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: 20220192771
    Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.
    Type: Application
    Filed: March 4, 2022
    Publication date: June 23, 2022
    Inventors: Haoran YU, Pablo Eduardo GARCIA KILROY, Bernard Fai Kin SIU, Eric Mark JOHNSON
  • Publication number: 20220142724
    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: January 13, 2022
    Publication date: May 12, 2022
    Inventor: Haoran YU
  • Publication number: 20220101745
    Abstract: A virtual reality system may generate a virtual robotic surgical environment using a client application, where the virtual robotic surgical environment includes at least one virtual robotic component. In response to a user input to move the at least one virtual robotic component in the virtual robotic surgical environment, the system may pass status information regarding the at least one virtual robotic component from the client application to a server application, generate an actuation command based on the user input and the status information using the server application, pass the actuation command from the server application to the client application, and move the at least one virtual robotic component based on the actuation command.
    Type: Application
    Filed: December 9, 2021
    Publication date: March 31, 2022
    Inventors: Haoran YU, Pablo Eduardo GARCIA KILROY, Bernard Fai Kin SIU, Eric Mark JOHNSON
  • Patent number: 11284955
    Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: March 29, 2022
    Assignee: VERB SURGICAL INC.
    Inventors: Haoran Yu, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Eric Mark Johnson
  • Patent number: 11281247
    Abstract: A front-end module comprises a low-dropout (LDO) voltage regulator, a reference current generator, a power amplifier, and a voltage reference configured to provide a reference voltage to the LDO voltage regulator and the reference current generator. The LDO voltage regulator, reference current generator, power amplifier, and voltage reference are integrated on a first semiconductor die.
    Type: Grant
    Filed: February 26, 2020
    Date of Patent: March 22, 2022
    Assignee: Skyworks Solutions, Inc.
    Inventors: Bang Li Liang, Yasser Khairat Soliman, Adrian John Bergsma, Haoran Yu, Hassan Sarbishaei
  • Patent number: 11270601
    Abstract: A virtual reality system may generate a virtual robotic surgical environment using a client application, where the virtual robotic surgical environment includes at least one virtual robotic component. In response to a user input to move the at least one virtual robotic component in the virtual robotic surgical environment, the system may pass status information regarding the at least one virtual robotic component from the client application to a server application, generate an actuation command based on the user input and the status information using the server application, pass the actuation command from the server application to the client application, and move the at least one virtual robotic component based on the actuation command. The client application and the server application may be run on a shared processor device, or on separate processor devices.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: March 8, 2022
    Assignee: VERB SURGICAL INC.
    Inventors: Haoran Yu, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Eric Mark Johnson
  • Publication number: 20220061936
    Abstract: An endoscope is controlled by a surgical robotic system. A user input with six degrees of freedom maps to control of an endoscope by a robotic arm having a fewer number of degrees of freedom. For example, untethered user interface devices control motion of an endoscope through a series of projections from user command, to endoscope motion, and to joint motion of the robotic arm. The projection from user command to endoscope motion may project a singular angular motion from three angular motions of the user interface devices. The projection may account for the remote center of motion and/or an angular orientation of the view of the endoscope relative to a shaft of the endoscope.
    Type: Application
    Filed: August 27, 2020
    Publication date: March 3, 2022
    Inventors: RENBIN ZHOU, SEUNGKOOK YUN, HAORAN YU, ELLEN KLINGBEIL, APOORV SHRIVASTAVA
  • Patent number: 11229494
    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: Grant
    Filed: October 24, 2019
    Date of Patent: January 25, 2022
    Assignee: VERB SURGICAL INC.
    Inventor: Haoran Yu
  • Publication number: 20220006292
    Abstract: A power system dispatching method considering voltage sensitive load reserve is provided, with which a power system dispatching model constituted by a ground state operating point model of the power system, an evaluation model of the voltage sensitive load regulation range and an optimization objective of power system dispatch is established, by solving the power system dispatching model, a power system dispatching solution considering voltage sensitive load reserve is obtained.
    Type: Application
    Filed: May 27, 2021
    Publication date: January 6, 2022
    Inventors: Bin WANG, Haoran YU, Hongbin SUN, Zijin LI, Qinglai GUO, Cunping WANG, Zhaoguang PAN, Yifan SONG, Xingtao TIAN
  • Publication number: 20210378769
    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: June 9, 2020
    Publication date: December 9, 2021
    Inventors: RENBIN ZHOU, HAORAN YU, SEUNGKOOK Nia YUN, ELLEN KLINGBEIL, APOORV SHRIVASTAVA
  • Publication number: 20210321855
    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: June 29, 2021
    Publication date: October 21, 2021
    Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
  • Publication number: 20210304637
    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: April 2, 2021
    Publication date: September 30, 2021
    Inventors: Pablo Eduardo Garcia Kilroy, Eric Mark Johnson, Bernard Fai Kin Siu, Haoran Yu
  • Publication number: 20210293842
    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: Application
    Filed: March 17, 2021
    Publication date: September 23, 2021
    Inventors: Vishal VERMA, Haoran YU, Joseph PUTHUSSERY
  • Patent number: 11071441
    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: April 20, 2018
    Date of Patent: July 27, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
  • Publication number: 20210218373
    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: December 29, 2020
    Publication date: July 15, 2021
    Inventors: Sanjeev Jain, Haoran Yu, Nan Sen Lin, Gregory Edward Babcock, Kai Jiang, Hassan Sarbishaei
  • Patent number: 11013559
    Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table.
    Type: Grant
    Filed: February 24, 2020
    Date of Patent: May 25, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Eric Mark Johnson, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Haoran Yu
  • Patent number: 11011077
    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: Grant
    Filed: June 26, 2018
    Date of Patent: May 18, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Pablo Eduardo Garcia Kilroy, Eric Mark Johnson, Bernard Fai Kin Siu, Haoran Yu
  • Publication number: 20210121257
    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: October 24, 2019
    Publication date: April 29, 2021
    Applicant: Verb Surgical Inc.
    Inventor: Haoran Yu
  • Publication number: 20210016445
    Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
    Type: Application
    Filed: October 1, 2020
    Publication date: January 21, 2021
    Inventors: Renbin Zhou, Haoran Yu, Sina Nia Kosari, Omar J. Vakharia, Bernard Fai Kin Siu, Alex Kiturkes
  • Publication number: 20200352663
    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: May 10, 2019
    Publication date: November 12, 2020
    Inventors: Ellen Klingbeil, Haoran Yu