Abstract: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.

Abstract: An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

Abstract: A method and apparatus are disclosed for preventing injury to an esophagus caused by heat or cold being delivered to the left atrium, the method including altering a heat exchange device from an insertable configuration to a heat exchanging configuration which has an inflated generally flattened cross section (e.g. capsule-shaped, elliptical) corresponding with the cross section of the inside of the esophagus such that the esophagus is maintained in its natural shape and location. In some embodiments the heat exchange device has a heat exchanger which is inflated to be in the heat exchanging configuration.

Abstract: A method and apparatus are disclosed for regulating a temperature of an esophagus when heat or cold is delivered to a left atrium, the method including altering a heat exchange device from an insertable configuration to a heat exchanging configuration which conforms and corresponds with a cross-section of an inside of the esophagus such that the esophagus is maintained in its natural shape and location. In some embodiments the heat exchange device has a heating/cooling balloon which is inflated to be in the heat exchanging configuration. Some alternative embodiments includes altering the configuration of the balloon to conform to or correspond with the cross section of an esophagus by means other than inflation.

Abstract: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.

Abstract: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.

Abstract: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device.

Abstract: An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

Abstract: A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.

Abstract: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device.

Abstract: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device.

Abstract: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device.

Abstract: A process for the modification of a substrate comprising passing the substrate through a packed bed column of a specific volume of immobilized enzyme wherein the substrate enters the column at or near one end of the column (the ‘inlet end’) and the modified substrate exits at or near the opposite end of the column (the ‘outlet end’), a portion of the volume of immobilized enzyme is periodically removed at or near to the inlet end of the column, and an equivalent portion of immobilized enzyme is periodically added at or near to the outlet end of the column.

Abstract: A process for the modification of a substrate comprising passing the substrate through a packed bed column of a specific volume of immobilized enzyme wherein the substrate enters the column at or near one end of the column (the ‘inlet end’) and the modified substrate exits at or near the opposite end of the column (the ‘outlet end’), a portion of the volume of immobilized enzyme is periodically removed at or near to the inlet end of the column, and an equivalent portion of immobilized enzyme is periodically added at or near to the outlet end of the column.

Abstract: A self warming mask is disclosed. The self warming mask includes a facing layer configured to cover at least a portion of a person's face. Attached to the facing layer is at least one thermal delivery pad. The thermal delivery pad contains an exothermic composition. Once the mask is removed from a sealed package, air contacts the thermal delivery pad causing the mask to elevate in temperature . The thermal delivery pad can be constructed so that the rise of temperature and the length of time the mask remains heated is carefully controlled. The mask product can be used in combination with a fragrance or vapor delivery device for also releasing a fragrance, a vapor, or both as the mask is heated. In one embodiment, the fragrance or vapor delivery device can be attached and removed to the mask as a user desires.

Abstract: In a dispensing system and process for dispensing a warm wet wipe, a wet has an aqueous solution and microencapsulated delivery vehicles including a temperature change agent capable of generating a temperature change upon contact with the aqueous solution. An activating device facilitates rupturing of the microencapsulated delivery vehicles as the wet wipe is removed from a wet wipe container to allow contact between the temperature change agent and the aqueous solution of the wet wipe to thereby dispense a warm wet wipe. In another embodiment the wet wipe in the container has an aqueous solution. A lotion having the microencapsulated delivery vehicles is disposed in a lotion container free from contact with the wet wipe. An applicator in communication with the lotion is operable to apply the lotion to the wet wipe while the wet wipe is disposed at least in part within the wet wipe container.

Abstract: In a dispensing system for dispensing wet wipes, a wet wipe has an aqueous solution and microencapsulated delivery vehicles including a temperature agent, and is disposed in a wet wipe container. A cartridge is held in assembly with the wet wipe container and has an activating device that facilitates rupturing of the microencapsulated delivery vehicles as the wet wipe is removed from the dispensing system to allow contact between the temperature change agent and the aqueous solution of the wet wipe to thereby dispense a warm or cooled wet wipe. In another embodiment, the wet wipe has an aqueous solution and a lotion having the microencapsulated heat delivery vehicles disposed in the cartridge free from contact with the wet wipe. The cartridge also has an applicator that is operable to apply the lotion to the wet wipe as the wet wipe is removed from the wet wipe container.

Abstract: A self warming mask is disclosed. The self warming mask includes a facing layer configured to cover at least a portion of a person's face. Attached to the facing layer is at least one thermal delivery pad. The thermal delivery pad contains an exothermic composition. Once the mask is removed from a sealed package, air contacts the thermal delivery pad causing the mask to elevate in temperature. The thermal delivery pad can be constructed so that the rise of temperature and the length of time the mask remains heated is carefully controlled. The mask product can be used in combination with a fragrance or vapor delivery device for also releasing a fragrance, a vapor, or both as the mask is heated. In one embodiment, the fragrance or vapor delivery device can be attached and removed to the mask as a user desires.

Abstract: In a dispensing system and process for dispensing a warm wet wipe, a wet has an aqueous solution and microencapsulated delivery vehicles including a temperature change agent capable of generating a temperature change upon contact with the aqueous solution. An activating device facilitates rupturing of the microencapsulated delivery vehicles as the wet wipe is removed from a wet wipe container to allow contact between the temperature change agent and the aqueous solution of the wet wipe to thereby dispense a warm wet wipe. In another embodiment the wet wipe in the container has an aqueous solution. A lotion having the microencapsulated delivery vehicles is disposed in a lotion container free from contact with the wet wipe. An applicator in communication with the lotion is operable to apply the lotion to the wet wipe while the wet wipe is disposed at least in part within the wet wipe container.