Abstract: A lead delivery catheter having a slittable pull ring is described. The lead delivery catheter includes a deflection wire attached to the slittable pull ring to deflect the catheter. The slittable pull ring has several ring holes arranged in a pattern. The pull ring is located distal to a tubular braid of the lead delivery catheter, and a size and pattern of the ring holes can be similar to a size and pattern of holes in the tubular braid. The structural similarity between the pull ring and the tubular braid facilitates use of a consistent cutting force to slit through the tubular braid and the pull ring of the lead delivery catheter. Other embodiments are also described and claimed.

Abstract: The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

Abstract: A surgical instrument comprising an end effector, an articulation system, a firing system, a closure system, a lock system, and a control unit is disclosed. The end effector comprises a pair of movable jaws. The articulation system articulates the end effector when the articulation system is in an active state. The closure system is actuatable to move the pair of jaws. The lock system prevents the closure system from actuating when the lock system is in a locked state. The control unit controls the supply of power from a power source to the articulation system, the firing system, and the lock system. The control unit transitions the lock system to the locked state and prevents the supply of power from the power source to the firing system when the articulation system is in the active state.

Abstract: An introducer sheath assembly having a handle portion including a distal end and a proximal end, and an introducer sheath extending outwardly from the distal end of the handle portion, the introducer sheath including a device lumen configured to slidably receive a corresponding device, a guidewire lumen configured to slidably receive a corresponding guidewire, and at least one steering cable disposed within at least one steering cable lumens that are disposed radially outwardly from the device lumen, and the handle portion including at least one steering assembly for modifying the tension of at least one of the at least one steering cables.

Abstract: A controller for displaying a puncture site of an intra-atrial septum for heart repairs includes a memory and a processor (710). The processor (710) executes instructions (784) to perform a process based on image data of a heart that includes a mitral valve and an intra-atrial septum. The process includes defining a mitral valve annulus plane along a mitral valve annulus of the mitral valve and a normal vector perpendicular to the mitral valve annulus plane. The process also includes defining an offset plane that intersects with the intra-atrial septum and that is parallel to the mitral valve annulus plane. A safe zone for the puncture site is identified and displayed on the intra-atrial septum. The safe zone is between a lower boundary plane (456) and an upper boundary plane (455) that are each parallel to the offset plane by specified distances.

Abstract: Medical tool positioning and control devices, systems, and methods. Handle assemblies that allow a steerable shaft to be steered, while allowing the separate movement of a medical tool. The handle assemblies can allow for rotation and axial movement of the medical tool, and optionally with an actuator disposed distal to a second actuator that controls steering of the steerable shaft.

Abstract: The device is a body with a truncated anterior portion and a cylindrical posterior portion, which are interconnected such that the cylindrical posterior portion of the body is rotatable about its own axis. The inside surface of the cylindrical posterior portion of the body is provided with a thread that is capable of engaging a lip of a slider disposed on guides inside the posterior portion of the body. The slider is connected to a barrel of a gripper having vanes with elastic elements at a delivery system gripping point such that the gripper is rotatable about its own axis, wherein the vanes of the gripper have protuberances disposed in a clamping cylinder which is arranged inside the body of the device and squeezes and releases the vanes of the gripper under the action of a release member.

Abstract: Systems and method for controlling the bending of a robotic catheter. A control backbone of the robotic catheter is coupled to a linear movement stage by a spring and linear movement of the control backbone causes a controllable bending of the robotic catheter. A sensor monitors a deflection of the spring and the bending of the catheter is controlled based on the spring deflection signal from the sensor. The spring allows passive bending of the robotic catheter without movement of the active linear movement stage and, conversely, allows external forces applied to the robotic catheter to limit a bending movement of the robotic catheter caused by—movement of the active linear movement stage. In some implementations, the robotic catheter includes a selectively deployable tip mechanism for deploying a steerable tip or for selectively exposing side windows on the catheter for increasing traction for clot removal.

Abstract: A method of scaling a desired velocity of a tool of a surgical robot with a processing unit includes receiving an input signal, determining a position of the tool relative to a boundary of a surgical site, and scaling a desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site. The input signal includes the desired velocity of movement of the tool.

Abstract: A medical device includes an elongate device and one or more processors coupled to the elongate device. The elongate device includes a steerable distal end and a shape sensor located along a length of the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to, based on information from a sensor, monitor an insertion motion of the elongate device, detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. The data collection event is at least partially based on a change in direction of the insertion motion of the elongate device.

Abstract: A delivery apparatus includes a steerable shaft having a pull-wire conduit. A pull wire extends through the pull-wire conduit. The steerable shaft includes one or more layers. A compression-resistance portion is incorporated into at least one of the one or more layers. A cross-section of the compression-resistance portion has an arcuate shape that extends along a portion of a cross-section of the steerable shaft. The compression-resistance portion has a hardness that is greater than a hardness of the one or more layers that the compression-resistance portion is incorporated into.

Abstract: The present disclosure provides a medical device comprising an actuator restraining assembly configured to assist in restraining a catheter shaft in a deflected configuration. The actuator restraining assembly may include a brake element, a release element, a connecting sheath, and a connecting rod disposed in a catheter handle, wherein the connecting sheath and connecting rod are attached to an actuator mechanism, and wherein the at brake element is attached to the connecting sheath and the release element is attached to the connecting rod. The brake element is sized and configured to contact an inner wall of the handle to thereby provide resistance to movement of actuator mechanism in a proximal direction with respect to the handle. In one embodiment, the actuator restraining assembly is configured to allow for temporary, i.e., reversible, restraining of the catheter shaft in the deflected configuration.

