Abstract: This disclosure describes various methods and apparatus for detecting and characterizing debris pickup during a cleaning operation. A debris detection sensor is described capable of counting the number of particles retrieved by a robotic vacuum during the cleaning operation and associating particles identified with particular areas. The location information can be obtained using various sensors on-board the robotic vacuum. In some embodiments, a cleaning operation can be rerouted when senor readings from the debris detection sensor deviate from historical sensor readings by a predetermined amount.

Abstract: In one embodiment, a method is disclosed for a robot (e.g., cleaning robot) to produce a bird's eye view (planar) map by transforming from a robot camera view and stitching together images tagged by location. The planar map can then be presented on a user interface as a floorplan, showing the location of objects (such as rugs). A camera is mounted in the cleaning robot sufficiently high in the cleaning robot housing to provide an angled view downward at a floor. The camera's field of view is captured as an image, and a portion or segment of that image is cropped. The cropped segment is transformed from the camera perspective to a planar view (before or after cropping), and is combined with other images to form a map of a floorplan.

Abstract: The present disclosure describes techniques for a robotic cleaning device to determine a plan to clean an environment based on types of surfaces in the environment. The plan can include a route to take in the environment and/or one or more configurations to apply to the robotic cleaning device during the route. Determining the plan can include inserting detected surface types into an environmental map of the environment. The environmental map can then be used on future routes such that the robotic cleaning device can know a surface type of a surface before the robotic cleaning device reaches the surface. In some examples, a type of a surface of the environment can be detected by the robotic cleaning device based on optical polarization of light.

Abstract: Embodiments of the invention provide systems and methods for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.

Abstract: Laser assisted cataract surgery methods and devices utilize one or more treatment laser beams to create a shaped opening in the anterior lens capsule of the eye when performing a capsulorrhexis procedure. A light absorbing agent may be applied to the anterior lens capsule to facilitate laser thermal separation of tissue along a treatment beam path on the lens capsule. Relative or absolute reflectance from the eye, and optionally from a surgical contact lens, may be measured to confirm and optionally quantify the presence of the light absorbing agent, before the treatment beam is applied.

Abstract: In one embodiment, a method is disclosed for a robot (e.g., cleaning robot) to produce a bird's eye view (planar) map by transforming from a robot camera view and stitching together images tagged by location. The planar map can then be presented on a user interface as a floorplan, showing the location of objects (such as rugs). A camera is mounted in the cleaning robot sufficiently high in the cleaning robot housing to provide an angled view downward at a floor. The camera's field of view is captured as an image, and a portion or segment of that image is cropped. The cropped segment is transformed from the camera perspective to a planar view (before or after cropping), and is combined with other images to form a map of a floorplan.

Abstract: Embodiments of the invention provide systems for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.

Abstract: The procedures described herein may involve using one or more treatment beams to induce one or more therapeutic benefits. In some embodiments, a series of short duration light pulses may be delivered to ocular tissue at a plurality of target locations with a thermal relaxation time delay to limit the temperature rise of the target ocular tissue and thereby limit a thermal effect to only a desired portion of the ocular tissue. The thermal relaxation time delay may be roughly equivalent to a duration of a scan of the treatment beam between each of the target locations. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered at each target location within a sufficiently short duration so as to produce a visual appearance of a treatment pattern on the ocular tissue of the patient's eye.

Abstract: Devices, systems, and methods for treating and/or determining appropriate prescriptions for one or both eyes of a patient are particularly well-suited for addressing presbyopia, often in combination with concurrent treatments of other vision defects. High-order spherical aberration may be imposed in one or both of a patient's eyes, often as a controlled amount of negative spherical aberration extending across a pupil. A desired presbyopia-mitigating quantity of high-order spherical aberration may be defined by one or more spherical Zernike coefficients, which may be combined with Zernike coefficients generated from a wavefront aberrometer. The resulting prescription can be imposed using refractive surgical techniques such as laser eye surgery, using intraocular lenses and other implanted structures, using contact lenses, using temporary or permanent corneal reshaping techniques, and/or the like.

