Abstract: A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.

Abstract: A method of making iron-containing nanoparticles (e.g., magnetite nanoparticles) that includes contacting an iron-containing precursor with a reducing agent at a temperature less than 200° C. and allowing the mixture to react to form magnetite nanoparticles.

Abstract: Methods are provided for evaluating a stroke, for example for determining whether a subject has had an ischemic stroke, determining the severity or likely neurological recovery of a subject who has had an ischemic stroke, and determining a treatment regimen for a subject who has had an ischemic stroke, as are arrays and kits that can be used to practice the methods. In particular examples, the method includes screening for expression in ischemic stroke related genes (or proteins), such as white blood cell activation and differentiation genes (or proteins), genes (or proteins) related to hypoxia, genes (or proteins) involved in vascular repair, and genes (or proteins) related to a specific peripheral blood mononuclear cell (PBMC) response to the altered cerebral microenvironment. Also provided are methods of identifying one or more agents that alter the activity (such as the expression) of an ischemic stroke-related molecule.

Abstract: Blood and tissue markers of the metabolic status, risk of health complications in Fabry disease patients and as a biomarker to follow the efficacy of treatment in animal models and patients with Fabry disease comprising tetrahydrobiopterin (BH4), precursors and metabolites of BH4, and other related co-factors is disclosed herein. The present invention further describes the use of BH4 therapy as a treatment option for Fabry disease to prevent, slow or reverses vascular cardiac and renal manifestations of Fabry disease.

Abstract: Methods are provided for evaluating a stroke, for example for determining whether a subject has had an ischemic stroke, determining the severity or likely neurological recovery of a subject who has had an ischemic stroke, and determining a treatment regimen for a subject who has had an ischemic stroke, as are arrays and kits that can be used to practice the methods. In particular examples, the method includes screening for expression in ischemic stroke related genes (or proteins), such as white blood cell activation and differentiation genes (or proteins), genes (or proteins) related to hypoxia, genes (or proteins) involved in vascular repair, and genes (or proteins) related to a specific peripheral blood mononuclear cell (PBMC) response to the altered cerebral microenvironment. Also provided are methods of identifying one or more agents that alter the activity (such as the expression) of an ischemic stroke-related molecule.

Abstract: Methods are provided for evaluating a stroke, for example for determining whether a subject has had a hemorrhagic stroke, determining the severity or likely neurological recovery of a subject who has had a hemorrhagic stroke, and determining a treatment regimen for a subject who has had a hemorrhagic stroke, as are arrays and kits that can be used to practice the methods. In particular examples, the method includes screening for expression of hemorrhagic stroke related genes (or proteins), such as genes (or proteins) involved in suppression of the immune response, genes (or proteins) involved in vascular repair, genes (or proteins) involved in the acute inflammatory response, genes (or proteins) involved in cell adhesion, genes (or proteins) involved in hypoxia, genes (or proteins) involved in signal transduction, and genes (or proteins) involved in the response to the altered cerebral microenvironment. Arrays and kits are provided that can be used in the disclosed methods.

Abstract: An important step towards successful drug targeting with nanoparticles is developing a method to coat the nanoparticles with a useful drug. BSA was used by us to mimic the actual drug for its cost effectiveness during initial trials. We have successfully immobilized BSA onto three (PEG, PEMA and glutamic acid) out of four different surfactant capped nanocomposites. We found that the BSA immobilized particles showed excellent colloidal stability in water and stayed well suspended without any sign of agglomeration or settling. The suspended particles were easily accumulated using a magnet and could be re-dispersed readily. These properties indicate that the BSA immobilized iron oxide nanocomposites are excellent candidates for directed drug convection (DDC).

Abstract: Vibrotactile haptic feedback devices are disclosed. For example, in one embodiment, a device includes: a mass, an actuator configured to vibrate the mass, and a coupling disposed between the actuator and the mass or between the mass and a housing, the coupling having a first configuration with a compliance and a second configuration with a compliance, the compliance of the coupling in the first configuration being different from the compliance of the coupling in the second configuration, the actuator being configured to output haptic feedback associated with the first configuration of the coupling and haptic feedback associated with the second configuration of the coupling, the haptic feedback associated with the first configuration of the coupling being different from the haptic feedback associated with the second configuration of the coupling.

Abstract: Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.

Abstract: A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotally coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members.

Abstract: A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members.

