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.

Abstract: A method of puncturing from an aorta into a left atrium using a puncturing device. The method involves a step of accessing a carotid artery and advancing a puncturing device through the carotid artery into an aorta. Advancing a sheath and a dilator over the puncturing device through the carotid artery and into the aorta such that a puncturing tip of the puncturing device is aligned with a distal tip of the sheath and a distal tip of the dilator, forming a puncturing assembly. Positioning the puncturing assembly at a target site within the aorta to gain access to a left atrium of a heart. Tenting a tissue between the aorta and the left atrium using the puncturing assembly. Creating a puncture through the tissue by advancing the puncturing device such that a channel between the aorta and the left atrium is formed.

Abstract: A method and system are disclosed for puncturing tissue, comprising a puncture device for puncturing tissue and a supporting member for supporting the puncture device. The puncture device is capable of being insertable within the supporting member and being selectively usable in co-operation therewith during a portion of a procedure for puncturing tissue and wherein the puncture device is usable independently therefrom during another portion of the procedure.

Abstract: Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Abstract: Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.