# US 2016/0250751 A1 · Providing personalized patient care based on electronic health record associated with a user > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0250751 A1 - Document ID: US20160250751A1 - Status: Published application - Kind: A1 - Application number: 14/632,165 - Filed: 2015-02-26 - Published: 2016-09-01 - Earliest claimed: 2015-02-26 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Eric Martinson; Emrah Akin Sisbot; Veeraganesh Yalla; Kentaro Oguchi; Yusuke Nakano - Web page: https://patentgrep.com/patent/US20160250751A1 ## CPC - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 11/009: {Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G05D 1/0246: {using a video camera in combination with image processing means} - G16H 10/60: for patient-specific data, e.g. for electronic patient records - G16H 40/63: for local operation - G16H 50/50: for simulation or modelling of medical disorders - Y10S 901/01: Mobile robot - Y10S 901/03: Teaching system - Y10S 901/47: Optical - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract The disclosure includes methods for determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user based on an EHR associated with the user; generating, with a processor-based device that is programmed to perform the generating, instructions for a robot to perform a task based on the obstacles within the environment and one or more physical capabilities of the user; and instructing the robot to perform the task. ## Claims ### Claim 1 A method comprising: determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user based on an electronic health record (EHR) associated with the user, wherein the EHR includes a description of a current medical condition of the user and a historical medical condition of the user; generating, with a special purpose processor-based computing device that is programmed to perform the generating, instructions for a robot to perform a hand-over motion for moving an object from an original location to a position and rotation within the environment, wherein the instructions are generated based on the obstacles within the environment and the one or more physical capabilities of the user; instructing the robot to perform the hand-over motion; tracking a status of the user; responsive to a change to the status of the user, generating modified instructions for the robot to perform the hand-over motion; and updating the EHR to include the change to the status of the user. ### Claim 2 A method comprising: determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user of the user based on an electronic health record (EHR) associated with the user; generating, with a processor-based device that is programmed to perform the generating, instructions for a robot to perform a task based on the obstacles within the environment and the one or more physical capabilities of the user of the user; and instructing the robot to perform the task. ### Claim 3 (depends on 2) The method of claim 2, wherein the task is a hand-over motion for moving an object from an original location to a position and rotation within the environment. ### Claim 4 (depends on 2) The method of claim 2, wherein estimating the one or more physical capabilities of the user is further based on at least one of a current medical condition of the user and a historical medical condition of the user. ### Claim 5 (depends on 4) The method of claim 4, wherein: the task is a hand-over motion for moving an object from an original location to a position and rotation within the environment; and the historical medical condition includes at least one of a range of motion for the user, reachability for the user, muscle tension for the user, comfort associated with the user, a preference associated with the user, a time for the user to pick up the object from the robot, a time for the user to make contact with the robot after the hand-over motion, and a time of completion of the task. ### Claim 6 (depends on 2) The method of claim 2, wherein estimating the one or more physical capabilities of the user is further based on user preferences associated with the user. ### Claim 7 (depends on 2) The method of claim 2, wherein the task is to carry an object for the user. ### Claim 8 (depends on 2) The method of claim 2, wherein the task is a hand-over motion and further comprising: determining whether a closest hand that is closest to the robot is injured based on at least one of a range of motion for the closest hand and a reachability for the closest hand; and responsive to the closest hand being injured, computing the hand-over motion for moving an object from an original location to a furthest hand that is furthest from the robot. ### Claim 9 (depends on 2) The method of claim 2, wherein the task is a path for the user to travel, wherein estimating the path for the robot to travel is based on at least one of a speed of the user, a relative position to the user, a difficulty of the path, and an amount of information the robot provides to the user for guidance, and further comprising: instructing the robot to guide the user by traveling along the path. ### Claim 10 (depends on 9) The method of claim 9, further comprising determining a condition of the user based on the EHR and wherein estimating the path includes estimating a distance between the robot and the user based on the condition of the user. ### Claim 11 (depends on 2) The method of claim 2, wherein estimating the one or more physical capabilities of the user based on the EHR further comprises: building an EHR query; querying a database for the EHR; receiving the EHR; and generating a simulation based on the EHR. ### Claim 12 (depends on 11) The method of claim 11, wherein generating the simulation includes generating classifiers and training sets that are used to identify a condition associated with the user. ### Claim 13 (depends on 12) The method of claim 12, further comprising: tracking a status of the user; responsive to a change to the status of the user, generating modified instructions for the robot to perform the task; and updating the EHR to include a change to the status of the user. ### Claim 14 A non-transitory computer-readable medium having computer instructions stored thereon that are executable by a processing device to perform or control performance of steps comprising: determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user based on an electronic health record (EHR) associated with the user; generating instructions for a robot to perform a task based on the obstacles within the environment and the one or more physical capabilities of the user; and instructing the robot to perform the task. ### Claim 15 (depends on 14) The non-transitory computer-readable medium of claim 14, wherein: the task is a hand-over motion for moving an object from an original location to a position and rotation within the environment; and estimating the one or more physical capabilities of the user is further based on at least one of a current medical condition of the user and a historical medical condition of the user, the historical medical condition including at least one of a range of motion for the user, reachability for the user, muscle tension for the user, comfort associated with the user, a time for the robot to pick up the object with a hand, a time for the hand-over motion, and a time of completion of a task. ### Claim 16 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the task is to carry an object for the user. ### Claim 17 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the task is a hand-over motion, and the steps further comprising: determining whether a closest hand that is closest to the robot is injured based on at least one of a range of motion for the closest hand and a reachability for the closest hand; and responsive to the closest hand being injured, computing the hand-over motion for moving an object from an original location to a furthest hand that is furthest from the robot. ### Claim 18 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the task is a path for the user to travel, wherein estimating the path for the robot to travel is based on at least one of a speed of the user, a relative position to the user, a difficulty of the path, and an amount of information the robot provides to the user for guidance, and the steps further comprising: instructing the robot to guide the user by traveling along the path. ### Claim 19 (depends on 18) The non-transitory computer-readable medium of claim 18, the steps further comprising determining a condition of the user based on the EHR and wherein estimating the path includes estimating a distance between the robot and the user based on the condition of the user. ### Claim 20 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein estimating the one or more physical capabilities of the user based on the EHR further comprises: building an EHR query; querying a database for the EHR; receiving the EHR; and generating a simulation based on the EHR. ### Claim 21 A method for improving the behavior of a robot, the method comprising: building an electronic health record query (EHR query) including an identifier of a user; querying a database for electronic health record data (EHR data) associated with the identifier, wherein the EHR data describes one or more physical capabilities of the user; generating simulation data for the user based on the EHR data, wherein the simulation data describes a simulation including expected behavior of the robot when executing an initial program configured to control the behavior of the robot; and determining a customized program for the robot based on the simulation data and the initial program, wherein the customized program controls the behavior of the robot based on the one or more physical capabilities of the user. ### Claim 22 (depends on 21) The method of claim 21, further comprising: executing the customized program; and determined performance feedback data based on the behavior of the robot in relation to the user. ### Claim 23 (depends on 22) The method of claim 22, further comprising modifying the customized program based on the performance feedback data. ### Claim 24 (depends on 22) The method of claim 22, further comprising determining a new customized program for the user based on the simulation data, the customized program and the performance feedback data. ### Claim 25 (depends on 22) The method of claim 22, further comprising: adding the performance feedback data to the EHR data; and generating new simulation data for the user based on the performance feedback data included in the EHR data. ### Claim 26 A method for customizing robot perception of a user, the method comprising: querying a database for electronic health record data (EHR data) that describes one or more electronic health records associated with a user; determining one or more physical capabilities of the user based on the EHR data; selecting a set of images as training data based on the conditions or limitations of the user; building a user-specific visual classifier for the user based on the EHR data associated and the training data; and customizing the robot perception of the user based on the user-specific visual classifier for the user. ### Claim 27 (depends on 26) The method of claim 26, wherein the set of images are selected to correspond to the one or more physical capabilities of the user. ### Claim 28 (depends on 26) The method of claim 26, wherein the user-specific visual classifier is configured for use by the robot when providing a service to the user associated with the one or more electronic health records described by the EHR data. ### Claim 29 (depends on 26) The method of claim 26, wherein the user-specific visual classifier is built based on the conditions or limitations of the user as described by the EHR data so that the robot perception is customized for the conditions or limitations of the user. ### Claim 30 A method for customizing robot navigation for a user, the method comprising: determining one or more physical capabilities of the user based on electronic health record data (EHR data) that describes one or more electronic health records associated with a user; determining modifications for a program that controls the behavior of the robot based on the EHR data; and customizing the program for the robot based on the modifications so that the robot behavior is customized consistent with the one or more physical capabilities of the user. ### Claim 31 (depends on 30) The method of claim 30, wherein the EHR data indicates that the physical capabilities of the user includes low vision and the program for the robot is customized so that the robot navigates at a distance closer to the user than in a normal scenario and decelerates faster than in a normal scenario. ### Claim 32 (depends on 30) The method of claim 30, wherein the EHR data indicates that the physical capabilities of the user includes deafness in a first ear and the program for the robot is customized so that the robot navigates so that the robot is oriented closer to a second ear which is not deaf. ### Claim 33 A method for a robot to assist a target user, the method comprising: determining the target user; retrieving electronic health record data (EHR data) associated with the target user and describing one or more physical capabilities of the target user; detecting one or more obstacles within an environment including the target user; customizing, with a processor-based device that is programmed to perform the customizing, instructions for the robot to perform one or more tasks for the target user based on the obstacles within the environment and the one or more physical capabilities of the target user; and performing the one or more tasks for the target user based on the customized instructions. ### Claim 34 (depends on 33) The method of claim 33, wherein the task is a hand-over motion for moving an object from an original location to a position and rotation within the environment. ### Claim 35 (depends on 33) The method of claim 33, further comprising estimating the one or more physical capabilities of the user based on at least one of a current medical condition of the user and a historical medical condition of the user which is described by the EHR data. ### Claim 36 (depends on 33) The method of claim 33, wherein the task includes locating the user in the environment. ### Claim 37 (depends on 33) The method of claim 33, wherein the task includes carrying an object to the user.