Abstract: A portable vein viewer apparatus may be battery powered and hand-held to reveal patient vasculature information to aid in venipuncture processes. The apparatus comprises a first laser diode emitting infrared light, and a second laser diode emitting only visible wavelengths, wherein vasculature absorbs a portion of the infrared light causing reflection of a contrasted infrared image. A pair of silicon PIN photodiodes, responsive to the contrasted infrared image, causes transmission of a corresponding signal. The signal is processed through circuitry to amplify, sum, and filter the outputted signals, and with the use of an image processing algorithm, the contrasted image is projected onto the patient's skin surface using the second laser diode. Revealed information may comprise vein location, depth, diameter, and degree of certainty of vein locations. Projection of vein images may be a positive or a negative image. Venipuncture needles may be coated to provide visibility in projected images.

Abstract: A distally-actuated scanning mirror includes: a mirror block with reflective surface on one side; torsional hinges with proximal ends rigidly attached to the mirror block, and with distal ends attached to flexural structures configured to transform translational motion of the piezoelectric elements into rotational motion of the distal ends of the hinges; and piezoelectric elements providing such translational motion. The distally-actuated scanning mirror also includes flexural structures made of separate flexures attached to the opposite surfaces of the distal ends of the hinges, which flexural structures have defined thinned-down flexural points. Portions of the distally-actuated scanning mirror may be 3D printed and/or fabricated by silicon MEMS technology. The mirror is fabricated from a Silicon-on-Insulator wafer, having a relatively thick (e.g., 380 um) handle layer, and a relatively thin e.g., 50 um), where photolithography with backside-alignment allows separate patterning of these two layers.

Abstract: A vein imager includes: two photodetectors, a first and second lasers configured to respectively emit an infrared beam of light and a human-visible beam of light; a combiner to coaxially align the two beams; and a scanner that scans the coaxial beam in a pattern and onto a skin surface of a patient. The first photodetector receives the infrared wavelength reflected from the patient as a contrasted image of subcutaneous veins, and surface reflection noise due to skin surface topology, and outputs a first signal representing that contrasted image of subcutaneous veins and noise due to skin surface topology. The second photo detector receives the human-visible wavelength reflected from the skin surface and outputs a second signal representing a contrasted image of the topology. The second signal is subtracted from the first signal to remove the noise, permitting projection of a surface-noise-free vein image onto the skin surface.

Abstract: A portable vein viewer apparatus may be battery powered and hand-held to reveal patient vasculature information to aid in venipuncture processes. The apparatus comprises a first laser diode emitting infrared light, and a second laser diode emitting only visible wavelengths, wherein vasculature absorbs a portion of the infrared light causing reflection of a contrasted infrared image. A pair of silicon PIN photodiodes, responsive to the contrasted infrared image, causes transmission of a corresponding signal. The signal is processed through circuitry to amplify, sum, and filter the outputted signals, and with the use of an image processing algorithm, the contrasted image is projected onto the patient's skin surface using the second laser diode. Revealed information may comprise vein location, depth, diameter, and degree of certainty of vein locations. Projection of vein images may be a positive or a negative image. Venipuncture needles may be coated to provide visibility in projected images.

Abstract: A vein imager includes: a housing with first and second portions respectively proximate to first and second ends of the imager; a first light source that emits a first wavelength; an optical detector responsive to the first wavelength and which converts a received vein image into a signal; a second light source that emits a second wavelength; one or more buttons protruding from the housing; and at least one exit opening in the housing for emission of light from the light sources. The first housing portion houses the light sources, the optical detectors, and includes the exit opening. The second housing portion, which houses a battery, is narrower than the first portion to be hand-holdable permitting single-handed lifting and use of the imager, which single-hand lifting and use does not cover the exit opening, and simultaneously permits actuation of the one or more buttons while holding the second housing portion.

Abstract: A cleaning chamber for cleaning a vein viewing device, includes a housing with an access door having an open position and a shut position, wherein when the access door is in the open position the vein viewing device can be placed inside the housing. When the access door is in the closed position the housing and access door together envelop the vein viewing device. A detector detects when the vein viewing device is contained within the housing. A light source is contained within the housing and is arranged to illuminate the exterior surfaces of the vein viewing device when the vein viewing device is detected within the housing.

Abstract: It is known in the art to use an apparatus to enhance the visual appearance of the veins and arteries in a patient to facilitate insertion of needles into those veins and arteries. This application discloses a number of inventions that add additional data collection and presentation capabilities to a handheld vein enhancement apparatus and a set of processes for the collection of blood and the delivery of IV medicines that use the handheld device to mediate the process.

Abstract: It is known in the art to use an apparatus to enhance the visual appearance of the veins and arteries in a patient to facilitate insertion of needles into those veins and arteries. This application discloses a number of inventions that add additional data collection and presentation capabilities to a handheld vein enhancement apparatus and a set of processes for the collection of blood and the delivery of IV medicines that use the handheld device to mediate the process.

Abstract: The present invention is a Miniature Vein Enhancer that includes a Miniature Projection Head. The Miniature Projection Head may be operated in one of three modes, AFM, DBM, and RTM. The Miniature Projection Head of the present invention projects an image of the veins of a patient, which aids the practitioner in pinpointing a vein for an intravenous drip, blood test, and the like. The Miniature projection head may have a cavity for a power source or it may have a power source located in a body portion of the Miniature Vein Enhancer. The Miniature Vein Enhancer may be attached to one of several improved needle protectors, or the Miniature Vein Enhancer may be attached to a body similar to a flashlight for hand held use. The Miniature Vein Enhancer of the present invention may also be attached to a magnifying glass, a flat panel display, and the like.

