing embodiments may
be implemented using any of a wide variety of suitable processes
and system modules, and is not limited to any particular computer
hardware, software, middleware, firmware, microcode and the like.
For any method steps described in the present application that can
be carried out on a computing machine, a typical computer system
can, when appropriately configured or designed, serve as a computer
system in which those aspects of the invention may be embodied.
[0036] Those skilled in the art will readily recognize, in light of
and in accordance with the teachings of the present invention, that
any of the foregoing steps may be suitably replaced, reordered,
removed and additional steps may be inserted depending upon the
needs of the particular application. Moreover, the prescribed
method steps of the foregoing embodiments may be implemented using
any physical and/or hardware system that those skilled in the art
will readily know is suitable in light of the foregoing teachings.
For any method steps described in the present application that can
be carried out on a computing machine, a typical computer system
can, when appropriately configured or designed, serve as a computer
system in which those aspects of the invention may be embodied.
[0037] FIGS. 1 through 7 illustrate some exemplary embodiments and
various views of a medical robotic system 100 and numerous
components of medical robotic system, in accordance with at least
one embodiment of the present invention. One embodiment of the
present invention may include a robotic system that services a
patient 200 in a medical facility. The medical robotic system may
service patient, and traverse through the medical facility under
direct or telepresence control by a medical professional 210. Some
embodiments of the present invention may have a holonomic drive
system for easy maneuverability in a hospital setting, an intuitive
interface for human-robot interaction, and dexterous manipulation
having sufficient strength to lift and move patients and heavy
loads up to, but not limited to, 300 lbs. In some embodiments,
medical robotic system may include numerous components that are
integrated together. Some of the major components may include,
without limitation, at least one bimanual dexterous manipulator
110, an innovative humanoid upper torso 125, a drive track 130 with
a stability enhancement device 132 and holonomic drive
capabilities, a navigation control system with 3D sensing and
perception capability, an interface 128 for human-robot
interaction, and a highly integrated plan for healthcare system
integration.
[0038] FIG. 1 illustrates an exemplary mobile medical robotic
system that displays an interface and is positioned to lift an
object, in accordance with an embodiment of the present invention.
In embodiment shown, the medical robotic system assists a medical
professional with servicing the patient's medical needs, reducing
the medical professional's exposure to back pain from heavy
lifting, entertaining the patient, moving heavy objects, carrying
medical supplies, acting as a conduit for remote medical
professionals, and inventory management. The medical robotic system
may also provide numerous capabilities efficacious for servicing
patients in a medical facility, including but not limited to: a)
navigating intelligently in hospital environments with a mobile
holonomic drive track, b) supporting an intuitive interface guided
by human-robot interaction, c) performing through direct control by
a health professional through a telepresence operation, and d)
providing dexterous manipulation and sufficient strength to
lift/move patients and heavy loads. In alternative embodiment, the
medical robotic system may perform functions in a medical facility
store house, such as, but not limited to, stocking medication,
discarding waste, and taking inventory.
[0039] FIGS. 2a and 2b illustrate an exemplary medical robotic
system performing medical services for a patient, in accordance
with an embodiment of the present invention, where FIG. 2a
illustrates medical robotic system displaying an interface to
communicate with the patient in an exemplary position, and FIG. 2b
illustrates the medical robotic system utilizing a pair of
dexterous manipulators to lift the patient in an exemplary
position. In the embodiment shown, the medical robotic system may
approach the patient in bed. The medical robotic system may adjust
the elevation of the torso so that the interface is at eye level
with the patient. A drive train may raise or lower to adjust the
height of the torso. In the present embodiment, a medical
professional including, but not limited to, a doctor, nurse, and
technician may communicate through visual and audio means to the
patient. In one alternative embodiment, the medical professional
may be remotely located from the medical facility. The patient may
also write instructions and questions on a touch screen positioned
on the interface. In some embodiments, the medical professional may
transmit instructions to medical robotic system to approach and
lift the patient. Medical robotic system may increase the base with
a stability enhancement device on the drive train to ensure secure
control of patient. A pair of dexterous manipulators may lift the
patient with sufficient torque so that up to, but not limited to
three hundred pounds may be lifted. In some embodiments, the
dexterous manipulators may comprise of a fabric efficacious for
providing sensitive contact with human skin.
[0040] FIG. 3a illustrates exemplary dexterous manipulator in an
extended position, in accordance with an embodiment of the present
invention. In the embodiment shown, the dexterous manipulator may
extend from an upper torso and serve as an arm for lifting and
manipulating an object, including, but not limited to a medical
device, a container of medication, a writing utensil, and a
container of food. In some embodiments, dexterous manipulator
includes a planar extreme end sufficient for positioning between
patient and a bed. Dexterous manipulator may also include, without
limitation, thermal sensors and vibration sensors to provide
enhanced sensitivity. The dexterous manipulator comprises
sufficient strength to lift a heavy object and sufficient dexterity
to manipulate sensitive medical devices. An actuator assembly
attached to dexterous manipulator provides sufficient torque to
lift a heavy object, including but not limited to, an adult
patient. In some embodiments, the dexterous manipulator may
comprise of a multiplicity of joints to provide enhanced mobility
and grasping. In one alternative embodiment, the medical robotic
system may include sufficient dexterity and sensitivity to perform
a surgical procedure with dexterous manipulator.
