Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

Abstract: A telemanipulatively controlled guide tube acts as a wrist mechanism for a surgical instrument that extends through the guide tube. The instrument may be removed and replaced with another instrument. In some aspects the instruments are commercial, off the shelf minimally invasive surgical instruments.

Abstract: A guide probe is telemanipulatively advanced past an intermediate tissue structure. The guide probe is locked in position and a guide tube is advanced over the guide probe. The guide tube is then locked in position, the guide probe is withdrawn, and a surgical instrument is inserted through the guide tube. In aspects of the invention, the guide tube and the surgical instrument are telemanipulatively controlled.

Abstract: A vacuum-actuated tissue lifting medical device for creating an operative space in a patient for a surgical procedure is disclosed. The device includes a housing having an opening for resting on a tissue surface of a patient. The housing defines an expansion space between the housing and the tissue surface for application of a negative pressure in the expansion space. A penetrator device located within the housing can penetrate into the tissue surface of the patient. A vacuum system is in fluid communication with the housing for creating a negative pressure in the expansion space for advancing the tissue surface onto the penetrator device such that an operative work space is created beneath the tissue surface. A regulator controls the negative pressure in the housing when (i) the negative pressure in the expansion space exceeds a value; (ii) the pressure in the operative work space exceeds a value; or (iii) a combination of (i) and (ii).

Abstract: A tissue perforation device and method. The device preferably includes a housing having a housing pass-through, a penetrator device securely and sealably positioned so that the penetrator device passes through the housing pass-through, and a vacuum system comprising a vacuum source securely and sealably attached through the housing for advancing a patient's tissue onto the penetrator device.

Abstract: A litter-free pet waste collection system providing a sanitary, easy to clean and aesthetically pleasing unit for receiving household pet waste without utilizing granular or pelleted litter, comprising a base, a diverting tray having a sloped bottom surface and an aperture therein for draining liquid waste, a perimeter wall section for containing waste, a support tray and grill lined with a permeable, non-absorbent material for supporting the animal in the unit while allowing liquid waste to flow through to the diverting tray, and a removable covered liquid waste receptacle housed in the base and aligned under the diverting tray aperture whereby liquid waste is easily disposed of and odor is effectively contained.

Abstract: An improved paper and the process of making an improved paper web is disclosed. The improved paper is characterized as having two regions; one is a network (or open grid) region and the other is a plurality of domes. At least a portion of either region of the paper web contains a bonding material that penetrates at least partially through the paper's thickness.