Abstract: This disclosure describes various methods and apparatus for detecting and characterizing debris pickup during a cleaning operation. A debris detection sensor is described capable of counting the number of particles retrieved by a robotic vacuum during the cleaning operation and associating particles identified with particular areas. The location information can be obtained using various sensors on-board the robotic vacuum. In some embodiments, a cleaning operation can be rerouted when senor readings from the debris detection sensor deviate from historical sensor readings by a predetermined amount.

Abstract: The present disclosure describes techniques for a robotic cleaning device to determine a plan to clean an environment based on types of surfaces in the environment. The plan can include a route to take in the environment and/or one or more configurations to apply to the robotic cleaning device during the route. Determining the plan can include inserting detected surface types into an environmental map of the environment. The environmental map can then be used on future routes such that the robotic cleaning device can know a surface type of a surface before the robotic cleaning device reaches the surface. In some examples, a type of a surface of the environment can be detected by the robotic cleaning device based on optical polarization of light.

Abstract: Embodiments provide methods and apparatus for asynchronously classifying images provided by a robot. In a reconnaissance/exploratory or first cleaning pass, unidentified objects are avoided. Images of the object are uploaded over the Internet to a remote object detection and classification system, and the location is indicated by the cleaning robot. When the remote system subsequently returns an object identification or classification, the object can be indicated as something to be avoided, or the cleaning robot can return to the location and clean over the object if it is determined not to be a hazard. In one embodiment, the object is passed over at reduced speed or with a cleaning brush turned off.

Abstract: Embodiments of the invention provide systems and methods for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.

Abstract: Embodiments of the invention provide systems and methods for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.

Abstract: Laser assisted cataract surgery methods and devices utilize one or more treatment laser beams to create a shaped opening in the anterior lens capsule of the eye when performing a capsulorrhexis procedure. A light absorbing agent may be applied to the anterior lens capsule to facilitate laser thermal separation of tissue along a treatment beam path on the lens capsule. Relative or absolute reflectance from the eye, and optionally from a surgical contact lens, may be measured to confirm and optionally quantify the presence of the light absorbing agent, before the treatment beam is applied.

Abstract: Devices, systems, and methods for treating and/or determining appropriate prescriptions for one or both eyes of a patient are particularly well-suited for addressing presbyopia, often in combination with concurrent treatments of other vision defects. High-order spherical aberration may be imposed in one or both of a patient's eyes, often as a controlled amount of negative spherical aberration extending across a pupil. A desired presbyopia-mitigating quantity of high-order spherical aberration may be defined by one or more spherical Zernike coefficients, which may be combined with Zernike coefficients generated from a wavefront aberrometer. The resulting prescription can be imposed using refractive surgical techniques such as laser eye surgery, using intraocular lenses and other implanted structures, using contact lenses, using temporary or permanent corneal reshaping techniques, and/or the like.

Abstract: Embodiments of the invention provide systems for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.

Abstract: Devices, systems, and methods for treating and/or determining appropriate prescriptions for one or both eyes of a patient are particularly well-suited for addressing presbyopia, often in combination with concurrent treatments of other vision defects. High-order spherical aberration may be imposed in one or both of a patient's eyes, often as a controlled amount of negative spherical aberration extending across a pupil. A desired presbyopia-mitigating quantity of high-order spherical aberration may be defined by one or more spherical Zernike coefficients, which may be combined with Zernike coefficients generated from a wavefront aberrometer. The resulting prescription can be imposed using refractive surgical techniques such as laser eye surgery, using intraocular lenses and other implanted structures, using contact lenses, using temporary or permanent corneal reshaping techniques, and/or the like.

Abstract: Embodiments of the invention provide systems and methods for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.

Abstract: Embodiments of the invention provide systems and methods for treating the retina and/or other areas of a patient's eye. The procedures may involve using one or more treatment beams (e.g., lasers) to cause photocoagulation or laser coagulation to finely cauterize ocular blood vessels and/or prevent blood vessel growth to induce one or more therapeutic benefits. In other embodiments, a series of short duration light pulses (e.g., between 5-15 microseconds) may be delivered to the retinal tissue with a thermal relaxation time delay between the pulse to limit the temperature rise of the target retinal tissue and thereby limit a thermal effect to only the retinal pigment epithelial layer. Such procedures may be used to treat diabetic retinopathy, macular edema, and/or other conditions of the eye. The treatment beam may be delivered within a treatment boundary or pattern defined on the retina of the patient's eye.