# US 11,432,765 B2 · Excrement care robot with integrated analysis function for motion and condition of bedridden patient

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- Number: US 11,432,765 B2
- Document ID: US11432765B2
- Status: Granted
- Kind: B2
- Application number: 16/953,374
- Filed: 2020-11-20
- Published: 2021-06-24
- Granted: 2022-09-06
- Earliest claimed: 2019-12-18
- Assignees: CURACO, Inc.
- Applicants: CURACO, Inc.
- Inventors: Hoonsang Lee; Hosang Lee; Sungpil Choi; Dounghoon Lee
- Web page: https://patentgrep.com/patent/US11432765B2

## CPC

- A61F 5/44: Devices worn by the patient for reception of urine, faeces, catamenial or other discharge (absorbent pads, e.g. sanitary towels, A61F13/15; drainage appliances for wounds A61M27/00); Colostomy devices
- A61F 5/451: Genital {or anal} receptacles (A61F5/441, A61F5/442, A61F5/443 take precedence {; other body securing means A61F5/4408; devices for taking faeces samples A61B10/0038; devices for taking urine samples A61B10/007})
- A61B 5/6802: {Sensor mounted on worn items}
- A61F 5/442: having irrigation ports or means (irrigators A61M3/02)
- A61B 5/1117: {Fall detection}
- A61G 9/02: Cleaning devices {(washing and rinsing machines for crockery and tableware A47L15/00)}
- B25J 11/009: {Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs}
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

Disclosed is an excrement care robot with an integrated analysis function on the motion and condition of a bedridden patient including: a body-fitted type treating apparatus including a body which has a shape corresponding to bends of the genitals and buttocks of a human body and is formed with a treatment space that is opened in a direction of the genitals and buttocks of the human body to receive excrement discharged from the human body, a discharge unit which is provided in the body and communicates with the treatment space to discharge the excrement of the treatment space to the outside, and a sensor unit that is provided in the body to measure a direction of movement of the body; and a motion analysis unit that receives sensor data of the sensor unit to analyze the motion of the human body through the movement of the body.

## Claims

### Claim 1

An excrement care robot with an integrated analysis function on the motion and condition of a bedridden patient, the excrement care robot comprising:
a body-fitted type treating apparatus including a body which has a shape corresponding to bends of the genitals and buttocks of a human body and is formed with a treatment space that is opened in a direction of the genitals and buttocks of the human body to receive excrement discharged from the human body, a discharge unit which is provided in the body and communicates with the treatment space to discharge the excrement of the treatment space to the outside, and a sensor unit that is provided in the body to measure a direction of movement of the body; and
a motion analysis unit that receives sensor data of the sensor unit to analyze the motion of the human body through the movement of the body.

### Claim 2 (depends on 1)

The excrement care robot of claim 1, wherein the sensor unit comprises an inertial sensor that measures rotation angles with respect to a X (pitch) axis, a Y (roll) axis, and a Z (yaw) axis of the body.

### Claim 3 (depends on 2)

The excrement care robot of claim 2, wherein the motion analysis unit determines that a user takes a position of lying on his/her side when an amount of change in rotation angle of the X-axis is less than a first angle range in a + direction or − direction within a predetermined first time range.

### Claim 4 (depends on 2)

The excrement care robot of claim 2, wherein the motion analysis unit determines that the user is in a poor wearing condition when the amount of change in rotation angle of the X-axis is equal to or greater than the first angle range in the + direction or − direction within the predetermined first time range.

### Claim 5 (depends on 2)

The excrement care robot of claim 2, wherein the motion analysis unit determines that the user takes a sitting position or is in a poor wearing condition when the amount of change in rotation angle of the Y-axis is equal to or greater than a second angle range in the − direction within a predetermined second time range.

### Claim 6 (depends on 2)

The excrement care robot of claim 2, wherein the motion analysis unit determines that the user is in a removal condition or in a poor wearing condition when the amount of change in rotation angle of the Y-axis is equal to or greater than the second angle range in the + direction within the predetermined second time range.

### Claim 7 (depends on 2)

The excrement care robot of claim 2, wherein the motion analysis unit determines that the user is in a removal condition or in a poor wearing condition when the amount of change in rotation angle of the Z-axis is equal to or greater than a third angle range in a + direction or − direction within a predetermined third time range.

### Claim 8 (depends on 2)

The excrement care robot of claim 2, wherein the motion analysis unit determines that the user is in any one of a fall condition, an emergency condition, or a removal condition when the amount of change in rotation angle of the X-axis is equal to or greater than the first angle range in the + direction or − direction, the amount of change in rotation angle of the Y-axis is equal to or greater than the second angle range in the + direction or − direction, and the amount of change in rotation angle of the Z-axis is equal to or greater than the third angle range in the + direction or − direction.

### Claim 9 (depends on 1)

The excrement care robot of claim 1, wherein the motion analysis unit generates history information on position change of the user over time through the sensor data measured by the sensor unit.

### Claim 10 (depends on 1)

The excrement care robot of claim 1, further comprising:
a communication unit that transmits the sensor data measured by the sensor unit to the motion analysis unit.