Abstract: A flexure mechanism for an interface device that interfaces a user with a computer system. An interface device includes a manipulandum physically contacted by the user. A five-bar closed-loop mechanism is coupled to the manipulandum to provide two rotary degrees of freedom to the manipulandum. The mechanism includes members coupled to each other by flexible couplings allowing rotation of the members. In preferred embodiments, four or five of the members are coupled together by flexible couplings that allow bending, thereby forming a unitary piece, where the couplings are oriented along axes of rotation of the mechanism. A senor senses a position of the manipulandum outputs a sensor signal, and in some embodiments actuators are coupled to the mechanism to output a force to the manipulandum in particular degrees of freedom. The manipulandum can be a joystick handle or portion of a sphere, where the device in one embodiment can be a handheld gamepad or similar controller.

Abstract: An interface device providing haptic feedback to a user is in communication with a host computer. The device includes a housing, at least one sensor for detecting user input, and an actuator assembly. The actuator assembly includes a grounded flexure suspension coupled to an inertial mass which moves when the actuator assembly is energized to cause inertial sensations. The inertial mass includes a pole piece surrounding a magnet, and a grounded coil between magnet and pole piece causes the motion of the inertial mass when current is flowed therethrough. Another embodiment provides directional haptic feedback to a user and includes at least two actuator assemblies oriented such that the inertial masses oscillate substantially orthogonally, and can be controlled to output the inertial sensations approximately along a single axis having a desired orientation.

Abstract: A force feedback interface device that provides force feedback to a joystick handle manipulated by a user. A force feedback device inputs control signals to a computer and outputs forces to a user of the force feedback device. The device includes a housing gripped by the user of the force feedback device and a joystick handle manipulable in at least two rotary degrees of freedom by the user, such as a gamepad. Sensors detect a position of the joystick handle and two direct drive actuators each provide torque in a rotary degree of freedom. Each of the actuators is a brushless, single phase actuator having a grounded excitation coil and a moving magnetic material. The joystick is mechanically constrained to not move past either of two limits where the torque output by the actuator in an unenergized state changes direction.

Abstract: A haptic feedback interface device and actuator assembly providing inertial tactile sensations. An interface device includes a housing that is physically contacted by a user, a sensor device detecting said manipulation of the interface device by the user, and an actuator assembly of the present invention. The assembly includes an actuator operative to output a force and a mechanism coupling the actuator to the device housing. The mechanism allows the actuator to be moved and act as an inertial mass when in motion to provide an inertial force that is transmitted to the user. The mechanism includes at least two separated portions, each of the portions coupled to a different portion of the actuator. The mechanism is preferably a flexure having at least two flex joints.

Abstract: Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.

Abstract: Improved methods and systems for routing and aligning beams and optical elements in an optical device include a multiplexing device and/or a demultiplexing device, which includes an optical alignment element (OAE). The OAE can be configured to substantially compensate for the cumulative alignment errors in the beam path. The OAE allows the optical elements in a device, other than the OAE, to be placed and fixed in place without substantially compensating for optical alignment errors. The OAE is inserted into the beam path and adjusted. This greatly increases the ease in the manufacturing of optical devices, especially for devices with numerous optical elements, and lowers the cost of manufacturing. The multiplexing and/or demultiplexing device can reside within a standard small form factor, such as a GBIC. The devices fold the paths of the traversing beams with a geometry which allows a small package.

Abstract: Improved methods and systems for routing and aligning beams and optical elements in an optical device include a multiplexing device and/or a demultiplexing device, which includes an optical alignment element (OAE). The OAE can be configured to substantially compensate for the cumulative alignment errors in the beam path. The OAE allows the optical elements in a device, other than the OAE, to be placed and fixed in place without substantially compensating for optical alignment errors. The OAE is inserted into the beam path and adjusted. This greatly increases the ease in the manufacturing of optical devices, especially for devices with numerous optical elements, and lowers the cost of manufacturing. The multiplexing and/or demultiplexing device can reside within a standard small form factor, such as a GBIC. The devices fold the paths of the traversing beams with a geometry which allows a small package.

Abstract: An optical subassembly utilizes a core with a first, second, and third faces. The first and second faces are coupled, non-parallel, and non-co-planar for changing a path of a beam, and their intersection defines an axis. Filters are coupled to the third face. The light path traverses between the first or second face and each filter such that, at each filter, no portion of the light path interferes with any other portion of the light path. The light path also traverses the core in a direction along the axis. This is facilitated by the light path traversing an external surface of a filter at an angle. The device includes adjustable ports residing at the same side of the device. Filters are coupled to the core and optically coupled to the adjustable ports. The light path travels down the core and exit or enter the device via the adjustable ports.

Abstract: Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.