Abstract: Examples of an apparatus, system and method for changing a geometry of a mitral valve of a heart are described herein. In one example embodiment, the apparatus comprises an anchor having a body for positioning and anchoring within a coronary sinus vein of the heart. The body has a first end and a second end that is spaced apart from the first end; a longitudinally extending axis; and a wall with an interior volume extending between the first and second ends, the interior volume being adapted for receiving a steerable catheter. The apparatus also includes a first link member having a proximal end nearest to the anchor and a distal end spaced apart from the proximal end. The proximal end of the first link member is coupled to the anchor by a joint configured to provide for movement of the first link member in one direction relative to the anchor.

Abstract: Examples of an apparatus, system and method for changing a geometry of a mitral valve of a heart are described herein. In one example embodiment, the apparatus comprises an anchor having a body for positioning and anchoring within a coronary sinus vein of the heart. The body has a first end and a second end that is spaced apart from the first end; a longitudinally extending axis; and a wall with an interior volume extending between the first and second ends, the interior volume being adapted for receiving a steerable catheter. The apparatus also includes a first link member having a proximal end nearest to the anchor and a distal end spaced apart from the proximal end. The proximal end of the first link member is coupled to the anchor by a joint configured to provide for movement of the first link member in one direction relative to the anchor.

Abstract: Various sensor assemblies are described herein that can measure axial and lateral forces and/or axial and lateral torques acting on an instrument independent of steady state temperature variations. In one embodiment, the sensor assembly has a sensor body for coupling to the instrument such that a shaft and tip of the instrument extend from opposing ends of the sensor body. The sensor body has first and second strain sensing regions. The sensor assembly further includes first and second strain sensors coupled to and configured to measure axial strain of the first and second regions, respectively. During use, when the sensor body is coupled to the instrument, each of the first and second regions experience an opposite one of a tensile axial strain and a compressive axial strain in response to an axial force or an axial torque acting on the tip of the instrument.

Abstract: Examples of a mitral heart valve apparatus are described. In one example, the apparatus has an annular body made of a first material, and a plurality of first anchor members and at least two paddles made of a second material extending from the annular body. In a compressed state, the first anchor members extend substantially longitudinally from the first end of the annular body, and GC the paddles extend substantially longitudinally from the second end of the annular body.

Abstract: A method of programming at least one robot by demonstration comprising: performing at least one demonstration of at least one task in the Held of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories; generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory.

Abstract: Various sensor assemblies are described herein that can measure axial and lateral forces and/or axial and lateral torques acting on an instrument independent of steady state temperature variations. In one embodiment, the sensor assembly has a sensor body for coupling to the instrument such that a shaft and tip of the instrument extend from opposing ends of the sensor body. The sensor body has first and second strain sensing regions. The sensor assembly further includes first and second strain sensors coupled to and configured to measure axial strain of the first and second regions, respectively. During use, when the sensor body is coupled to the instrument, each of the first and second regions experience an opposite one of a tensile axial strain and a compressive axial strain in response to an axial force or an axial torque acting on the tip of the instrument.

Abstract: A method of programming at least one robot by demonstration comprising: performing at least one demonstration of at least one task in the Held of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories; generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory.