Abstract: Tissue puncture devices, and systems and methods for accessing tissue (e.g., cardiovascular tissue) according to the present disclosure may include a tubular sheath extending along a longitudinal axis, the tubular sheath having a proximal end and a distal end, a needle disposed coaxially in the sheath, the needle having a proximal end and a distal end and being movable along the longitudinal axis of sheath, and a needle control mechanism disposed at the proximal end of the needle, the needle control mechanism being configured to lock the distal end of the needle in a first position retracted within the distal end of the sheath, and release the needle to an unlocked second position such that the distal end of the needle is extendable beyond the distal end of the sheath.

Abstract: Tissue puncture devices, and systems and methods for accessing tissue (e.g., cardiovascular tissue) according to the present disclosure may include a tubular sheath extending along a longitudinal axis, the tubular sheath having a proximal end and a distal end, a needle disposed coaxially in the sheath, the needle having a proximal end and a distal end and being movable along the longitudinal axis of sheath, and a needle control mechanism disposed at the proximal end of the needle, the needle control mechanism being configured to lock the distal end of the needle in a first position retracted within the distal end of the sheath, and release the needle to an unlocked second position such that the distal end of the needle is extendable beyond the distal end of the sheath.

Abstract: A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with a cable robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the cable robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A coordination processor runs control software that communicates with both the laser tracker and the cable robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the cable robot, and the actions to be taken.

Abstract: A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with a cable robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the cable robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A coordination processor runs control software that communicates with both the laser tracker and the cable robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the cable robot, and the actions to be taken.

Abstract: A method for verifying performance of a light projector includes establishing a reference artifact that include reflective makers and an interior edge line, determining with a laser-tracker-based three-dimensional (3D) measuring system 3D coordinates of the reflective targets and the interior edge line, determining with the light projector angles to the reflective markers with the light projector, and projecting with the light projector a pattern of light onto the interior edge line.

Abstract: A method for verifying performance of a light projector includes establishing a reference artifact that include reflective makers and an interior edge line, determining with a laser-tracker-based three-dimensional (3D) measuring system 3D coordinates of the reflective targets and the interior edge line, determining with the light projector angles to the reflective markers with the light projector, and projecting with the light projector a pattern of light onto the interior edge line.

Abstract: Optically communicating from a user to a laser tracker a command to control tracker operation includes providing a rule of correspondence between each of a plurality of commands and temporal patterns; user selecting a first command; projecting a first light from the tracker to a retroreflector; reflecting a second light from the retroreflector that is part of the first light; obtaining first sensed data by sensing a third light imaged onto a photosensitive array that is part of the second light; user creating, between first and second times, a first temporal pattern including at least a decrease in the third light's optical power followed by an increase in its optical power, the first temporal pattern corresponding to the first command; determining the first command based at least in part on processing the first sensed data according to the rule of correspondence; and executing the first command with the tracker.

Abstract: Optically communicating from a user to a laser tracker a command to control tracker operation includes providing a rule of correspondence between each of a plurality of commands and temporal patterns; user selecting a first command; projecting a first light from the tracker to a retroreflector; reflecting a second light from the retroreflector that is part of the first light; obtaining first sensed data by sensing a third light imaged onto a photosensitive array that is part of the second light; user creating, between first and second times, a first temporal pattern including at least a decrease in the third light's optical power followed by an increase in its optical power, the first temporal pattern corresponding to the first command; determining the first command based at least in part on processing the first sensed data according to the rule of correspondence; and executing the first command with the tracker.

Abstract: A method for optically communicating, from a user to a laser tracker, a command to control tracker operation includes providing a rule of correspondence between commands and temporal patterns, and selecting by the user a first command. Also, projecting a first light from the tracker to the retroreflector, reflecting a second light from the retroreflector, the second light being a portion of the first light, obtaining first sensed data by sensing a third light which is a portion of the second light, creating by the user, between first and second times, a first temporal pattern which includes a decrease in the third optical power followed by an increase in the third optical power, the first temporal pattern corresponding to the first command, determining the first command based on processing the first sensed data per the rule of correspondence and executing the first command with the tracker.

Abstract: A method for optically communicating, from a user to a six degree-of-freedom (6DOF) laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between commands and pose patterns, each pattern including a change in a coordinate from an initial to a final pose, each pose having three translational coordinates and three orientational coordinates. Also, selecting a first command from among the commands and measuring the coordinate of a first pose of the 6DOF target with the tracker. Further, changing between first and second times, the coordinate of the pose of the target and measuring the coordinate of a second pose of the target with the tracker. Also, determining the first command based on the difference between the measured coordinates of the first and second poses according to the rule of correspondence and executing the first command by the tracker.

Abstract: A method for optically communicating, from a user to a laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between a plurality of commands and a plurality of positions, each position being a 3-D coordinate; selecting by the user a first command from among the commands and moving by the user a retroreflector to a first position wherein the first position corresponds to the first command. Also, projecting a first light from the tracker to the retroreflector, reflecting a second light from the retroreflector, the second light being a portion of the first light and obtaining first sensed data by sensing a third light, the third light being a portion of the second light. Further, determining the first command based on processing the first sensed data according to the rule of correspondence and executing the first command with the tracker.

Abstract: A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker includes steps of providing a rule of correspondence between each of a plurality of commands and each of a plurality of spatial patterns, and selecting by the user a first command from among the plurality of commands. The method further includes the steps of moving by the user, between a first time and a second time, a retroreflector in a first spatial pattern from among the plurality of spatial patterns, wherein the first spatial pattern corresponds to the first command, and projecting a first light from the laser tracker to the retroreflector.

Abstract: A method for optically communicating, from a user to a six degree-of-freedom (6DOF) laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between commands and pose patterns, each pattern including a change in a coordinate from an initial to a final pose, each pose having three translational coordinates and three orientational coordinates. Also, selecting a first command from among the commands and measuring the coordinate of a first pose of the 6DOF target with the tracker. Further, changing between first and second times, the coordinate of the pose of the target and measuring the coordinate of a second pose of the target with the tracker. Also, determining the first command based on the difference between the measured coordinates of the first and second poses according to the rule of correspondence and executing the first command by the tracker.

Abstract: A method for optically communicating, from a user to a laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between a plurality of commands and a plurality of positions, each position being a 3-D coordinate; selecting by the user a first command from among the commands and moving by the user a retroreflector to a first position wherein the first position corresponds to the first command. Also, projecting a first light from the tracker to the retroreflector, reflecting a second light from the retroreflector, the second light being a portion of the first light and obtaining first sensed data by sensing a third light, the third light being a portion of the second light. Further, determining the first command based on processing the first sensed data according to the rule of correspondence and executing the first command with the tracker.

Abstract: A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker includes steps of providing a rule of correspondence between each of a plurality of commands and each of a plurality of spatial patterns, and selecting by the user a first command from among the plurality of commands. The method further includes the steps of moving by the user, between a first time and a second time, a retroreflector in a first spatial pattern from among the plurality of spatial patterns, wherein the first spatial pattern corresponds to the first command, and projecting a first light from the laser tracker to the retroreflector.