Abstract: A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.

Abstract: A handle assembly for use in the deployment of a medical device via a plurality of deployment lines that extend through a catheter. The handle assembly includes a plurality of removable members for deployment or actuation of the medical device. The handle assembly also includes an actuating mechanism for displacing a wire extending through the catheter for actuating the medical device independently of the plurality of removable members.

Abstract: Embodiments of the present invention may allow each of the surgical steps of a surgical procedure to be defined and associated with a function of the surgical console using a GUI. The defined surgical procedure can then be saved and later invoked by a user of the surgical console to conduct the surgical procedure. When the saved surgical procedure is invoked representations of the defined surgical steps are displayed to the user using a GUI so the user can conduct the surgical procedure by navigating through the representations of the surgical steps such that when a representation of a surgical step is selected the surgical console is configured according to the functionality associated with that surgical step.

Abstract: Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.

Abstract: A device and method for preventing and treating bedsores on a lying patient. The device uses both a fan and a UV light source. The fan dries the skin while the UV light source aids in drying the patient as well as killing harmful pathogens. The device is adjustable so the air and UV light can be directed at various angles and from different heights, to a patient in different positions, prone, supine, and laying on side.

Abstract: A device and method for providing stimulation signals that reset the phase of the neuronal activity of neurons in a patient's brain. The device includes a control unit; and a stimulation unit that has a plurality of stimulation elements, and each stimulation element generates visual stimulation signals that reset the phase of the neuronal activity of the neurons when the signals are taken up via an eye of a patient and transmitted to neurons that are exhibiting a pathologically synchronous and oscillatory neuronal activity. The control unit is further capable of actuating the stimulation unit such that the stimulation elements generate the visual stimulation signals with a time offset in respect to one another and/or with differing phase and/or with differing polarity.

Abstract: Systems and methods to treat a region of a cornea of an eye having an epithelial layer disposed over a stromal layer. The system comprises a device to map a thickness of the epithelial layer over the region of the cornea to generate a map of epithelial thickness over the region, and a laser to generate a laser beam of an ablative radiation. A movable scan component is coupled to the laser to scan the laser beam over the region. A processor system is coupled to the laser and the movable scan component, and the processor system is configured to arrange pulses of laser beam to ablate the epithelial layer of the region in response to the map of epithelial thickness.

Abstract: In one embodiment of the invention, an apparatus is provided including a linkage and a balancing mechanism coupled to the linkage around a pivotal joint. The linkage couples to a support structure at a first end and support a weight applied to a second end. The balancing mechanism counter balances the weight applied to the second end of the linkage. As the linkage is deformed to vertically adjust the height of the weight with a different moment arm length, the balancing mechanism varies a cable path length to modify the compression of a spring and a tension in a cable to adjust the amount of counter balance force applied to the linkage.

Abstract: A laser catheter with a pressure sensor is provided according to embodiments of the invention. The pressure sensor may be coupled with the distal end of the laser catheter and may comprise any of various piezoelectric materials, for example Polyvinylidene Difluoride (PVDF). In various embodiments of the invention the pressure sensor is configured to detect pressure longitudinally and coaxially. The pressure sensor may provide an electric potential that is proportional to the vessel pressure and may be used to monitor and/or adjust laser parameters. In other embodiments the results from the pressure sensor may be used to determine the vessel size and/or the type of material being ablated.

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

Abstract: A surgical articulation assembly is disclosed, including a control assembly and an articulable portion. The articulable portion includes at least two segments capable of independent movement. The control assembly defines an axis and three user controls configured to be engaged by an operator. Disposed within the control assembly are three pairs of diametrically opposed driving members that effects translation of a connecting member upon engagement of the user controls. An end of the connecting member is attached to one of the first and second segments of the articulable portion. As the connecting member translates with the driving members, the three user controls allow an operator to exert forces at points along the articulable portion. Also disclosed is a method of effecting articulation of a surgical articulation assembly.

Abstract: A system for ophthalmic surgery on an eye includes: a pulsed laser which produces a treatment beam; an OCT imaging assembly capable of creating a continuous depth profile of the eye; an optical scanning system configured to position a focal zone of the treatment beam to a targeted location in three dimensions in one or more floaters in the posterior pole. The system also includes one or more controllers programmed to automatically scan tissues of the patient's eye with the imaging assembly; identify one or more boundaries of the one or more floaters based at least in part on the image data; iii. identify one or more treatment regions based upon the boundaries; and operate the optical scanning system with the pulsed laser to produce a treatment beam directed in a pattern based on the one or more treatment regions.

