Medical tele-robotic system with a master remote station with an arbitrator

Abstract

A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station.

1 - 60 . (canceled) 
     
     
         61 . A robotic teleconferencing system, comprising:
 a first teleconferencing device and a second teleconferencing device that each has a camera that can generate video and be remotely controlled in at least three degrees of freedom, a monitor, a speaker, and a microphone that can generate audio;   a first remote station that can access the first or second teleconferencing device, the first remote station including a camera, a monitor that can receive video from the first or second teleconferencing device, a microphone, a speaker that can produce audio provided by the first or second teleconferencing device, and an input device that can be used to control the camera of the first or second teleconferencing device;   a second remote station that can access the first or second teleconferencing device, the second remote station including a camera, a monitor that can receive video from the first or second teleconferencing device, a microphone, a speaker that can produce audio provided by the first or second teleconferencing device, and an input device that can be used to control the camera of the first or second teleconferencing device; and,   a server coupled to the first and second teleconferencing devices and the first and second remote stations, the server allows exclusive access to the first teleconferencing device by the first remote station wherein the camera of the first teleconferencing device is controlled by the input device of the first remote station, the video and audio from the first teleconferencing device is provided to the first remote station, the image and audio are not provided to the second remote station, and the camera of the first teleconferencing device is not controlled by the input device of the second remote station, and even though the second remote station is prevented from accessing the first teleconferencing device the server allows the second remote station to access the second teleconferencing device.   
     
     
         62 . The system of  claim 61 , wherein the server includes a notification mechanism. 
     
     
         63 . The system of  claim 61 , wherein the server includes a timeout mechanism. 
     
     
         64 . The system of  claim 61 , wherein the server includes a queue mechanism. 
     
     
         65 . The system of  claim 61 , wherein the server includes a call back mechanism. 
     
     
         66 . The system of  claim 61 , wherein the first and second remote stations each have a priority and the server provides teleconferencing device access to the remote station with a highest priority. 
     
     
         67 . The system of  claim 66 , wherein the remote stations are given priority as a local user, a doctor, a caregiver, a family member, a service user or another teleconferencing device. 
     
     
         68 . A method for controlling access to a plurality of teleconferencing devices, comprising:
 providing a first teleconferencing device and a second teleconferencing device that each have a monitor, a camera that can generate video and be remotely controlled in at least two degrees of freedom, a speaker, and a microphone that can generate audio;   providing a plurality of remote stations, including a first remote station and a second remote station, each remote station including a camera, a monitor that can receive video from the first or second teleconferencing device, a microphone, a speaker that can produce audio provided by the first or second teleconferencing device, and an input device that can be used to control the camera of the first or second teleconferencing device;   transmitting a request to access the first teleconferencing device from the first remote station;   transmitting a request to access the first teleconferencing device from the second remote station;   allowing exclusive access to the first teleconferencing device by the first remote station wherein the video and audio from the first teleconferencing device is provided to the first remote station and the image, the camera of the first teleconferencing device is controlled by the input device of the first remote station, the video audio are not provided to the second remote station, and the camera of the first teleconferencing device is not controlled by the input device of the second remote station;   transmitting a request to access the second teleconferencing device from the second remote station; and,   accessing the second teleconferencing device by the second remote station.   
     
     
         69 . The method of  claim 68 , further comprising receiving a request to access the first teleconferencing device from the second remote station and notifying the first remote station of the request. 
     
     
         70 . The method of  claim 68 , further comprising creating a time interval in which the first remote station must relinquish access to the first teleconferencing device. 
     
     
         71 . The method of  claim 68 , wherein the request from the second remote station is placed in a waiting list queue. 
     
     
         72 . The method of  claim 68 , further comprising transmitting a call back message to the second remote station to indicate the granting of access to the first teleconferencing device. 
     
     
         73 . The method of  claim 68 , wherein the access request includes a priority that is evaluated to determine access to the first teleconferencing device. 
     
     
         74 . The method of  claim 73 , wherein the remote stations are given priority as a local user, a doctor, a caregiver, a family member, a service user or another teleconferencing device. 
     
     
         75 . The method of  claim 68 , wherein the second teleconferencing device operates in either an exclusive mode or a sharing mode. 
     
     
         76 . The method of  claim 68 , wherein the second remote station's request to access the first teleconferencing device is initially transmitted to a server. 
     
     
         77 . The method of  claim 68 , wherein the second remote station's request to access the first teleconferencing device is initially transmitted to the first teleconferencing device.