Robotic ventilation system for correct mask placement

1 . 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.

2 . 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.

3 . The system of claim 1 , wherein following movement of the face of the user, the system is configured to move the position of the arm so as to maintain an appropriate position with respect to the user's face.

4 . The system of claim 1 , wherein following movement of the face of the user, the arm is configured to change the contact force to maintain an appropriate contact force against the user's face.

5 . The system of claim 1 , wherein following a failure of the system to maintain the arm at both an appropriate contact force and an appropriate position, the system is configured to retract the arm so as to move the mask away from the face of the user.

6 . The system of claim 5 , wherein the system is configured, following retraction of the arm, to go into a mode in which the system awaits entry by the user into a requisite sleep state.

7 . The system of claim 6 , wherein upon entry by the user into the requisite sleep state, the system moves the arm toward the face of the user.

8 . The system of claim 2 , wherein the appropriate contact force and the appropriate position create a contact engagement between the mask and the face of the user.

9 . The system of claim 2 , wherein the system is configured to change the pose of the mask based on one or more of the image data, lapse of a predetermined period of time, and an estimated sleep state of the user.

10 . The system of claim 9 , wherein the predetermined period of time represents an indication by the user to the system that the user is going to sleep after the predetermined period of time.

11 . The system of claim 10 , wherein the system places the mask on the face of the user after the predetermined period of time has lapsed.

12 . The system of claim 9 , 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.

13 . The system of claim 12 , wherein the system transitions from the sleep state to an approach state if the system determines that 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.

14 . The system of claim 9 , 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.

15 . 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.

16 . 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.

17 . 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.

18 . The system of claim 16 , wherein following movement of the face of the user, the arm is configured to do one or more of move its location and change the contact force to maintain one or more of an appropriate contact force against the user's face and an appropriate position with respect to the user's face.

19 . The system of claim 16 , wherein following movement of the face of the user, the arm is configured to do one or more of move its location and change the contact force to maintain both an appropriate contact force against the user's face and an appropriate position with respect to the user's face.

20 . The system of claim 16 , wherein following a failure of the system to maintain both an appropriate contact force and an appropriate position, the system is configured to retract the arm so as to move the mask away from the face of the user.

21 . The system of claim 20 , wherein the system is configured, following retraction of the arm, to go into a mode in which the system awaits entry by the user into a requisite sleep state.

22 . The system of claim 21 , wherein upon entry by the user into the requisite sleep state, the system moves the arm toward the face of the user.

23 . The system of claim 16 , wherein the appropriate contact force and the appropriate position create a contact engagement between the mask and the face of the user.

24 . The system of claim 16 , wherein the controller is configured to change the pose of the mask based on one or more of the image data, lapse of a predetermined period of time, and an estimated sleep state of the user.

25 . The system of claim 24 , wherein the predetermined period of time represents an indication by the user to the system that the user is going to sleep after the predetermined period of time.

26 . The system of claim 25 , wherein the system places the mask on the face of the user after the predetermined period of time has lapsed.

27 . The system of claim 24 , 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.

28 . The system of claim 27 , wherein the system transitions from the sleep state to an approach state if the system determines that 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.

29 . The system of claim 27 , 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.

30 . 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.