[0041] In some embodiments, the dexterous manipulator may comprise
of compliant actuator to better mimic the manipulation capabilities
of human arms. In one alternative embodiment, a compliant actuator
provides a means of force control and soft interaction with human
for enhanced manipulation. Those skilled in the art, in light of
the present teachings, recognize that patient may feel more relaxed
if the arm that encompasses dexterous manipulator has tactile
properties similar to the human arm.
[0042] FIG. 3b illustrates a blow up view of an exemplary dexterous
manipulator in relation to medical robotic system, in accordance
with an embodiment of the present invention. Dexterous manipulator
extends from upper torso, providing sufficient length to fully
support an adult patient. In one alternative embodiment, dexterous
manipulator may detach from upper torso. An eclectic variety of
dexterous manipulator extreme ends (i.e., end-effector) may replace
the original, including but not limited to, with drills, magnets,
human shaped hands, clamps, writing utensils, laser heads, or
saws.
[0043] FIG. 4a illustrates a detailed perspective view of actuator
assembly encased inside an upper torso, in accordance with an
embodiment of the present invention. Such actuator assembly may be
utilized in dexterous manipulator to provide torque and movement
for lifting a heavy object. In some embodiments, actuator assembly
may be electrical and provide manipulator compliance, safety,
flexibility and the strength to lifting a heavy patient. In the
present embodiment, actuator assembly creates sufficient power to
lift heavy objects, and sufficient sensitivity to avoid harming
patient, and sufficient dexterity to manipulate smaller, more
delicate objects. In some embodiments, actuator assembly may
include characteristics that are, without limit, strong and
reliable to meet the demands of heavy lifting tasks; 2) inherently
safe by limiting output force through use of compliance and force
feedback actuation; 3) efficient to prolong battery life; 4) and
compact and lightweight to be easily handled. Those skilled in the
art, in light of the present teachings, will recognize that to
ensure that medical robotic system does not drop the object if a
power failure occurs, actuator assembly must be non-backdriveable.
This requirement may be met by utilizing a worm drive gear and
harmonic drive system.
[0044] FIG. 4b illustrates a blow up view of actuator assembly that
powers bimanual dexterous manipulator, in accordance with an
embodiment of the present invention. In the present embodiment,
actuator assembly may comprise of a motor for transferring torque
to a gear box. Actuator assembly utilizes components of elastic
materials and properties to provide enhanced torque in a limited
area. An output shaft drives the manipulator joint, and includes a
multiplicity of torsional springs. In the present embodiment,
torsional springs utilize urethane rods to provide large torque in
a small area. The urethane rods may be positioned in matched
grooves in the actuator assembly housing and output shaft. Relative
angular motion between assembly housing and output shaft acts to
deform the urethane, creating high torsional spring rates in
minimal space.
[0045] FIG. 4c illustrates a sectioned view of actuator assembly
that moves the bimanual dexterous manipulators, in accordance with
an embodiment of the present invention. In the embodiment shown,
torso may include a modular structure composed of three actuator
assemblies attached to each other. Those skilled in the art will
recognize that designing in this way may simplify the manufacturing
process and allow for quick and easy repairs. Problematic actuators
may be changed out quickly or rebuilt with a minimal stock of spare
components. The lower two actuator assemblies that form a bicep
from FIG. 3a are connected by an interlocking bracket at the rear.
Attaching the third actuator at a right angle completes the
3-degree of freedom upper arm.
[0046] FIGS. 4d and 4e illustrate an exemplary output shaft, where
FIG. 4d illustrates a blow up view of output shaft, and FIG. 4e
illustrates a side view of three separate sets of torsional springs
positioned in three separate output shafts, in accordance with an
embodiment of the present invention. In some embodiments, torsional
springs work in unison to provide sufficient torque. Those skilled
in the art will recognize that actuator assembly should be a
self-contained actuator, capable of continuous rotation.
[0047] FIG. 5 illustrates an exemplary upper torso that attaches to
dexterous manipulator and receives an interface, in accordance with
an embodiment of the present invention. In the embodiment shown,
upper torso may resemble a human torso to increase functions and to
comfort patient. Upper torso may be capable of advanced dexterous
manipulation and patient lifting, haptic feedback and natural
human-robot interaction. In some embodiments, upper torso may carry
an interface for remote communication between health care
professional and patient. In the present embodiment, a nurse may
remotely interact with medical robotic system through a wireless
system. The medical robotic system may include a receiver, and the
remote health professional may have access to a transmitter.
