Automatic placement of a mask

A robotic ventilation system for automatic delivery of gas, comprising:

• a robot comprising an arm, the arm comprising a flange, the flange coupled to an end of the arm, the arm configured to move the flange along a degree of freedom;
• a mask coupled to the flange, the mask configured to deliver gas to a user;
• a ventilator coupled to the mask, the ventilator configured to automatically deliver pressurized gas to the mask after detecting a requisite sleep state of the user, wherein the requisite sleep state is one or more of predetermined by the user and determined by the system;
• wherein following a start of delivery of pressurized gas to the user, the system commands the arm to maintain both an appropriate mask contact force with respect to a face of the user and an appropriate mask pose with respect to the user's face, wherein following movement of the user's face, the arm is configured to do one or more of move the mask's pose and change the mask's contact force to maintain both the appropriate mask contact force with respect to the user's face and the appropriate mask pose with respect to the user's face, wherein following a failure of the system to maintain both an appropriate mask contact force and an appropriate mask pose, the system is configured to retract the arm so as to move the mask away from the face of the user, wherein following retraction of the arm, if the system determines that the user is in the requisite sleep state, the system is configured to move the mask toward the face of the user, wherein following retraction of the mask, if the user is awake, the system is configured to go into a mode in which it awaits entry into the requisite sleep state by the user, wherein following the entry into the requisite sleep state by the user, the system moves the mask toward the face of the user;
• a gas tube coupled to both the mask and the ventilator, the gas tube configured to carry gas between the ventilator and the mask;
• a controller configured to change the pose of the mask, the controller further configured to deliver gas from the ventilator to the mask, wherein the controller is further configured to change the mask pose based on one or more of the image data, lapse of a predetermined period of time, and an estimated sleep state of the user, wherein the estimated sleep state comprises one or more of a requisite sleep state and an estimation of stability of the user's sleep state, wherein the system transitions from the sleep state to an approach state if the system determines the estimated sleep state of the user is the requisite sleep state and if the system further determines that the estimated sleep state of the user is stable, wherein the system transitions from the sleep state to a wait for sleep state in which the system waits if the system determines one or more of that the estimated sleep state of the user is not the requisite sleep state and that the estimated sleep state of the user is not stable;
• a tracking system, the tracking system configured to capture image data of one or more of the mask and the face of the user, the tracking system comprising an illumination system configured to emit light in a field of view of the tracking system, the tracking system further configured to identify a face feature point, wherein the face feature point comprises one or more of an eye center point, a nose center point, a mouth lateral point, and a mouth center point, wherein the system moves the mask toward the face of the user after the face feature point is identified;
• and
• a biometric sensor system, the biometric sensor system comprising a biometric sensor, wherein the controller is configured to change the mask pose based at least in part on biometric data from the biometric sensor system.

A robotic ventilation method for automatic delivery of gas, comprising:

• receiving input from one or more of a user and a system component, by a system comprising:
• a robotic ventilation system for automatic delivery of gas, the robotic ventilation system comprising:
• a robot, the robot comprising an arm, the arm comprising a flange, the flange coupled to an end of the arm, the arm configured to move the flange along a degree of freedom;
• a mask coupled to the flange, the mask configured to deliver gas to the user;
• a ventilator coupled to the mask, the ventilator configured to deliver the gas to the mask;
• a gas tube coupled to both the mask and the ventilator, the gas tube configured to carry gas between the ventilator and the mask;
• a controller configured to change a pose of the mask, the controller further configured to deliver gas from the ventilator to the mask;
• and a tracking system, the tracking system configured to capture image data of one or more of the mask and a face of the user, wherein the user input comprises information regarding one or more of a mask position and a mask orientation that the user wishes to associate with a given state of the system;
• wherein the controller is configured to change the mask pose based at least in part on the image data;
• transitioning, by the system, based on the input, from a first state to a second state;
• storing, by the system, a parameter based on the received further user input;
• associating with the given state, by the system, one or more of the mask position and the mask orientation;
• and
• storing, by the system, the one or more of the mask position and the mask orientation.