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US 12,667,685 B2Granted
Robotic ventilation system for correct mask placement
AssigneeRestful Robotics, Inc.
InventorsScott Nortman, David Jassir
Life of this patent
Estimating the term…
Abstract
A system includes: 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, wherein the arm further comprises a kinematic mount, the kinematic mount usable to do one or more of orient and locate the mask with respect to the flange; 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; 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.
Claims30
A robotic ventilation system for correct mask placement comprising a kinematic mount, 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, wherein the arm further comprises the kinematic mount, the kinematic mount usable to do one or more of orient and locate the mask with respect to the flange;
- 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 control the delivery of the gas from the ventilator to the user;
- 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 controller is configured to change the mask pose based at least in part on the image data,
- wherein the tracking system is 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 is configured to move the arm so as to bring the mask toward the face of the user, wherein the system is configured to move the arm so as to bring the mask into contact with the face of the user,
- wherein following bringing the mask into contact with the face of the user, the system commands the arm to maintain one or more of an appropriate contact force with respect to the user's face and an appropriate position with respect to the user's face.
6 more elements
A robotic ventilation system for correct mask placement comprising a kinematic mount, 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, wherein the arm further comprises the kinematic mount, the kinematic mount usable to do one or more of orient and locate the mask with respect to the flange;
- 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 control the delivery of the gas from the ventilator to the user;
- 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 controller is configured to change the mask pose based at least in part on the image data,
- wherein the tracking system is 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 is configured to move the arm so as to bring the mask toward the face of the user, wherein the system is configured to move the arm so as to bring the mask into contact with the face of the user
- wherein following bringing the mask into contact with the face of the user, the system commands the arm to maintain both an appropriate contact force with respect to the user's face and an appropriate position with respect to the user's face.
6 more elements
A robotic ventilation system for correct mask placement comprising a kinematic mount, 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, wherein the arm further comprises the kinematic mount, the kinematic mount usable to do one or more of orient and locate the mask with respect to the flange;
- 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 control the delivery of the gas from the ventilator to the user;
- 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 controller is configured to change the mask pose based at least in part on the image data,
- wherein the controller commands the arm to maintain one or more of an appropriate contact force with respect to the user's face and an appropriate position with respect to the user's face.
4 more elements
A robotic ventilation system for correct mask placement comprising a fiducial marker, 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, the mask comprising the fiducial marker;
- 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 the gas between the ventilator and the mask;
- a controller configured to change a pose of the mask, the controller further configured to control the delivery of the gas from the ventilator to the user;
- 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, the tracking system further configured to track the fiducial marker, wherein the controller is configured to change the mask pose based at least in part on the image data, wherein the system is configured to automatically deliver the breathable gas to the user after detecting a state of the user, wherein the state of the user comprises a requisite sleep state of the user, wherein the requisite sleep state is one or more of predetermined by the user and is determined by the system, wherein the system delivers the breathable gas to the user after fulfillment of a time-based condition, wherein the system delivers the breathable gas to the user after one or more of passage of a predetermined amount of time and after a predetermined time of day is reached, wherein the robot comprises the tracking system, wherein the tracking system is configured to identify a face feature point, wherein the system moves the arm so as to bring the mask into contact with the face of the user after the face feature point is identified,
- wherein following bringing the mask into contact with the face of the user, the system commands the arm to maintain one or more of an appropriate contact force with respect to the user's face and an appropriate position with respect to the user's face.
5 more elements
A robotic ventilation system for correct mask placement comprising a fiducial marker, 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, the mask comprising the fiducial marker;
- 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 the gas between the ventilator and the mask;
- a controller configured to change a pose of the mask, the controller further configured to control the delivery of the gas from the ventilator to the user;
- 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, the tracking system further configured to track the fiducial marker, wherein the controller is configured to change the mask pose based at least in part on the image data, wherein the system is configured to automatically deliver the breathable gas to the user after detecting a state of the user, wherein the state of the user comprises a requisite sleep state of the user, wherein the requisite sleep state is one or more of predetermined by the user and is determined by the system, wherein the system delivers the breathable gas to the user after fulfillment of a time-based condition, wherein the system delivers the breathable gas to the user after one or more of passage of a predetermined amount of time and after a predetermined time of day is reached, wherein the robot comprises the tracking system, wherein the tracking system is configured to identify a face feature point, wherein the system moves the arm so as to bring the mask into contact with the face of the user after the face feature point is identified,
- wherein following bringing the mask into contact with the face of the user, the system commands the arm to maintain both an appropriate contact force with respect to the user's face and an appropriate position with respect to the user's face.
5 more elements
A robotic ventilation system for correct mask placement comprising a fiducial marker, 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, the mask comprising the fiducial marker;
- 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 the gas between the ventilator and the mask;
- a controller configured to change a pose of the mask, the controller further configured to control the delivery of the gas from the ventilator to the user;
- 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, the tracking system further configured to track the fiducial marker, wherein the controller is configured to change the mask pose based at least in part on the image data,
- wherein the controller commands the arm to maintain one or more of an appropriate contact force with respect to the user's face and an appropriate position with respect to the user's face.
5 more elements
Dependencies are inferred from the claim text.