Patents by Inventor Haoran YU

Haoran YU 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).

  • Publication number: 20250143537
    Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.
    Type: Application
    Filed: September 12, 2024
    Publication date: May 8, 2025
    Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
  • Patent number: 12270821
    Abstract: Disclosed herein are instruments and related methods for measuring oxidative potential (OP) in airborne particulates, particularly PM2.5. The instrument is formed from three main components: a sample injector, a sample incubator and a measurement system. The instrument provides an automatic measure of five OP endpoints in a relatively rapid time frame of less than 3 hours. In this manner, additional parameters beyond the gross particle concentration or mass per unit volume is obtained, including the biologically-relevant OP associated with PM2.5.
    Type: Grant
    Filed: March 17, 2021
    Date of Patent: April 8, 2025
    Assignee: The Board of Trustees of the University of Illinois
    Inventors: Vishal Verma, Haoran Yu, Joseph Puthussery
  • Publication number: 20250107859
    Abstract: A surgical robotic system has a robotic grasper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic grasper. The system detects a directive to engage or re-engage a teleoperation mode, determines that the system is in a non-teleoperation mode, receives a sequence of user actions through the UID, determines the UID matches a jaw angle or a grip force of the robotic grasper, and transitions into teleoperation mode. Other embodiments are also described and claimed.
    Type: Application
    Filed: October 8, 2024
    Publication date: April 3, 2025
    Inventors: Ellen Klingbeil, Haoran Yu
  • Patent number: 12224508
    Abstract: Provided is a zero-clearance fifth-generation (5G) ultra-wideband (UWB) Multiple-Input Multiple-Output (MIMO) antenna, including a main dielectric substrate, lateral dielectric substrates, and multiple antenna elements, where the lateral dielectric substrates are arranged at two sides of the main dielectric substrate; the multiple antenna elements are arranged on the lateral dielectric substrates; the antenna elements each include a feeding element and a grounding radiator element; the feeding element is provided at an inner side of each of the lateral dielectric substrates; and the grounding radiator element is provided at an outer side of the lateral dielectric substrate.
    Type: Grant
    Filed: October 20, 2022
    Date of Patent: February 11, 2025
    Assignee: Anhui University
    Inventors: Lixia Yang, Zhanhao Zhang, Aidi Ren, Haoran Yu
  • Patent number: 12212294
    Abstract: Low noise amplifiers (LNAs) are disclosed herein. In certain embodiments, an LNA includes an input balun configured to convert a single-ended radio frequency (RF) receive signal to a differential RF receive signal, an amplifier chain configured to amplify the differential RF receive signal to generate a differential amplified RF receive signal, and an output balun configured to convert the differential amplified RF receive signal into a single-ended amplified RF receive signal. The LNA's amplifier chain is operable in multiple gain modes, and includes a first differential amplification stage, a second differential amplification stage, and a third differential amplification stage.
    Type: Grant
    Filed: July 28, 2022
    Date of Patent: January 28, 2025
    Assignee: Skyworks Solutions, Inc.
    Inventors: Sanjeev Jain, Haoran Yu, Nan Sen Lin, Hassan Sarbishaei
  • Patent number: 12184240
    Abstract: Low noise amplifiers (LNAs) with low noise figure are provided. In certain embodiments, an LNA includes a single-ended LNA stage including an input for receiving a single-ended input signal from an antenna and an output for providing a single-ended amplified signal, a balun for converting the single-ended amplified signal to a differential signal, and a variable gain differential amplification stage for amplifying the differential signal from the balun. Implementing the LNA in this manner provides low noise figure, high gain, flexibility in controlling gain, and less sensitivity to ground/supply impedance.
    Type: Grant
    Filed: January 26, 2024
    Date of Patent: December 31, 2024
    Assignee: Skyworks Solutions, Inc.
    Inventors: Sanjeev Jain, Haoran Yu, Nan Sen Lin, Gregory Edward Babcock, Kai Jiang, Hassan Sarbishaei
  • Publication number: 20240412861
    Abstract: For a scalable filtering infrastructure, a library of filters each usable at different control rates is provided by defining filters in a continuous time mode despite eventual use for digital filtering. For implementation, a filter is selected and discretized for the desired control rate. The discretized filter is then deployed as a discrete time realization for convolution. In a distributed system with multiple control rates, the library may be used to more rapidly and conveniently generate the desired filters.
    Type: Application
    Filed: June 24, 2024
    Publication date: December 12, 2024
    Inventors: Apoorv Shrivastava, Haoran Yu, Renbin Zhou, H. Tutkun Sen, Alireza Hariri
  • Patent number: 12150725
    Abstract: A surgical robotic system has a robotic grasper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic grasper. The system detects a directive to engage or re-engage a teleoperation mode, determines that the system is in a non-teleoperation mode, receives a sequence of user actions through the UID, determines the UID matches a jaw angle or a grip force of the robotic grasper, and transitions into teleoperation mode. Other embodiments are also described and claimed.
    Type: Grant
    Filed: October 7, 2022
    Date of Patent: November 26, 2024
    Assignee: Verb Surgical Inc.
    Inventors: Ellen Klingbeil, Haoran Yu
  • Publication number: 20240382277
    Abstract: For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.
    Type: Application
    Filed: July 26, 2024
    Publication date: November 21, 2024
    Inventors: APOORV SHRIVASTAVA, RENBIN ZHOU, HAORAN YU, SEUNGKOOK YUN, ELLEN KLINGBEIL
  • Patent number: 12102285
    Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.
