Abstract: A medical manipulator is provided. The medical manipulator includes an end effector that is configured to perform motions with respect to at least two different axes, and that is inserted in a body cavity during operation of the medical manipulator. The medical manipulator also includes at least two cylindrical motors that each include a longitudinal axis and that drive at least a part of the end effector. The motors remain outside a living body during operation of the medical manipulator and the motors are mounted on at least one bracket. A shaft interconnects the bracket and the end effector. A longitudinal axis of the shaft extends substantially parallel to each of the longitudinal axes of the motors.

Abstract: A robotic surgical device positioning system that allows a surgeon to accurately and remotely position a surgical instrument relative to a patient and to provide fluoroscopic images of the instrument without exposing the surgeon to radiation. The system includes a vertical post that is slidebly coupled to an operating table, a clamp mounted to the vertical post and spaced from the table, and a translational arm mounted to the clamp. The system further includes an instrument positioning assembly mounted to the translational arm opposite to the clamp that includes a plurality of sliding elements that are slidebly mounted to the assembly to provide rotational, anterior-posterior and medial-lateral positioning of the surgical instrument. A control unit is mechanically coupled to the instrument positioning assembly at a remote location by flexible cables for controlling the position of the sliding elements.

Abstract: A method and an apparatus according to an embodiment of the invention includes disposing a cover about a capillary used in a side-firing optical fiber. The cover can be used to protect the capillary when being inserted through an endoscope for medical treatment. In some embodiments, the cover can be a low-profile cover such as a coating made of a light-sensitive polymer or like material. At least a portion of the coating can be removed after insertion by exposing the light-sensitive material to laser energy transmitted from an optical-fiber-core end housed within the capillary. In other embodiments, the cover can be a slideable or moveable low-profile sleeve or metal cover. During insertion, the sleeve or metal cover is positioned over the capillary. After insertion, the sleeve or metal cover is retracted to expose the area to be treated to side-fired laser energy transmitted from the capillary.