Abstract: A system for providing on-demand functionality during a medical procedure includes an instrument, an accessory, and a mounting device attached to one or more of the instrument and the accessory. The instrument includes an instrument body and an end effector. The end effector providing a first functionality. The accessory providing a second functionality. The mounting device removably couples the accessory to the instrument to augment the first functionality with the second functionality. In one example, the end effector includes jaws to provide a surgical functionality, and the first accessory includes a camera to provide a complementary monitoring functionality. In another example, the mounting device includes a mechanical mechanism and/or a magnetic mechanism for removably coupling the accessory to the instrument.

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

Abstract: A system may comprise a catheter including a wall having an inner surface defining a main lumen. The system may also comprise a device including an elongate flexible shaft configured to be slideably inserted within the catheter main lumen and a structure disposed around an outer surface of the elongate flexible shaft. The structure may be configured to engage with a plurality of flat surfaces comprising a portion of the inner surface to prevent rotation of the device within the main lumen.

Abstract: An imaging instrument comprises an elongate flexible shaft, a camera disposed at a distal end of the elongate flexible shaft, and a housing coupled to a proximal end of the elongate flexible shaft. The instrument also includes a light emitting diode (LED) within the housing and a heat dissipation system in thermal communication with the LED to transfer heat produced by the LED away from the housing.

Abstract: An imaging coupler comprises an elongate device connector configured to couple to an elongate device. The imaging coupler further comprises an instrument connector configured to couple to an imaging instrument. The imaging instrument is configured to be slidably received within a lumen of the elongate device. The imaging coupler further comprises a body portion extending between the elongate device connector and the instrument connector. The imaging coupler further comprises a tubular member coupled to the instrument connector and extending within the body portion. The instrument connector is movable in parallel with a longitudinal axis of the tubular member while the elongate device is coupled to the elongate device connector.

Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.

Abstract: A method for determining a position of a tool being received by a catheter, the method including capturing first images with the tool as the tool is being installed in the catheter. The method also includes generating training images for a deep convolutional neural network (DCNN) by replicating the first images and applying perturbations to the replicated first images. The method also includes training the DCNN by inputting the training images into the DCNN. The method also includes capturing second images with the tool as the tool is being installed in the catheter. The method also includes inputting the second images into the DCNN. The method also includes analyzing the second images with the trained DCNN. The method further includes determining a configuration of the tool based on the analyzed second images.

Abstract: A system including a tool recognition assembly comprising a first target reader with a first detection zone. The system also includes a tool configured to be installed in the tool recognition assembly, wherein the first reader detects a first reading indicating a presence or absence of the first target in the first detection zone during an installation of the tool in the tool recognition assembly, the detected first reading being at least a part of a detected insertion signature, and provides the detected insertion signature to initiate a comparison of the detected insertion signature to one or more model signatures.

Abstract: An imaging instrument comprises an elongate flexible shaft, a camera disposed at a distal end of the elongate flexible shaft, and a housing coupled to a proximal end of the elongate flexible shaft. The instrument also includes a light emitting diode (LED) within the housing and a heat dissipation system in thermal communication with the LED to transfer heat produced by the LED away from the housing.

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

Abstract: A liquid immersion lithography apparatus includes a projection system having an optical member of which an incidence side has a convex lens shape, and a flow passage connected to a hole from which liquid is supplied. A substrate is exposed through the liquid covering only a portion of an upper surface of the substrate. The optical member has an end surface via which the exposure light is projected to the substrate via the liquid. A material having the end surface is fused silica.

Abstract: A system for providing on-demand functionality during a medical procedure includes an instrument, an accessory, and a mounting device attached to one or more of the instrument and the accessory. The instrument includes an instrument body and an end effector. The end effector providing a first functionality. The accessory providing a second functionality. The mounting device removably couples the accessory to the instrument to augment the first functionality with the second functionality. In one example, the end effector includes jaws to provide a surgical functionality, and the first accessory includes a camera to provide a complementary monitoring functionality. In another example, the mounting device includes a mechanical mechanism and/or a magnetic mechanism for removably coupling the accessory to the instrument.

