Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: Systems and methods for controllably traversing a tissue wall. In one embodiment, a distal end of a catheter is positioned and/or repositioned utilizing direct visualization out the distal end of the catheter, as facilitated by an imaging element disposed within the distal tip of the catheter. An inflatable balloon may comprise a portion of the distal tip of the catheter for structural and/or visualization media purposes. A tissue traversing element may be forwarded through a working lumen defined by the catheter and controllably pushed through a tissue wall as observed with the imaging element. The tissue traversing element may comprise sensors and the like to facilitate monitoring of changes in pressure, color, oxygen saturation, flow rate, and echo timing, to determine the position of the tissue traversing member relative to the tissue wall.

Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through the master input device.

Abstract: A support assembly for supporting a remotely-controlled instrument driver, including a first member, a second member for supporting the instrument driver, and an interface assembly for allowing the second member to rotate relative to the first member about a first axis, and for allowing the second member to rotate relative to the first member about a second axis that forms an angle relative to the first axis, wherein the interface assembly comprises a ball that is rotatable relative to the first member, and a shaft extending through the ball, the shaft configured for coupling to the second member.

Abstract: A support assembly for supporting a remotely controlled instrument driver in a selectable orientation relative to an operating table, the assembly comprising including a base removably attachable to the operating table, an actuator assembly coupled to the base, the actuator assembly including an actuator and a brake that is electronically activated to allow rotation of a first extension member about a first axis substantially orthogonal to the operating table. A second extension member is coupled to the first extension member via an interface assembly operatively controlled by the actuator to selectively allow rotation of the second extension member about a second axis substantially parallel to the first axis, and about a third axis substantially orthogonal to the first axis.

Abstract: A battery pack thermal management system for use in an electric car. The battery pack thermal management system includes a plurality of thermistors connected to a plurality of cells of a battery pack. A battery monitor board is connected to the thermistors. The system also includes a manifold and a plurality of cooling tubes connected to the manifold. A tube seal plug is arranged over an end of the cooling tube and an end fitting is arranged on an end of the cooling tube. The thermal management system will cool the battery pack to predetermined temperatures to increase the longevity of the battery pack within the electric vehicle.

Abstract: A tool operates with a guide system to identify the orientation of a tool on a work piece. In one implementation, the tool identifies its orientation with respect to a guide signal supplied by the guide system. In an alternate embodiment, the tool determines its absolute orientation, such as a (x, y) coordinate. The tool includes an action component adapted to alter the work piece, such as a cutting head in a router. A guide detector in the tool detects a position of a guide signal from the guide system. A location detector in the tool receives the position data and employs it to determine the tool's orientation. Based on the detected orientation, the tool decides whether any tool adjustments are necessary. Examples of tool adjustments include the following: adjusting the position of the action component, enabling or disabling the action component, and providing operating indicators to direct a tool operator's use of the tool.

Abstract: A tool is employed in conjunction with alignment, depth, and level detectors. The tool can use all or some of these detectors. The alignment detector provides an orthogonal laser line grid on an incident surface when the detector has a predefined relationship with the surface. The depth detector emits two sets of parallel laser planes that converge with each other. When the laser planes impact on an incident surface two sets of lines are formed. The laser lines from one laser plane set move closer to the lines from the other laser plane set as the depth detector moves closer to the surface—showing changes in depth or distance. The level detector employs two converging laser planes. An operator positions the level detector above an incident surface, so the laser planes' line of intersection appears on the surface if the surface is level. If the surface is not level, lines separate from each laser plane appear on the surface—signaling the need for a level adjustment.

Abstract: An alignment device provides one or more references, such as laser lines and planes in horizontal and vertical orientations. One version of the alignment device includes an optics mounting assembly situated in a pivot socket on a frame to provide an output beam. A spring system and one or more alignment assemblies align and secure the optics mounting assembly in the socket. As a result, the output beam has a desired orientation with respect to true level. The spring system holds the optics mounting assembly in communication with the alignment assemblies to reduce system backlash. One implementation of the pivot socket has a surface in the form of a sphere's interior surface. A set of support members on the optics mounting assembly rest on the pivot socket's spherical surface—causing the output reference beam to extend from the center of a sphere including the socket's spherical surface.

Abstract: A tool operates with a guide system to identify the orientation of a tool on a work piece. In one implementation, the tool identifies its orientation with respect to a guide signal supplied by the guide system. In an alternate embodiment, the tool determines its absolute orientation, such as a (x, y) coordinate. The tool includes an action component adapted to alter the work piece, such as a cutting head in a router. A guide detector in the tool detects a position of a guide signal from the guide system. A location detector in the tool receives the position data and employs it to determine the tool's orientation. Based on the detected orientation, the tool decides whether any tool adjustments are necessary. Examples of tool adjustments include the following: adjusting the position of the action component, enabling or disabling the action component, and providing operating indicators to direct a tool operator's use of the tool.

Abstract: A tool is employed in conjunction with alignment, depth, and level detectors. The tool can use all or some of these detectors. The alignment detector provides an orthogonal laser line grid on an incident surface when the detector has a predefined relationship with the surface. The depth detector emits two sets of parallel laser planes that converge with each other. When the laser planes impact on an incident surface two sets of lines are formed. The laser lines from one laser plane set move closer to the lines from the other laser plane set as the depth detector moves closer to the surface—showing changes in depth or distance. The level detector employs two converging laser planes. An operator positions the level detector above an incident surface, so the laser planes' line of intersection appears on the surface if the surface is level. If the surface is not level, lines separate from each laser plane appear on the surface—signaling the need for a level adjustment.

Abstract: A force transfer device 30 includes an inner race 40 and an outer race 38 and a plurality of reversible wedging elements 34 located between the inner and outer races. This device 30 allows for continuous force transfer between the inner and outer race. This device 30 further allows for locking the inner race 40 relative to the outer race 38 in infinitely varying positions. The device 30 includes scallops on at least one race which scallops are of complex shape in order to manage wedging of the wedging elements and surface stresses between the wedging elements and the race contact surfaces. The device 30 is also reversible.