Abstract: A method is disclosed where one or more biological stains are applied to living tissue displaying, or suspected of having cells, or parts of the tissue which are diseased, metaplasic, or otherwise abnormal, including but not limited to lesions which may be thought pre-cancerous or cancerous. The stained tissue is then analyzed, in situ, by reflectance spectroscopy, the results of which are then compared to a digital library of reflectance spectrums of such tissue that have been previously diagnosed by conventional histochemical techniques. The method is further disclosed as a means to monitor the progress of photodynamic therapy using the same biological stains as specific photosensitizers.

Abstract: The invention relates to a cleaning apparatus comprising a cleaning device placed on a first side of the apparatus to perform a cleaning apparatus perpendicular to the general direction of advance of the apparatus. The apparatus could also include a second lateral cleaning device located on a side opposite the first side of the apparatus, to perform, simultaneously with the first cleaning device, the desired cleaning operation perpendicular to the general direction of advance of the apparatus, so as to be able to complete the entire cleaning operation without it being necessary for the apparatus to proceed along a wall.

Abstract: A mobile cleaning apparatus device automatically follows guides such as walls or other obstacles, by engaging the guides with element and controlling the steering of the apparatus in response to the level of forces sensed by the detector.