Abstract: A device for delivering light to a nasal cavity includes a base; an adjustable portion operably connected to the base. The adjustable portion permits ready manipulation of the device when in the nasal cavity. The adjustable portion includes a tapered tip for insertion into the nasal cavity; a light source disposed inside of the tapered tip; and a power source to supply power to the device.

Abstract: A method and apparatus for improving the safety of a surgical procedure involving delivery of laser energy to a tissue, involves enhancing or increasing the detectability of radiation emitted by the tissue or any portion of a surgical instrument or device by providing a sacrificial material that absorbs radiation emitted during the surgical procedure, increasing the temperature of a surface on which the material is disposed and/or causing damage radiation to be emitted in a way that can be detected by monitoring the temperature of the surface and/or radiation, including infrared and/or visible light, emitted by the surface. In a preferred embodiment of the invention, the radiation absorbing material is a sheath arranged to surround the fiber.

Abstract: A method for removing tattoos using two laser beams and a multi-photon process is disclosed. A 0.1 to 100 nsec pulse secondary laser beam focused to 108 W/cm2 creates a temporary channel from the skin surface to the tattoo pigment. A 100 fsec pulse main laser beam is then guided through the channel to the pigment and focused to sufficient intensity, i.e., 1012 W/cm2 or more, to initiate a multi-photon process that breaks up the pigment, disrupting its light reflecting properties. The channel allows the main laser beam unobstructed passage to the pigments, resulting in efficient use of the main laser. The pigment fragments escape through the temporary channel or diffuse into the blood stream. A suitably configured Ti/Sapphire laser beam is split into two components, with an uncompressed component used as the secondary laser beam, and a compressed component as the main laser beam.

Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

Abstract: An ultrashort pulsed laser instrument is used to perform refractive surgery. The invention operates in ablative and incisional modalities. In the ablative mode, spiral ablation disks (10) consisting of individual laser pulses (40) are produced at high scanning speeds. Ablation profile (11) may be produced in cornea (22) by stacking and arranging multiple ablation disks (10) to produce a specified shape change. Placement of ablation disks (10) is assisted by an optical tracking and control system that compensates for eye motion. A preferred embodiment allows for ablative corrections to be performed on non-planar posterior surface (112) of a laser cut flap affixed to registration platen (120), thereby avoiding exposing the eye interior to high radiant power. Laser cut and contrast agent dyed fiduciary marks (30) may serve as reference features for the optical tracking system. Incisional procedures, such as corneal flaps for LASIK, may also be performed.

Abstract: Methods of photoaltering a region of a material using a pulsed laser beam. The method includes scanning the pulsed laser beam in a first portion of the region with a first pattern, scanning the pulsed laser beam in a second portion of the region with a second pattern, and separating a flap of the material at the region. The system includes a laser, a controller selecting at least first and second patterns, and a scanner operable in response to the controller. The first pattern has a first maximum acceleration associated with the second portion, and the second pattern has a second maximum acceleration associated with the second portion. The second maximum acceleration is less than the first maximum acceleration. The scanner scans the pulsed laser beam from the laser in the first portion with the first pattern and in the second portion with the second pattern.

Abstract: Apparatus, devices, methods, systems, computer programs and computing devices related to autofluorescent imaging and ablation are disclosed.

Abstract: A tubular access sleeve and suction tool for accessing an anatomic surface or anatomic space and particularly the pericardium to access pericardial space and the epicardial surface of the heart in a minimally invasive manner are disclosed. A suction tool trunk extending through a suction tool lumen of the sleeve is coupled to suction pads at the ends elongated support arms. The suction pads can be retracted into a sleeve working lumen during advancement of the access sleeve through a passage and deployed from the tubular access sleeve lumen and disposed against the an outer tissue layer. Suction can be applied through suction tool lumens to suction ports of the suction pads that fix to the outer tissue layer so as to tension the outer tissue layer and/or pull the outer tissue layer away from an inner tissue layer so that the anatomic space can be accessed by instruments introduced through the working lumen to penetrate the outer tissue layer.