Abstract: For model predictive control for a spacecraft formation, a method calculates a virtual point that represents a plurality of spacecraft orbiting in a spacecraft formation. The method calculates an outer polytope boundary and an inner polytope boundary relative to the virtual point for a given spacecraft of the plurality of spacecraft. The method maneuvers the given spacecraft to within the inner polytope boundary using model predictive control (MPC) to minimize fuel consumption.

Abstract: An object detection device that determines whether or not an object is present in a blind spot of a sensor mounted on a moving object includes an acquisition unit configured to acquire an entry/exit status of the object into/from a closed blind spot of the sensor on the basis of a detection result from the sensor, and a determination unit configured to determine the presence or absence of the object in the closed blind spot on the basis of the entry/exit status.

Abstract: A method includes a measurement step of producing measured force information of external force by causing a robot to perform an action using second servo gains adjusting force control parameters corresponding to first servo gains when the robot performs a regular task. The measured force information includes an action period of time during which the action is performed, a maximum detected force value of the external force, and a maximum detected torque value of the external force. The method further includes a parameter update step of producing a new candidate value of the force control parameters by carrying out an optimization process on the force control parameters by using the measured force information. The method further includes a parameter determination step of determining the force control parameters used in the force control performed by the robot by repeating the measurement step and the parameter update step.

Abstract: Disclosed is a surgical robotic system comprising a robotic arm holding an end-effector and a control unit for controllably moving the robotic arm and maintaining the end-effector in at least one target position relative to a patient. The control unit can, based on a first input continuously applied onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user; based on a second input different from the first input, continuously applied onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; when the computed trajectory is activated, detect that the end-effector meets a predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.

Abstract: Modular, propelled cable-driven robotic platform systems and methods of operation are disclosed. The system includes a robotic platform suspended by a system of overhead cables, motorized cable reels and pulleys. The robotic platform is configured to be equipped with tool modules for performing respective tasks. Additionally, the tool modules each have a multirotor propulsion system. A master control computer coordinates operation of the motorized cable and propulsion systems as a function of sensor data captured by navigation sensors on-board the platform so as to maneuver the robotic platform inside an industrial plant. The system is configured to maneuver around pipings and avoid obstacles in the plant in order to maximize the effective workspace that the robotic platform can reach to perform operations including inspection or repair.

Abstract: A method and system for robotic motion planning which perform dynamic velocity attenuation to avoid robot collision with static or dynamic objects. The technique maintains the planned robot tool path even when speed reduction is necessary, by providing feedback of a computed slowdown ratio to a tracking controller so that the path computation is always synchronized with current robot speed. The technique uses both robot-obstacle distance and relative velocity to determine when to apply velocity attenuation, and computes a joint speed limit vector based on a robot-obstacle distance, a maximum obstacle speed, and a computed stopping time as a function of the joint speed. Two different control structure implementations are disclosed, both of which provide feedback of the slowdown ratio to the motion planner as needed for faithful path following. A method of establishing velocity attenuation priority in multi-robot systems is also provided.

Abstract: An embodiment includes an artificial chordae tendineae system comprising: a first needle; a flexible first chord coupled to a proximal end portion of the first needle; a first proximal pledget coupled to a proximal end portion of the first chord; a first distal conduit coupled to the first chord between the first proximal pledget and the first needle; wherein: the first distal conduit includes first and second faces; one of the first and second faces includes a first aperture; a sidewall of the first conduit, located between the first and second faces, includes a sidewall aperture that does not directly connect to the first aperture; the sidewall aperture is configured to include a portion of the first chord when the first distal conduit is permanently implanted adjacent tissue but not when the first distal conduit is traversing the tissue before being permanently implanted adjacent the tissue.

Abstract: A method of using an occlusion clamp, the method comprising: (a) repositioning a tongs so that tissue interposes the tongs, the tongs comprising a first longitudinal segment operatively coupled proximally to a second longitudinal segment, the tongs including a first spring exerting a proximal bias tending to direct a proximal portion of each of the first and second longitudinal segments toward one another, where each of the first and second longitudinal segments includes a distal free end; (b) repositioning a second spring distally along each of the first and second longitudinal segments to exert a bias tending to direct a distal portion of each of the first and second longitudinal segments toward one another, where repositioning of the tongs so that tissue interposes the tongs precedes repositioning the second spring distally along each of the first and second longitudinal segments.

Abstract: A clot removal system comprises a catheter, a vacuum source, and a controller. The catheter comprises a proximal end, a distal end, and controller operating parameters and defines a lumen configured to be filled with a liquid column having a proximal portion. The vacuum source is configured to supply vacuum. The controller is configured to carry out a control pattern of turning on and off the vacuum based upon the controller operating parameters and is configured to receive the controller operating parameters in an automatic response to the catheter being operatively connected to at least one of the vacuum source and the controller and, responsive to the connection, to carry out the control pattern to change a level of vacuum at the distal end of the catheter.

