System and method for generating pressure point maps based on remote-controlled haptic-interactions

Patent metadata

Field	Value
Publication number	US-11197799-B2
Application number	US-201916351334-A
Country	US
Kind code	B2
Filing date	Mar 12, 2019
Priority date	Oct 17, 2018
Publication date	Dec 14, 2021
Grant date	Dec 14, 2021

Abstract

System and method for providing remotely guided physical treatment are disclosed. A computing device is communicably coupled to a therapeutic robot and a remote guidance device. The computing device receives full-body images of a treatment subject. The computing device generates a plurality of key physical points for the treatment subject by identifying a three-dimensional human body template that corresponds to the shape and posture parameters of the treatment subject and fitting the identified first three-dimensional human body template to the full-body images of the treatment subject. The fitting causes adjustments to locations of the corresponding set of key physical points of the first three-dimensional human body template. The adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template are provided to the guidance device as basis for a treatment procedure that is specified by the treatment guidance provider during the physical treatment session.

First claim

What is claimed is:

1. A method, comprising:
at a computing device having one or more processors and memory, wherein the computing device is communicably coupled to a therapeutic robot:
receiving one or more full-body images of a treatment subject;
generating a plurality of key physical points for a treatment subject, including:
determining a plurality of shape parameters and posture parameters of the treatment subject from the one or more full-body images of the treatment subject;
identifying a first three-dimensional human body template that corresponds to the plurality of shape parameters and posture parameters of the treatment subject, wherein the first three-dimensional human body template has a corresponding set of key physical points; and
fitting the identified first three-dimensional human body template to the one or more full-body images of the treatment subject, wherein the fitting causes adjustments to locations of at least one of the corresponding set of key physical points of the first three-dimensional human body template;

providing the adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template to a guidance device during a physical treatment session of the treatment subject; and

during performance of a treatment procedure on the treatment subject by the therapeutic robot:
receiving sensor data from a plurality of sensors collocated with the treatment subject;
correlating the sensor data based on time; and
automatically adjusting one or more treatment parameters in accordance with the correlated sensor data.

2. The method of claim 1 , including:
during performance of a treatment procedure on the treatment subject by the therapeutic robot:
receiving additional full-body images of the treatment subject;
detecting movement of the treatment subject made during the treatment procedure based on the additional full-body images of the treatment subject; and
in response to detecting movement of the treatment subject made during the treatment procedure,
re-fitting the identified first three-dimensional human body template to the additional full-body images of the treatment subject, wherein the re-fitting results in additional adjustments to locations of at least one of the corresponding set of key physical points of the first three-dimensional human body template; and
providing the additionally adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template to the guidance device during the treatment session.

3. The method of claim 1 , including:
after providing the adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template to the guidance device, receiving user input from the guidance device that is collocated with a treatment guidance provider, wherein the user input further modifies the adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template; and
providing a modified basis for a treatment procedure that is performed during the treatment session to the therapeutic robot, in accordance with the user input.

4. The method of claim 1 , including:
detecting a first movement input via a first input device, wherein a location of the first movement input corresponds to movement across a first surface portion of the treatment subject;
performing haptic rendering of the first surface portion of the treatment subject in response to the first movement input; and
providing haptic feedback to a treatment guidance provider via the first input device, wherein the haptic feedback constrains the first movement input in accordance with a contour of the first surface portion of the treatment subject, and wherein the haptic feedback simulates one or more surface characteristics of the first surface portion of the treatment subject.

5. The method of claim 1 , including:
during performance of a treatment procedure on the treatment subject by the therapeutic robot:
receiving a command from the guidance device to directly control the therapeutic robot; and
in response to receiving the command from the guidance device, interrupting performance of the treatment procedure on the treatment subject by the therapeutic robot.

6. The method of claim 5 , including:
after interrupting the performance of the treatment procedure on the treatment subject by the therapeutic robot:
receiving direct manipulation commands from the guidance device, including one or more movement inputs received from a first input device; and
in response to receiving the direct manipulation commands from the guidance device, performing movements using the therapeutic robot in accordance with movement parameter and force parameters of the one or more movement inputs.

7. A computing device, comprising:
one or more processors; and
memory storing instructions, wherein:
the computing device is communicably coupled to a therapeutic robot; and
the instructions, when executed by the one or more processors, cause the processors to perform operations comprising:
receiving one or more full-body images of the treatment subject;
generating a plurality of key physical points for a treatment subject, including:
determining a plurality of shape parameters and posture parameters of the treatment subject from the one or more full-body images of the treatment subject;
identifying a first three-dimensional human body template that corresponds to the plurality of shape parameters and posture parameters of the treatment subject, wherein the first three-dimensional human body template has a corresponding set of key physical points; and
fitting the identified first three-dimensional human body template to the one or more full-body images of the treatment subject, wherein the fitting causes adjustments to locations of at least one of the corresponding set of key physical points of the first three-dimensional human body template;

providing the adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template to a guidance device during a physical treatment session of the treatment subject; and

during performance of a treatment procedure on the treatment subject by the therapeutic robot:
receiving sensor data from a plurality of sensors collocated with the treatment subject;
correlating the sensor data based on time; and
automatically adjusting one or more treatment parameters in accordance with the correlated sensor data.

8. The computing device of claim 7 , wherein the operations include:
during performance of a treatment procedure on the treatment subject by the therapeutic robot:
receiving additional full-body images of the treatment subject;
detecting movement of the treatment subject made during the treatment procedure based on the additional full-body images of the treatment subject; and
in response to detecting movement of the treatment subject made during the treatment procedure:
re-fitting the identified first three-dimensional human body template to the additional full-body images of the treatment subject, wherein the re-fitting results in additional adjustments to locations of at least one of the corresponding set of key physical points of the first three-dimensional human body template; and
providing the additionally adjusted locations of the corresponding set of key physical points of the first three-dimensional human body template to the guidance device during the treatment session.

9. The computing device of claim 7 , wherein the operations include:
after providing the adjusted locations of the corresponding set of key physical points of th

Assignees

• Midea Group Co Ltd

Inventors

• Tian Yuan
• Mani Suresh

Classifications

• A61H2201/5097

  wireless · CPC title

• A61H39/02 Primary

  Devices for locating such points · CPC title

• A61H2201/10

  with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• A61H2201/5082

  Temperature sensors · CPC title