Patents by Inventor Mingyen Ho
Mingyen Ho 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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Publication number: 20230302658Abstract: A robotic system includes control circuitry communicatively coupled to a robotic manipulator and configured to cause actuation of one or more actuators of the robotic manipulator. The control circuitry is configured to determine a manual force on the robotic manipulator, and control actuation of the one or more actuators of the robotic manipulator based at least in part on the manual force.Type: ApplicationFiled: May 30, 2023Publication date: September 28, 2023Inventors: Kurt Christopher Meyer, Shu-Yun Chung, Mingyen Ho
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Patent number: 11701783Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.Type: GrantFiled: October 4, 2019Date of Patent: July 18, 2023Assignee: Auris Health, Inc.Inventors: Kurt Christopher Meyer, Shu-Yun Chung, Mingyen Ho
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Publication number: 20230202040Abstract: A robotic system includes a medical instrument comprising an elongate shaft dimensioned to be disposed at least partially within an access sheath and control circuitry configured to cause the elongate shaft to be retracted at least partially within the access sheath, determine a position of a distal end of the elongate shaft relative to the access sheath, and modify a speed of retraction of the elongate shaft based on the determined position of the distal end of the elongate shaft relative to the access sheath.Type: ApplicationFiled: November 15, 2022Publication date: June 29, 2023Inventors: Jiayi LIN, Chauncey F. GRAETZEL, Vivian ARALIS, Aadel AL JADDA, Mingyen HO
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Publication number: 20230146311Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.Type: ApplicationFiled: November 14, 2022Publication date: May 11, 2023Applicant: Auris Health, Inc.Inventors: Mingyen Ho, Chauncey F. Graetzel, Adrian Hairrell
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Publication number: 20230117715Abstract: Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.Type: ApplicationFiled: October 10, 2022Publication date: April 20, 2023Applicant: Auris Health, Inc.Inventors: Mingyen Ho, David Paul Noonan, Shu-Yun Chung, Allen Jiang
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Patent number: 11497568Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.Type: GrantFiled: August 11, 2020Date of Patent: November 15, 2022Assignee: Auris Health, Inc.Inventors: Mingyen Ho, Chauncey F. Graetzel, Adrian Hairrell
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Patent number: 11472030Abstract: Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.Type: GrantFiled: October 31, 2019Date of Patent: October 18, 2022Assignee: Auris Health, Inc.Inventors: Mingyen Ho, David Paul Noonan, Shu-Yun Chung, Allen Jiang
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Publication number: 20220096183Abstract: Techniques relate to aligning one or more robotic arms of a robotic system to one or more alignment positions. For example, resistance for manual movement of a robotic arm can be set based on a direction of movement of a distal end of the robotic arm with respect to one or more alignment positions. The robotic arm can provide a first amount of resistance for manual movement in a direction closer to the one or more alignment positions and to provide a second amount of resistance for manual movement in a direction away from the one or more alignment positions. In some instances, the robotic arm can be automatically moved to the one or more alignment positions when the robotic arm is within a distance to the one or more alignment positions.Type: ApplicationFiled: September 24, 2021Publication date: March 31, 2022Inventor: Mingyen HO
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Publication number: 20220061941Abstract: Techniques relate to determining a region associated with an object to assist in controlling a robotic arm. For example, a system can determine that the robotic arm is positioned adjacent to an object within an environment. The system can determine a region in the environment that is associated with the object based at least in part on a position of a distal end of the robotic arm. The system can control the robotic arm or another robotic arm to move in the environment based at least in part on the region.Type: ApplicationFiled: September 1, 2021Publication date: March 3, 2022Inventor: Mingyen Ho
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Publication number: 20200367981Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.Type: ApplicationFiled: August 11, 2020Publication date: November 26, 2020Inventors: Mingyen Ho, Chauncey F. Graetzel, Adrian Hairrell
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Patent number: 10765487Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.Type: GrantFiled: September 27, 2019Date of Patent: September 8, 2020Assignee: Auris Health, Inc.Inventors: Mingyen Ho, Chauncey F. Graetzel, Adrian Hairrell
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Publication number: 20200171660Abstract: Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.Type: ApplicationFiled: October 31, 2019Publication date: June 4, 2020Inventors: Mingyen Ho, David Paul Noonan, Shu-Yun Chung, Allen Jiang
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Publication number: 20200100853Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.Type: ApplicationFiled: September 27, 2019Publication date: April 2, 2020Inventors: Mingyen Ho, Chauncey F. Graetzel, Adrian Hairrell
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Publication number: 20200039086Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.Type: ApplicationFiled: October 4, 2019Publication date: February 6, 2020Inventors: Kurt Christopher Meyer, Shu-Yun Chung, Mingyen Ho
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Patent number: 10464209Abstract: Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.Type: GrantFiled: September 25, 2018Date of Patent: November 5, 2019Assignee: Auris Health, Inc.Inventors: Mingyen Ho, David Paul Noonan, Shu-Yun Chung, Allen Jiang
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Patent number: 10434660Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.Type: GrantFiled: June 18, 2018Date of Patent: October 8, 2019Assignee: Auris Health, Inc.Inventors: Kurt Christopher Meyer, Shu-Yun Chung, Mingyen Ho
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Publication number: 20190105776Abstract: Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.Type: ApplicationFiled: September 25, 2018Publication date: April 11, 2019Inventors: Mingyen Ho, David Paul Noonan, Shu-Yun Chung, Allen Jiang
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Publication number: 20190105785Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.Type: ApplicationFiled: June 18, 2018Publication date: April 11, 2019Inventors: Kurt Christopher Meyer, Shu-Yun Chung, Mingyen Ho
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Patent number: 10016900Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.Type: GrantFiled: October 10, 2017Date of Patent: July 10, 2018Assignee: Auris Health, Inc.Inventors: Kurt Christopher Meyer, Shu-Yun Chung, Mingyen Ho