Abstract: Locations of the origins of “discrete events,” e.g., photons or other units of radiant energy are acquired from a specimen with reference to a scan frame or other region of interest of the specimen. The location of origin of a discrete event can be determined from the corresponding location datum as derived from a scan-drive signal, a positional feed-back signal, or by a point in time during a unit of sampling time (“image-acquisition period”) at which the event is detected. A probability-density function (PDF) is associated with the detected locations. Summing or other processing of the PDFs is performed to produce imagable data. From the data, images can be produced that require fewer discrete events to converge to an ideal density distribution associated with an image feature than required by pixel-based binning methods. Stored data can be mapped into pixels or voxels of a display or otherwise processed, including post hoc processing.

Abstract: The present invention relates to a method of reducing heat loss from a non-human animal. The method can include the steps of providing a cover having a first side with a reflective material sized and configured for covering at least a portion of a non-human animals body, and a layer of material, and covering at least a portion of the non-human animal during a surgical procedure with the cover.

Abstract: Locations of the origins of “discrete events,” e.g., photons or other units of radiant energy are acquired from a specimen with reference to a scan frame or other region of interest of the specimen. The location of origin of a discrete event can be determined from the corresponding location datum as derived from a scan-drive signal, a positional feed-back signal, or by a point in time during a unit of sampling time (“image-acquisition period”) at which the event is detected. A probability-density function (PDF) is associated with the detected locations. Summing or other processing of the PDFs is performed to produce imageable data. From the data, images can be produced that require fewer discrete events to converge to an ideal density distribution associated with an image feature than required by pixel-based binning methods. Stored data can be mapped into pixels or voxels of a display or otherwise processed, including post hoc processing.

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A surgical instrument extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross section of the guide tube to be oblong. In some aspects, a joint for the image capture component is placed between exit ports for surgical instruments, which allows the guide tube cross section to be further reduced.

Abstract: A guide tube has an oblong cross-sectional shape. A first surgical instrument passes through one end of the oblong shape, and a second surgical instrument passes through the other end of the oblong shape. An imaging system is on the guide tube, in some aspects at the guide tube's distal end. In some aspects the guide tube and the instruments are telemanipulatively controlled.

Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.

Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

Abstract: A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.

Abstract: Two primary guide tubes are inserted through a secondary guide tube, and the primary guide tubes exit via side exit ports of the secondary guide tube. Surgical instruments are inserted through the primary guide tubes. The surgical instruments are telemanipulatively operated by moving components of the instruments and/or components of the primary guide tubes and/or components of the secondary guide tube. A stereoscopic image capture component is at the distal end of the secondary guide tube.

Abstract: Two surgical instruments are inserted through a guide tube and exit via side exit ports of the guide tube. The side exit ports are on opposite sides of the guide tube. A stereoscopic image capture component is at the distal end of the guide tube. Both the surgical instruments and the guide tube may be flexible, and in some aspects the guide tube is retroflexive. The guide tube and the instruments are telemanipulatively controlled. The guide tube has an oblong-shaped cross section, and the instruments pass through opposite ends of the oblong shape, which allows the guide tube to have a reduced cross sectional area.

Abstract: A guide probe is telemanipulatively advanced past an intermediate tissue structure. The guide probe is locked in position and a guide tube is advanced over the guide probe. The guide tube is then locked in position, the guide probe is withdrawn, and a surgical instrument is inserted through the guide tube. In aspects of the invention, the guide tube and the surgical instrument are telemanipulatively controlled.

Abstract: Two or more minimally invasive surgical instruments are assembled in a magazine A first one of the instruments is inserted into and withdrawn from a guide tube, and then a second one of the surgical instruments is inserted into the guide tube in place of the first one of the instruments. Several magazines may be used, each magazine being configured with all instruments necessary to perform different surgical procedures.

Abstract: A guide tube for a minimally invasive surgical system has a single channel that accepts two or more surgical instruments. The channel has two or more bores, and a body segment of each instrument extends through a unique one of the bores. A slot connects two of the bores along the length of the channel. A distal component of one of the instruments is larger than the instrument's bore, and so the component slides through the slot, and in some aspects through some or all of the other bore, as the instrument is inserted through the guide tube. After the instrument has been inserted, a second instrument can then be inserted through the other bore.

Abstract: Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. In one aspect a body cavity is mapped by recording positions of a surgical instrument, and the map is used to insert another surgical instrument. In another aspect, a surgical instrument is inserted into a space vacated by a guide tube. In yet another aspect, a volume is defined in which a control system permits an instrument to move, and the volume is a sum of one volume that is defined by previous movements of the instrument and other volume that is defined by the boundaries of an image capture component. In yet another aspect, a real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image.

Abstract: A surgical instrument and an imaging system are inserted through a guide tube. A distal end of the surgical instrument is movable in all six Cartesian degrees of freedom independently of the guide tube. The imaging system also moves independently of the guide tube. The surgical instrument, the imaging system, and the guide tube are telemanipulatively controlled.

Abstract: A telemanipulatively controlled guide tube acts as a wrist mechanism for a surgical instrument that extends through the guide tube. The instrument may be removed and replaced with another instrument. In some aspects the instruments are commercial, off the shelf minimally invasive surgical instruments.

Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

Abstract: The present invention provides a method of adhering two or more components together by exposing a first component that includes cellulose ester fibers and/or a second component that includes a cellulose ester to a plasticizing solvent. The two components are then contacted together form a compound structure which is subsequently allowed to cure so that the two components are bonded together. The present invention is advantageously utilized to form a filter and in particular a cigarette filter and to form a multilayer automobile headliner. The present invention also provides a method of adhering a cellulose ester-containing automobile headliner to a vehicle passenger compartment ceiling. In this embodiment, a cellulose ester-containing composition is applied to the vehicle compartment ceiling prior to attachment of the headliner. The headliner and/or the vehicle passenger compartment ceiling are then exposed to a plasticizing solvent, contacted together, and then cured thereby adhering the headliner.

Abstract: A medical robotic system provides 3D telestration over a 3D view of an anatomical structure by receiving a 2D telestration graphic input associated with one of a pair of stereoscopic images of the anatomical structure from a mentor surgeon, determining a corresponding 2D telestration graphic input in the other of the pair of stereoscopic images using a disparity map, blending the telestration graphic inputs into respective ones of the pair of stereoscopic images, and providing the blended results to a 3D display so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure to an operating surgeon.