Abstract: An implant detachment system is described which utilizes a catheter utilizing an LC or tank circuit with an inductor and capacitor. The catheter electrically interacts with an implant delivered through the catheter to detach the implant.

Abstract: A pulmonary access device comprises an elongated shaft having a proximal shaft section, a bendable shaft section, a distal shaft section, and a distal tip. The pulmonary access device further comprises an elongated sheath having a proximal sheath section, a malleable distal sheath section, and working channel. The working channel is configured for slidably receiving the elongated shaft. The pulmonary access device further comprises a handle assembly including a handle body. The handle body is affixed to a proximal end of the elongated shaft. The handle body is removably affixed to a proximal end of the elongated sheath.

Abstract: An optical marker for positioning a medical device outside a body and the medical device are disclosed. The optical marker comprises: a base having a concave or a convex, the concave or the convex being provided with a non-coplanar optical mark(s), and the optical mark(s) being visible on the entire surface of the concave or the convex; and a connecting portion connected to the base and used for connecting with the medical device. In the optical marker, the base provided with the optical mark(s) has a non-planar structure, being able to increase the recognizable angle of the medical device and improve the recognition accuracy and stability.

Abstract: In one representative embodiment, a steerable catheter device comprises a shaft comprising a proximal portion and a distal portion, and first and second pull wires having respective proximal portions and respective distal portions. The proximal portions of the first and second pull wires extend through the proximal portion of the shaft in close proximity to each other. The distal portions of the first and second pull wires extend through the distal portion of the shaft in close proximity to each other over a first distance defining a primary flexing section, diverge away from each other over a second distance, and then extend parallel to each other at angularly spaced locations over a third distance defining a secondary flexing section.

Abstract: The lancet device includes a housing and a lancet having a puncturing element. The lancet is disposed within the housing and is adapted for axial movement between an initial or pre-actuated position wherein the puncturing element is retained within the housing, and a puncturing position wherein the puncturing element extends through a forward opening in the housing. The lancet device includes a drive spring disposed within the housing for biasing the lancet toward the puncturing position, and a retraction or return spring for returning the lancet to a position within the housing where the puncturing element is disposed within the housing. The retraction spring thereafter maintains engagement with the lancet to assist in preventing the puncturing element from again projecting outward from the forward opening in the housing.

Abstract: Methods and devices for performing transjugular carotid flow reversal are provided. A flow reversal sheath is advanced through a transjugular carotid fistula. An occlusion balloon is inflated, causing carotid inflow to be diverted through the sheath and through a flow reversal region positioned in the jugular vein. After reversal of blood flow, a carotid intervention is performed.

Abstract: A clot removal system comprises a catheter, a vacuum source, and a controller. The catheter comprises a proximal end, a distal end, and controller operating parameters and defines a lumen configured to be filled with a liquid column having a proximal portion. The vacuum source is configured to supply vacuum. The controller is configured to carry out a control pattern of turning on and off the vacuum based upon the controller operating parameters and is configured to receive the controller operating parameters in an automatic response to the catheter being operatively connected to at least one of the vacuum source and the controller and, responsive to the connection, to carry out the control pattern to change a level of vacuum at the distal end of the catheter.

Abstract: A clot removal system comprises a catheter, a vacuum source, and a controller. The catheter comprises a proximal end, a distal end, and controller operating parameters and defines a lumen configured to be filled with a liquid column having a proximal portion. The vacuum source is configured to supply vacuum. The controller is configured to carry out a control pattern of turning on and off the vacuum based upon the controller operating parameters and is configured to receive the controller operating parameters in an automatic response to the catheter being operatively connected to at least one of the vacuum source and the controller and, responsive to the connection, to carry out the control pattern to change a level of vacuum at the distal end of the catheter.

Abstract: Disclosed is a system to power a tool. The tool may be powered in a selected manner that may have irrigation and/or coolant provided therewith. The irrigation and cooling fluid may be provided at substantially at a working end and/or distal end of the instrument assembly.

Abstract: A robotic catheter navigation system, and a method for operating the robotic catheter navigation system, are provided. The robotic catheter navigation system comprises a catheter handle, a motor, and a torque transfer disk. The catheter handle comprises a set of gears coupled to a first shaft. The motor is for rotating a second shaft. The torque transfer disk is coupled to the first shaft and the second shaft for transferring the rotation of the second shaft to the first shaft to thereby rotate the set of gears for steering a catheter.

Abstract: A method of using an occlusion clamp, the method comprising: (a) repositioning a tongs so that tissue interposes the tongs, the tongs comprising a first longitudinal segment operatively coupled proximally to a second longitudinal segment, the tongs including a first spring exerting a proximal bias tending to direct a proximal portion of each of the first and second longitudinal segments toward one another, where each of the first and second longitudinal segments includes a distal free end; (b) repositioning a second spring distally along each of the first and second longitudinal segments to exert a bias tending to direct a distal portion of each of the first and second longitudinal segments toward one another, where repositioning of the tongs so that tissue interposes the tongs precedes repositioning the second spring distally along each of the first and second longitudinal segments.