Abstract: An immersion lithography apparatus includes a projection system having a last optical element, a plurality of liquid supply openings that surround a path of exposure light that exits an end surface of the last optical element and face downwardly, and a plurality of liquid recovery openings that surround the path of the exposure light, are arranged radially outward of the liquid supply openings, and face downwardly. An upper surface of a substrate is opposite to the liquid supply openings and the liquid recovery openings. A portion of the upper surface of the substrate is covered with immersion liquid, which flows across the end surface of the last optical element. The substrate is exposed with the exposure light through the immersion liquid between the end surface of the last optical element and the upper surface the substrate.

Abstract: An integrated metrology module includes a chuck for holding a sample and positioning the sample with respect to an optical metrology device, a reference chip for the optical metrology device, the reference chip being movable to various positions with respect to the optical metrology device, and a reference chip purge device provides a flow of purge gas or air over the reference chip while the reference chip is in the various positions. The reference chip purge device may be static or movable with the reference chip.

Abstract: A liquid immersion lithography apparatus includes: an optical assembly having a last optical element; a stage assembly having a recess in which a substrate is held by a holder, the stage assembly having a stage upper surface arranged such that the stage upper surface and an upper surface of the substrate held in the recess by the holder are substantially coplanar; a first inlet via which immersion liquid is drawn; a containment member arranged to surround the last optical element of the optical assembly; and an actuator by which the containment member is moved relative to the last optical element. The immersion liquid covers a portion of the upper surface of the substrate and the substrate is exposed through the immersion liquid.

Abstract: An immersion lithography apparatus includes: an optical assembly including a plano-convex lens as a last optical element, the optical assembly configured to project an image onto a substrate through an immersion liquid; a containment member that surrounds a last portion of the optical assembly, the containment member having a channel via which the immersion liquid recovered from a gap between the containment member and the substrate and/or a stage holding the substrate is removed; an outlet above a bottom surface of the last optical element, via which the immersion liquid is released to a space between the optical assembly and the containment member; and an immersion liquid source apparatus from which the immersion liquid is delivered to the outlet, the immersion liquid source apparatus having a flow controller, and a flow sensor that measures a rate of a flow of the immersion liquid to be delivered to the outlet.

Abstract: A lithographic projection apparatus includes a projection system and a liquid confinement member extending along a boundary of a space under the projection system. The liquid confinement member has (i) a first opening facing downwardly via which a liquid is removed from a gap to be formed under the liquid confinement member, and (ii) a second opening facing downwardly via which fluid is removed from the gap to be formed under the liquid confinement member, the second opening being located radially outward of the first opening with respect to the space. The liquid in the space covers a portion of an upper surface of a substrate and the substrate is exposed through the liquid in the space.

Abstract: A cover plate or lens for an optical metrology device that is positioned under a wafer during measurement is protected with a purge device. The purge device may include a ring that extends around a periphery of the cover plate or lens. The ring includes a plurality of apertures through which a purge gas or air is expelled over the surface of the cover plate or lens. Additionally or alternatively, one or more heating elements may be provided that extend around the periphery of the cover plate or lens. The heating elements heat the cover plate above a dewpoint temperature of contaminant vapor. A heat sensor may be used to monitor the temperature of the cover plate to control the heating elements and/or to compensate for optical changes of the cover plate caused by heating during measurement of a wafer.

Abstract: An immersion lithography apparatus includes an optical assembly including an optical element, and configured to project a beam onto a substrate through immersion liquid, a containment member surrounding a path of the beam, a stage on which the substrate is held and moved below a bottom surface of the containment member with the substrate spaced from the bottom surface of the containment member, and a support system having an actuator to support and move the containment member. The containment member includes a first supply opening via which water as the immersion liquid is released, a recovery opening via which the immersion liquid is recovered from a gap between the containment member and the substrate and/or the stage, and a second supply opening via which the water is released to the gap, the second supply opening being provided radially inward of the recovery opening.