    Type: Grant
    Filed: March 15, 2023
    Date of Patent: October 1, 2024
    Assignee: Verb Surgical Inc.
    Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
  • Publication number: 20240307138
    Abstract: For teleoperation of a surgical robotic system, the user command for the pose of the end effector is projected into a subspace reachable by the end effector. For example, a user command with six DOF is projected to a five DOF subspace. The six DOF user interface device may be used to more intuitively control, based on the projection, the end effector with the limited DOF relative to the user interface device.
    Type: Application
    Filed: May 29, 2024
    Publication date: September 19, 2024
    Inventors: ELLEN KLINGBEIL, RENBIN ZHOU, HAORAN YU
  • Patent number: 12076099
    Abstract: For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.
    Type: Grant
    Filed: July 6, 2021
    Date of Patent: September 3, 2024
    Assignee: Verb Surgical Inc.
    Inventors: Apoorv Shrivastava, Renbin Zhou, Haoran Yu, Seungkook Yun, Ellen Klingbeil
  • Publication number: 20240285361
    Abstract: Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.
    Type: Application
    Filed: May 6, 2024
    Publication date: August 29, 2024
    Inventors: RENBIN ZHOU, HAORAN YU, SEUNGKOOK YUN, ELLEN KLINGBEIL, APOORV SHRIVASTAVA
  • Publication number: 20240245477
    Abstract: A surgical robotic system has a surgical robotic arm, and a programmed processor that determines a longest principal axis of a velocity ellipsoid for a first configuration of the arm, applies a maximum task space velocity (that is in the direction of the longest principal axis) to an inverse kinematics equation which computes a potential joint space velocity, computes a ratio of i) the potential joint space velocity and ii) a joint space velocity limit of the arm, and applies the ratio to an initial joint space velocity, to produce a regulated joint space velocity. Other aspects are also described and claimed.
    Type: Application
    Filed: February 13, 2024
    Publication date: July 25, 2024
    Inventor: Haoran YU
  • Patent number: 12046363
    Abstract: For a scalable filtering infrastructure, a library of filters each usable at different control rates is provided by defining filters in a continuous time mode despite eventual use for digital filtering. For implementation, a filter is selected and discretized for the desired control rate. The discretized filter is then deployed as a discrete time realization for convolution. In a distributed system with multiple control rates, the library may be used to more rapidly and conveniently generate the desired filters.
    Type: Grant
    Filed: July 2, 2021
    Date of Patent: July 23, 2024
    Assignee: Verb Surgical Inc.
    Inventors: Apoorv Shrivastava, Haoran Yu, Renbin Zhou, H. Tutkun Sen, Alireza Hariri
  • Patent number: 12027783
    Abstract: A multi-loop resonance structure and a multiple-input and multiple-output (MIMO) antenna communication system. The multi-loop resonance structure includes a metal floor, a first feed branch plate, and a first metal patch, where the metal floor is disposed on a lower surface of the first dielectric substrate, and the metal floor is provided with a resonant-tank set; the first feed branch plate is disposed in parallel on an upper surface of the first dielectric substrate, and a first straight plate in the first feed branch plate is disposed opposite to the resonant-tank set along a substrate line; an end, in the first feed branch plate, far away from the substrate line is connected to the metal floor; and the first metal patch is connected to the metal floor through the first dielectric substrate along a first surface, in the second dielectric substrate, perpendicular to the first dielectric substrate.
    Type: Grant
    Filed: March 4, 2022
    Date of Patent: July 2, 2024
    Assignee: Anhui University
    Inventors: Lixia Yang, Haoran Yu, Aidi Ren, Zhanhao Zhang
  • Patent number: 12023117
    Abstract: For teleoperation of a surgical robotic system, the user command for the pose of the end effector is projected into a subspace reachable by the end effector. For example, a user command with six DOF is projected to a five DOF subspace. The six DOF user interface device may be used to more intuitively control, based on the projection, the end effector with the limited DOF relative to the user interface device.
    Type: Grant
    Filed: July 6, 2021
    Date of Patent: July 2, 2024
    Assignee: Verb Surgical Inc.
    Inventors: Ellen Klingbeil, Renbin Zhou, Haoran Yu
  • Publication number: 20240207001
    Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.
    Type: Application
    Filed: February 6, 2024
    Publication date: June 27, 2024
    Inventors: Haoran Yu, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Eric Mark Johnson
  • Patent number: 12004829
    Abstract: Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.
    Type: Grant
    Filed: June 9, 2020
    Date of Patent: June 11, 2024
    Assignee: Verb Surgical Inc.
    Inventors: Renbin Zhou, Haoran Yu, Seungkook Nia Yun, Ellen Klingbeil, Apoorv Shrivastava
  • Publication number: 20240171128
    Abstract: Low noise amplifiers (LNAs) with low noise figure are provided. In certain embodiments, an LNA includes a single-ended LNA stage including an input for receiving a single-ended input signal from an antenna and an output for providing a single-ended amplified signal, a balun for converting the single-ended amplified signal to a differential signal, and a variable gain differential amplification stage for amplifying the differential signal from the balun. Implementing the LNA in this manner provides low noise figure, high gain, flexibility in controlling gain, and less sensitivity to ground/supply impedance.
    Type: Application
    Filed: January 26, 2024
    Publication date: May 23, 2024
    Inventors: Sanjeev Jain, Haoran Yu, Nan Sen Lin, Gregory Edward Babcock, Kai Jiang, Hassan Sarbishaei