Abstract: A working fluid cassette for an intravascular heat exchange catheter includes a frame holding two closely spaced, square polymeric membranes in tension. Working fluid from the catheter is directed between the membranes. The cassette is closely received between two refrigerant cold plates to exchange heat with the working fluid, which is circulated back to the catheter.

Abstract: A flexible instrument comprises a first link and a second link that each comprise a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface; an outer ear extending in a first axial direction away from the first end of the link; an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface; an inner ear extending in a second axial direction away from the second end of the link; and an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface. The instrument further comprises at least one of a position sensor and an orientation sensor located along the wall of the instrument.

Abstract: A working fluid cassette for an intravascular heat exchange catheter includes a frame holding two closely spaced, square polymeric membranes in tension. Working fluid from the catheter is directed between the membranes. The cassette is closely received between two refrigerant cold plates to exchange heat with the working fluid, which is circulated back to the catheter.

Abstract: A working fluid cassette for an intravascular heat exchange catheter includes a frame holding two closely spaced, square polymeric membranes along the sides of which are disposed inlet and outlet tubes. Working fluid from the catheter is directed from the inlet tube between the membranes to the outlet tube. The cassette is closely received between two refrigerant cold plates to exchange heat with the working fluid, which is circulated back to the catheter.

Abstract: A working fluid cassette for an intravascular heat exchange catheter includes a frame holding two closely spaced, square polymeric membranes along the sides of which are disposed inlet and outlet tubes. Working fluid from the catheter is directed from the inlet tube between the membranes to the outlet tube. The cassette is closely received between two refrigerant cold plates to exchange heat with the working fluid, which is circulated back to the catheter.

Abstract: A heat exchange system for exchanging heat with working fluid from an intravascular heat exchange catheter or an external heat exchange pad includes a working fluid that circulates between the catheter or pad and a fluid cassette, and a refrigerant system that flows against the outer sides of cold plates between which the cassette is disposed.

Abstract: Cold plates through which refrigerant flows define a slot between them that can receive a cassette through which sterile working fluid with a relatively low flow rate flows from an intravascular heat exchange catheter or external pad. The slot may have bulge cavities along the edges to permit the membrane of the cassette to expand and thus establish fluid supply and return passageways.

Abstract: Cold plates through which refrigerant flows define a slot between them that can receive a cassette through which sterile working fluid with a relatively low flow rate flows from an intravascular beat exchange catheter or external pad. The slot may have bulge cavities along the edges to permit the membrane of the cassette to expand and thus establish fluid supply and return passageways.

Abstract: A flexible instrument comprises a first link and a second link that each comprise a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface; an outer ear extending in a first axial direction away from the first end of the link; an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface; an inner ear extending in a second axial direction away from the second end of the link; and an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface. The instrument further comprises at least one of a position sensor and an orientation sensor located along the wall of the instrument.

Abstract: A heat exchange system for exchanging heat with working fluid from an intravascular heat exchange catheter or an external heat exchange pad includes a working fluid that circulates between the catheter or pad and a fluid cassette, and a refrigerant system that flows against the outer sides of cold plates between which the cassette is disposed.

Abstract: A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

Abstract: A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

Abstract: A method may include articulating a first link and a second link relative to each other about a pair of outer hinge portions on a first end of a first link and in mating engagement with a pair of inner hinge portions on a second end of a second link. Each outer hinge portion comprises an outer ear extending in a first axial direction away from the first end of the first link, and an inner bearing surface substantially oriented in the first axial direction, and each inner hinge portion comprises an inner ear extending in a second axial direction away from the second end of the second link, and an outer bearing surface positioned oriented in the second axial direction. During the articulating, the outer bearing surfaces support the outer ears and the inner bearing surfaces support the inner ears.

Abstract: Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.

Abstract: A method may include articulating a first link and a second link relative to each other about a pair of outer hinge portions on a first end of a first link and in mating engagement with a pair of inner hinge portions on a second end of a second link. Each outer hinge portion comprises an outer ear extending in a first axial direction away from the first end of the first link, and an inner bearing surface substantially oriented in the first axial direction, and each inner hinge portion comprises an inner ear extending in a second axial direction away from the second end of the second link, and an outer bearing surface positioned oriented in the second axial direction. During the articulating, the outer bearing surfaces support the outer ears and the inner bearing surfaces support the inner ears.

Abstract: Cold plates through which refrigerant flows define a slot between them that can receive a cassette through which sterile working fluid with a relatively low flow rate flows from an intravascular beat exchange catheter or external pad. The slot may have bulge cavities along the edges to permit the membrane of the cassette to expand and thus establish fluid supply and return passageways.

Abstract: A working fluid cassette for an intravascular heat exchange catheter includes a frame holding two closely spaced, square polymeric membranes in tension. Working fluid from the catheter is directed between the membranes. The cassette is closely received between two refrigerant cold plates to exchange heat with the working fluid, which is circulated back to the catheter.

Abstract: A heat exchange system for exchanging heat with working fluid from an intravascular heat exchange catheter or an external heat exchange pad includes a working fluid that circulates between the catheter or pad and a fluid cassette, and a refrigerant system that flows against the outer sides of cold plates between which the cassette is disposed.

Abstract: A working fluid cassette for an intravascular heat exchange catheter includes a frame holding two closely spaced, square polymeric membranes along the sides of which are disposed inlet and outlet tubes. Working fluid from the catheter is directed from the inlet tube between the membranes to the outlet tube. The cassette is closely received between two refrigerant cold plates to exchange heat with the working fluid, which is circulated back to the catheter.

Abstract: Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.