[0048] In yet another embodiment, interface may provide a conduit
for a telepresence for health care professional to perform numerous
functions, including without limitation, remotely control medical
robotic system, allow health care professional to view the scene
from interface, provide data to customer, and communicate with
patients. Those skilled in the art, in light of the present
teachings, recognize that an advanced human robot interaction
module is a key component of medical robotic system. An efficient
human-robot interaction module that supports effective direct
control and cooperative operation procedures. In a yet another
embodiment, medical robotic system utilizes a direct human-robot
interaction system. The direct human-robot interaction system may
adopt a human-in-the-loop robot control scheme--either under direct
commands or in telepresence operation. In some embodiments, the
present invention may be used for nursing at hospitals as a nurse
assistant or serves as remote service provider at nursing home.
[0049] FIGS. 6a and 6b illustrates a detailed perspective view of
an exemplary robotic mobile platform that provides an enhanced
stability with zero moment point extender for the medical robotic
system, in accordance with an embodiment of the present invention,
where FIG. 6a provides a mobile platform for movement of the
medical robotic system, and FIG. 6b expands to provide a wide base
for stability for the medical robotic system. In the present
embodiment, drive track provides a foundation for the medical
robotic system. By expanding the dimensions of drive track, a
larger foundation for drive track creates increased stability for
medical robotic system. This may be beneficial for supporting heavy
objects. In yet another embodiment, robotic drive track utilizes
zero moment point control for enhanced stability. Zero moment point
specifies a point with respect to a dynamic reaction force at the
contact of the drive train with the ground does not produce any
moment in the horizontal direction, i.e. the point where total of
vertical inertia and gravity forces equals zero. In the present
embodiments, it is this point that may produce the greatest
stability, and medical robotic system may intelligently recognize
this point.
[0050] In some embodiments, robotic drive track may navigate
intelligently through a medical facility, including without limit
tight spaces in proximity to a bed, with unique perceptive software
and a holonomic drive. Those skilled in the art, in light of the
present teachings, will recognize that a holonomic drive is useful
for situations requiring higher mobility and lower traction than a
standard drive system. The holonomic drive allows drive track to
translate in any direction, independent of rotation. This movement
may utilize, without limitation, omni-wheels or mecanum wheels.
[0051] FIG. 7 illustrates an exemplary navigation control system on
mobile medical robotic system that traverses through a medical
facility, in accordance with an embodiment of the present
invention. In the present embodiment, navigation control system may
be remotely controlled by health care professional. Navigation
control system utilizes intelligent software for sensing,
perception, obstacle avoidance, and semi autonomy. Those skilled in
the art, in light of the present teachings, recognize that high
performance navigation control in a humanoid world like a hospital
environment requires advanced sensory perception and intelligent
control/decision to ensure system and operation safety.
Specifically, the ability to detect a moving object in real-time is
crucial and unique to system safety.
[0052] In the present embodiment, nurse directs the
anthropomorphic, omni-directional robot by moving the robot's
compliant arms and applying forces to the robot's hands to guide a
robot during navigation around a cluttered bed and placement of its
arms underneath a patient.
[0053] In some alternative embodiments, medical robotic system may
utilize speech recognition software to recognize patient, or
identify patient in distress. Medical robotic system may also speak
to patient in a soothing human voice to alleviate trepidation from
patient. In yet another alternative embodiment, dexterous
manipulators perform patient monitoring and medicine delivery
through direction from a remote health professional.
[0054] In some alternative embodiments, medical robotic system may
be powered by electric fully or partially, by pneumatic fully or
partially, by hydraulic fully or partially or other power
forms.
[0055] All the features or embodiment components disclosed in this
specification, including any accompanying abstract and drawings,
unless expressly stated otherwise, may be replaced by alternative
features or components serving the same, equivalent or similar
purpose as known by those skilled in the art to achieve the same,
equivalent, suitable, or similar results by such alternative
feature(s) or component(s) providing a similar function by virtue
of their having known suitable properties for the intended purpose.
Thus, unless expressly stated otherwise, each feature disclosed is
one example only of a generic series of equivalent, or suitable, or
similar features known or knowable to those skilled in the art
without requiring undue experimentation.
[0056] Having fully described at least one embodiment of the
present invention, other equivalent or alternative methods of
implementing medical services to patients in a health care facility
through a medical robot according to the present invention will be
apparent to those skilled in the art. Various aspects of the
invention have been described above by way of illustration, and the
specific embodiments disclosed are not intended to limit the
invention to the particular forms disclosed. The particular
implementation of the medical robotic system may vary depending
upon the particular context or application. By way of example, and
not limitation, the medical robotic system described in the
foregoing were principally directed to assisting a nurse by lifting
the patient, communicating with the patient through telepresence
interface, and maneuvering through a medical facility; however,
similar techniques may instead be applied to a military robotic
system for assisting soldiers in a battle scenario, which
implementations of the present invention are contemplated as within
the scope of the present invention. The invention is thus to cover
all modifications, equivalents, and alternatives falling within the
spirit and scope of the following claims. It is to be further
understood that not all of the disclosed embodiments in the
foregoing specification will necessarily satisfy or achieve each of
the objects, advantages, or improvements described in the foregoing
specification.
[0057] Claim elements and steps herein may have been numbered
and/or lettered solely as an aid in readability and understanding.
Any such numbering and lettering in itself is not intended to and
should not be taken to indicate the ordering of elements and/or
steps in the claims.
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