Patents by Inventor Fabrizio Santini
Fabrizio Santini has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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SYSTEMS AND METHODS FOR CONTROLLING AND ENHANCING MOVEMENT OF A SURGICAL ROBOTIC UNIT DURING SURGERY
Publication number: 20230302646Abstract: A surgical robotic system and a method of controlling a location of one or more robotic arms in a constrained space are disclosed herein. In some embodiments, the robotic system includes a robotic unit having robotic arms. The system further includes a camera assembly to generate a view an anatomical structure of a patient. The system further includes a controller configured to or programmed to define a constriction area defining safe movement of the robotic arms. The method includes defining safe movement of the robotic arms with respect to the constriction area.Type: ApplicationFiled: March 24, 2023Publication date: September 28, 2023Inventors: Adam Sachs, Sammy Khalifa, Fabrizio Santini, Spencer K. Howe, Daniel Allis, Maeve Devlin, Brian Talbot -
Publication number: 20230064687Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: ApplicationFiled: October 3, 2022Publication date: March 2, 2023Inventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Publication number: 20220383531Abstract: A system and method for generating a depth map from image data in a surgical robotic system that employs a robotic subsystem having a camera assembly with first and second cameras for generating image data. The system and method generates based on the image data a plurality of depth maps, and then converts the plurality of depth maps into a single combined depth map having distance data associated therewith. The system and method can then control the camera assembly based on the distance data in the single combined depth map.Type: ApplicationFiled: August 5, 2022Publication date: December 1, 2022Inventors: Fabrizio Santini, Sammy Khalifa
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Publication number: 20220365493Abstract: Systems and methods are used to adapt the coefficients of a proportional-integral-derivative (PID) controller through reinforcement learning. The approach for adapting PID coefficients can include an outer loop of reinforcement learning where the PID coefficients are tuned to changes in the environment and an inner loop of PID control for quickly reacting to changing errors. The outer loop can learn and adapt as the environment changes and be configured to only run at a predetermined frequency, after a given number of steps. The outer loop can use summary statistics about the error terms and any other information sensed about the environment to calculate an observation. This observation can be used to evaluate the next action, for example, by feeding it into a neural network representing the policy. The resulting action is the coefficients of the PID controller and the tunable parameters of things such as the filters.Type: ApplicationFiled: May 7, 2021Publication date: November 17, 2022Inventors: Samuel Barrett, James MacGlashan, Varun Kompella, Peter Wurman, Goker Erdogan, Fabrizio Santini
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Patent number: 11465284Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: GrantFiled: April 15, 2020Date of Patent: October 11, 2022Assignee: iRobot CorporationInventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Patent number: 11382478Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: GrantFiled: October 23, 2020Date of Patent: July 12, 2022Assignee: iRobot CorporationInventor: Fabrizio Santini
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Publication number: 20210312258Abstract: A real-time temporal convolution network (RT-TCN) algorithm reuses the output of prior convolution operations in all layers of the network to minimize the computational requirements and memory footprint of a TCN during real-time evaluation. Further, a TCN trained via the fixed-window view, where the TCN is trained using fixed time splices of the input time series, can be executed in real-time continually using RT-TCN.Type: ApplicationFiled: August 20, 2020Publication date: October 7, 2021Inventors: Piyush Khandelwal, James MacGlashan, Peter Wurman, Fabrizio Santini
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Publication number: 20210052126Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: ApplicationFiled: October 23, 2020Publication date: February 25, 2021Inventor: Fabrizio Santini
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Publication number: 20210022579Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: ApplicationFiled: September 29, 2020Publication date: January 28, 2021Inventor: Fabrizio Santini
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Patent number: 10893788Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: GrantFiled: September 29, 2020Date of Patent: January 19, 2021Assignee: iRobot CorporationInventor: Fabrizio Santini
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Patent number: 10813518Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: GrantFiled: June 11, 2018Date of Patent: October 27, 2020Assignee: iRobot CorporationInventor: Fabrizio Santini
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Publication number: 20200238520Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: ApplicationFiled: April 15, 2020Publication date: July 30, 2020Inventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Patent number: 10639793Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: GrantFiled: October 30, 2017Date of Patent: May 5, 2020Assignee: iRobot CorporationInventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Publication number: 20180289231Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: ApplicationFiled: June 11, 2018Publication date: October 11, 2018Inventor: Fabrizio Santini
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Patent number: 9993129Abstract: Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.Type: GrantFiled: February 13, 2015Date of Patent: June 12, 2018Assignee: iRobot CorporationInventor: Fabrizio Santini
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Publication number: 20180065253Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: ApplicationFiled: October 30, 2017Publication date: March 8, 2018Inventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Patent number: 9868211Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: GrantFiled: April 9, 2015Date of Patent: January 16, 2018Assignee: iRobot CorporationInventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Publication number: 20160297072Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.Type: ApplicationFiled: April 9, 2015Publication date: October 13, 2016Inventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
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Patent number: RE48438Abstract: An accelerator system is implemented on an expansion card comprising a printed circuit board having (a) one or more graphics processing units (GPUs), (b) two or more associated memory banks (logically or physically partitioned), (c) a specialized controller, and (d) a local bus providing signal coupling compatible with the PCI industry standards. The controller handles most of the primitive operations to set up and control GPU computation. Thus, the computer's central processing unit (CPU) can be dedicated to other tasks. In this case a few controls (simulation start and stop signals from the CPU and the simulation completion signal back to CPU), GPU programs and input/output data are exchanged between CPU and the expansion card. Moreover, since on every time step of the simulation the results from the previous time step are used but not changed, the results are preferably transferred back to CPU in parallel with the computation.Type: GrantFiled: November 9, 2017Date of Patent: February 16, 2021Assignee: Neurala, Inc.Inventors: Anatoli Gorchetchnikov, Heather Marie Ames, Massimiliano Versace, Fabrizio Santini
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Patent number: RE49461Abstract: An accelerator system is implemented on an expansion card comprising a printed circuit board having (a) one or more graphics processing units (GPUs), (b) two or more associated memory banks (logically or physically partitioned), (c) a specialized controller, and (d) a local bus providing signal coupling compatible with the PCI industry standards. The controller handles most of the primitive operations to set up and control GPU computation. Thus, the computer's central processing unit (CPU) can be dedicated to other tasks. In this case a few controls (simulation start and stop signals from the CPU and the simulation completion signal back to CPU), GPU programs and input/output data are exchanged between CPU and the expansion card. Moreover, since on every time step of the simulation the results from the previous time step are used but not changed, the results are preferably transferred back to CPU in parallel with the computation.Type: GrantFiled: December 29, 2020Date of Patent: March 14, 2023Assignee: Neurala, Inc.Inventors: Anatoli Gorchetchnikov, Heather Marie Ames, Massimiliano Versace, Fabrizio Santini