Abstract: A distally-actuated scanning mirror includes: a mirror block with reflective surface on one side; torsional hinges with proximal ends rigidly attached to the mirror block, and with distal ends attached to flexural structures configured to transform translational motion of the piezoelectric elements into rotational motion of the distal ends of the hinges; and piezoelectric elements providing such translational motion. The distally-actuated scanning mirror also includes flexural structures made of separate flexures attached to the opposite surfaces of the distal ends of the hinges, which flexural structures have defined thinned-down flexural points. Portions of the distally-actuated scanning mirror may be 3D printed and/or fabricated by silicon MEMS technology. The mirror is fabricated from a Silicon-on-Insulator wafer, having a relatively thick (e.g., 380 um) handle layer, and a relatively thin e.g., 50 um), where photolithography with backside-alignment allows separate patterning of these two layers.

Abstract: A distally-actuated scanning mirror includes: a mirror block with reflective surface on one side; torsional hinges with proximal ends rigidly attached to the mirror block, and with distal ends attached to flexural structures configured to transform translational motion of the piezoelectric elements into rotational motion of the distal ends of the hinges; and piezoelectric elements providing such translational motion. The distally-actuated scanning mirror also includes flexural structures made of separate flexures attached to the opposite surfaces of the distal ends of the hinges, which flexural structures have defined thinned-down flexural points. Portions of the distally-actuated scanning mirror may be 3D printed and/or fabricated by silicon MEMS technology. The mirror is fabricated from a Silicon-on-Insulator wafer, having a relatively thick (e.g., 380 um) handle layer, and a relatively thin e.g., 50 um), where photolithography with backside-alignment allows separate patterning of these two layers.

Abstract: A method includes providing a virtual representation of an environment of a robot, the virtual representation including an object representation of an object in the environment. The method further includes receiving manipulation input from a user to teleoperate the robot for manipulation of the object. The method also includes alerting the user to an alignment dimension based upon the manipulation input, receiving confirmation input from the user to engage the alignment dimension, and constraining at least one dimension of movement of the object according to the alignment dimension.

Abstract: An apparatus for capturing a multispectral image of an object is described. The apparatus includes one or more means for transmitting a beam of laser light at a first wavelength and a beam of laser light at one or more additional wavelengths different from the first wavelength. There is a means for causing the beams of laser light to travel in a coaxial path and a moving mirror. The beams of light bounce off the mirror thereby producing a two dimensional projection pattern. This pattern travels from the mirror along a first path to an object and wherein some of the laser light penetrates the object and travels to an internal structure of the object. The reflection of the laser light returns to a photo detector along a path different from said first path.

Abstract: The present invention is a Miniature Vein Enhancer, for use in imaging the subcutaneous veins of a target area of a patient by a practitioner. The miniature vein enhancer includes a Miniature Projection Head that is secured to a tourniquet, where the tourniquet may be mounted to the bicep of a patient. The Miniature Projection Head includes a housing, and apparatus that images subcutaneous veins of the target area, and projects the image(s) of the veins onto the target area to overlie the subcutaneous veins, which aids the practitioner in pinpointing a vein location for a venipuncture procedure such as an intravenous drip, blood test, and the like.

Abstract: A fluorescence imaging device detects fluorescence in parts of the visible and invisible spectrum, and projects the fluorescence image directly on the human body, as well as on a monitor, with improved sensitivity, video frame rate and depth of focus, and enhanced capabilities of detecting distribution and properties of multiple fluorophores. Direct projection of three-dimensional visible representations of florescence on three-dimensional body areas advantageously permits viewing of it during surgical procedures, including during cancer removal, reconstructive surgery and wound care, etc. A NIR laser and a human visible laser (HVL) are aligned coaxially and scanned over the operating field of view. When the NIR laser passes over the area where the florescent dye is present, it energizes the dye which emits at a shifted NIR frequency detected by a photo diode. The HVL is turned on when emission is detected, providing visual indication of those positions.

Abstract: A method performed by an autonomous device includes identifying a current movement of an operator based on monitoring the operator of the autonomous device. The method also includes inferring an intended direction of travel for the autonomous device based identifying the current movement. The method further includes identifying one or more objects in a current environment and limitations of the current environment. The method still further includes determining the action to be performed based on inferring the intended direction of travel and also identifying the one or more objects and the limitations of the current environment. The method also includes performing, by the autonomous device, the action.

Abstract: A miniature vein enhancer is operated in one of three modes to project an image of a patient's veins onto the imaged body region, aiding a practitioner in pinpointing veins for a venipuncture procedure (intravenous drip, withdrawing blood . . . ). In one embodiment that uses two wavelengths of light (e.g., using two lasers), the image is obtained using red or infrared light, and is projected using visible light. In another embodiment using two wavelengths of light, the vein image is obtained using the first wavelength (red or infrared), and a fluorescent material (e.g., cream) sensitive to the second wavelength is applied to the skin surface, so that transmission of the imaged vein locations using the second wavelength energizes the fluorescent cream to visualize the veins on the skin surface. A three laser embodiment uses a third wavelength (violet or ultraviolet) to detect surface topology and subtract that noise from the vein image.