Abstract: A method and apparatus are disclosed for an elongated introducer assembly and an elongated guidewire assembly. The elongated introducer assembly is manipulated and positioned proximate to a first biological wall. An elongated guidewire assembly is selectively maneuvered along the elongated introducer assembly and is comprised of a distal tip, distal portion, and elongated shaft section. The distal portion is further comprised of a flexible preset spatial geometry which comprises a distal length and distal deflective portion. The distal tip is used to puncture the first biological wall and the distal deflective portion directs the distal length away from a second biological wall positioned proximate to the first biological wall.

Abstract: A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.

Abstract: A method and apparatus are disclosed for creating a puncture in a tissue. The assembly includes a puncturing device having a distal tip configured to deliver energy to the tissue, creating the puncture. The puncturing device further includes a marker positioned along the puncturing device. The assembly further includes a dilator which has a lumen extending from a proximal portion to a distal portion and configured to receive the puncturing device. The dilator further comprises a sensor positioned along a length of the dilator. When the marker and the sensor are aligned, energy is delivered to the distal tip of the puncturing device.

Abstract: A system comprising a generator which is capable of supplying energy for puncturing a tissue and an electrical current of known voltage, wherein the electrical current of known voltage can pass through the tissue without damaging the tissue. The system also includes a puncturing device comprising an elongate member. A distal tip of the elongate member comprises an energy delivery device which is configured for delivering the energy for puncturing and two electrodes which are configured for delivering the electrical current of known voltage from one electrode to the other through a material which is in contact with the distal tip. The system further includes a sensor which is capable of detecting a value of the electrical current between the two electrodes. The generator comprises a generator switch for disabling energy delivery tip based on the value of the electric current detected by the sensor.

Abstract: An elongated guidewire assembly has a distal segment configured to be selectively maneuvered, along an elongated Introducer assembly. The distal segment is configured to selectively transmit a tenting force from the elongated guidewire assembly to the first biological wall after the distal segment has contacted, at least in part, the first biological wall and the distal segment has been selectively protracted away from the distal introducer assembly.

Abstract: A puncturing device configured to create a puncture in a tissue comprising an elongate member comprising a proximal portion defining a longitudinal axis along the length of the elongate member. The elongate member further comprises a flexible distal portion of the that curves away from the longitudinal axis and a distal tip configured to deliver energy to the tissue. A sensing element placed on the flexible distal portion of the elongate member detects the curvature of the distal portion such that when the flexible distal portion of the elongate member is straightened, energy is delivered to the distal tip and when the flexible distal portion of the elongate member is curved, energy is not delivered to the distal tip.

Abstract: An apparatus for use with an elongated medical device configured to be tacitly contacted by a user is disclosed. The apparatus includes an elongated medical-conveyance assembly defining an elongated conveyance lumen configured to receive the elongated medical device. A tactile feature is located at (in) the elongated conveyance lumen. The elongated guidewire-conveyance assembly may include biocompatible material properties suitable for sufficient performance.

Abstract: Apparatuses and methods are disclosed for the perforation of a communication between the aorta and left atrium. The method includes introducing the apparatus, positioning the apparatus at a location along the aorta, and energizing the apparatus to create a perforation. For example, one method may include: introducing a flexible wire into the left atrium, advancing a dilator along the flexible wire to position the flexible wire adjacent a selected location along the aorta and energizing the flexible wire to create a perforation from the left atrium into the aorta.

Abstract: Apparatuses and methods are disclosed for the perforation of a communication between the aorta and left atrium. The method includes introducing the apparatus, positioning the apparatus at a location along the aorta, and energizing the apparatus to create a perforation. For example, one method may include: introducing a flexible wire into the left atrium, advancing a dilator along the flexible wire to position the flexible wire adjacent a selected location along the aorta and energizing the flexible wire to create a perforation from the left atrium into the aorta.

Abstract: A method and apparatus are disclosed for a device for creating a puncture in a tissue. The puncturing device comprising an elongate member having a puncturing portion at the distal tip. The puncturing device further includes at least one inflatable feature positioned around the outer circumference and at a distal portion of the elongate member. The puncturing device includes a lumen extending from a proximal end of the elongate member to the inflatable feature. The inflatable feature is in a fluid communication with the lumen and can be inflated to dilate the puncture in the tissue or anchor the puncturing device in a heart structure.

Abstract: A method for pericardial puncture includes contacting a pericardium of a heart of a patient with an electrode of a medical device, and while the heart is in a contracted state, delivering radiofrequency energy from the electrode to puncture the pericardium. A stimulus signal can be delivered to the heart to force contraction and transient standstill of the heart in the contracted state. Electrocardiography monitoring and/or medical imaging can be used to determine when the heart is in the contracted state.

Abstract: A system, method, and apparatus are provided for a robotic system effecting autonomous therapy or treatment of a body having soft and/or hard tissue. A system, method, and apparatus are provided for a robotic control system having a fused sensing stream for predicting the deformation of a robotic end effector and the tissue that the end effector is in contact with using, e.g., a Finite Element Analysis (FEA) model. The model updates provide adjustment parameters for the control system to compensate for changes in the mechanical nature of the robotic end effector and the characteristics and/or movement of the tissue being treated by the robotic end effector.

Abstract: A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.

Abstract: A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.

Abstract: A system, method, and apparatus are provided for generating a dynamic, autonomous, machine-learning, and modifiable therapeutic massage plan. A system, method, and apparatus are provided for determining and executing the motion planning for directing one or more robotic arms to execute a sequence of motions while maintaining contact between their end effectors and a subject.

Abstract: A surgical method includes, for example, tracking, via at least one camera attached to a robotic arm of a surgical robot, a surgical site of a patient, the robotic arm having a plurality of joints and a plurality of body parts, controlling the robotic arm to perform a surgical procedure at the surgical site of the patient based on the camera tracked surgical site of the patient, and wherein the tracking comprises controlling the movement of the plurality of joints and body parts of the robotic arm to maintain a line of sight of the at least one camera directed towards the surgical site of the patient.

Abstract: A surgical method includes, for example, positioning a patient relative to a robot, moving an end effector of the robot relative to a surgical site of a patient, defining a go-zone and a no-go-zone associated with the surgical site based on the moving the end effector of the robot relative to the patient, and effecting a surgical procedure at the surgical site of the patient with a tool attached to the end effector of the robot based on the defined go-zone and the defined no-go-zone, and wherein the effecting the surgical procedure maintains the tool in the defined go-zone and avoids contact with the defined no-go-zone.

Abstract: A method for carrying out a cardiac procedure includes: a. via an inferior artery, advancing a perforating tip of a perforation device towards an aorta; b. positioning the perforating tip adjacent a wall of the aorta, proximate a left pulmonary artery; and c. advancing the perforating tip to perforate through the wall of the aorta and then through a wall of the left pulmonary artery, to create a pathway between the aorta and the left pulmonary artery.

Abstract: Methods and devices are disclosed for the formation of a communication between the aorta and left atrium. The method includes introducing a puncturing device, positioning the device at a location along the aorta, and advancing the puncturing device to create a pathway. The method may include: a. via an inferior artery, advancing a perforating tip of the puncturing device towards the aorta; b. positioning the perforating tip adjacent a wall of the aorta, proximate the left atrium; and c. advancing the perforating tip to perforate through the wall of the aorta and then through a wall of the left atrium, to create a pathway between the aorta and the left atrium, wherein the creation of the pathway can be confirmed with at least one of fluoroscopy, electro-anatomical mapping, pressure measurement, contrast injection, and echocardiograph.