Abstract: A stent delivery device having a delivery configuration for delivering a stent to a treatment location and a deployment configuration for deploying the stent at the treatment location may include an outer sheath, an inner shaft slidably disposed within a lumen of the outer sheath, and a distal tip member fixedly attached to a distal end of the inner shaft. A distal portion of the outer sheath may include a plurality of longitudinal strips circumferentially disposed about the lumen of the outer sheath. At least a portion of the distal tip member may be configured to slide over a distal end of the outer sheath in the delivery configuration.

Abstract: The present invention is a system for three-dimensionally mapping a heart, comprising: a mapping catheter including three or more optical cores each of which has a plurality of FBGs disposed in the lengthwise direction of a catheter body, and a plurality of electrodes disposed in the lengthwise direction of the catheter body and exposed on the outer circumferential surface of the catheter body, wherein the electrodes make contact with the inner wall of the heart; and a mapping processor for calculating coordinates of the FBGs by wavelength information of reflected light received from the three or more optical cores, and calculating coordinates of the electrodes from the coordinates of the FBGs so as to build a three-dimensional shape of the heart by using a sample point at which the plurality of electrodes make contact.

Abstract: A tissue-removing catheter for removing tissue in a body lumen includes an elongate body having an axis and proximal and distal end portions spaced apart from one another along the axis. A handle is mounted to the proximal end portion of the elongate body and operable to cause rotation of the elongate body. A tissue-removing element is mounted on the elongate body. The tissue-removing element is configured to remove the tissue as the tissue-removing element is rotated by the elongate body within the body lumen. An inner liner is received within the elongate body and is coupled to the handle at a proximal end portion of the inner liner. The inner liner defines a guidewire lumen. A sensor is arranged with respect to the inner liner and is configured to produce a signal for indicating the presence of a guidewire within the inner liner.

Abstract: Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

Abstract: The present disclosure relates to an augmented reality (AR) enabled electronic device and method. The electronic device includes a camera, a display, touch input circuitry, a motion sensor, and a processor. The processor implements the method, including acquiring a preview image captured by the at least one camera, setting an object area and/or a space area in the preview image, displaying the acquired preview image on the display, detecting an input to the display using the touch input circuitry, determining whether the detected input requests application of an object-based drawing or a space-based drawing, and applying the object-based drawing or the space-based drawing to the to the acquired preview image according to the detected input.

Abstract: A handheld endoscope has a disposable, single-use portion that includes a fluid hub, cannula, distal tip and is steerable by the operator though actuation of one or two levers. The endoscope also includes re-usable portion that has a handle and display module. The distal tip includes LED illumination and an imaging module that feeds live video to the display module that is rotatable to allow viewing by the operator and others. The single-use and re-usable portions mate and un-mate with each other via physically separated mechanical and electrical connectors. The single use portion can include grasper device that can be actuated by an operator using an actuation tab.

Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.

Abstract: A surgical system according to one or more embodiments may include: a plurality of surgical instruments each including a flexible shaft and an end effector; an insertion tube to hold the plurality of flexible shafts and to be inserted into a body of a patient from one end of the insertion tube; and a support device for supporting the plurality of surgical instruments and the insertion tube. The support device includes a plurality of supports respectively supporting the plurality of surgical instruments, a support mechanism supporting the plurality of supports together, and an insertion tube holder holding the insertion tube. The plurality of supports independently and movably support the plurality of surgical instruments, respectively.

Abstract: A method of mapping includes receiving inputs measured by a probe at respective locations inside a body cavity of a subject. At each of the respective locations, a respective contact quality between the probe and a tissue in the body cavity is measured. The inputs for which the respective contact quality is outside a defined range are rejected, and a map of the body cavity is created using the inputs that are not rejected.

Abstract: A system, apparatus, and method of using the same are disclosed for carrying out a transvascular procedure such as a Transjugular Intrahepatic Portosystemic Shunt (TIPS) procedure using energy to create a tract between the hepatic vein and the portal vein. The present invention provides a flexible puncturing solution to effectively perform a transvascular procedure such as a TIPS procedure while minimizing damage to the liver and surrounding soft tissues or organs.

Abstract: An articulable wrist for an end effector includes a first linkage rotatably coupled to a second linkage at a first articulation joint, a flexible member extending at least partially through a central channel cooperatively defined by the first and second linkages, and a first pair of roller supports arranged at the first articulation joint and laterally offset from each other, each roller support extending parallel to a first pivot axis extending through the first articulation joint. A drive cable extends through a first axially-extending conduit defined in the flexible member and through a gap defined between the first pair of roller supports. The drive cable is supported at the first articulation joint by the first pair of roller supports during articulation and the first pair of roller supports prevents a centerline of the drive cable from moving past the first pivot axis during actuation of the end effector.

Abstract: An apparatus for fragmenting a stone includes an endoscope, a laser fiber, a sheath and a detection feedback system. The endoscope includes a working channel. The working channel is configured to have a retrieval basket inserted therethrough. The sheath may include a first lumen and a second lumen. A first one of the lumen is connected to the endoscope with a shaft of the endoscope extending through the first lumen. A second one of the lumen is spaced from the shaft of the endoscope providing a channel proximate an exterior side of the shaft. The second lumen has the laser fiber inserted therethrough. The detection feedback system is configured to deliver a low energy check pulse from the laser fiber and detect a response, and configured to at least partially control delivery of a high energy laser pulse from the laser fiber to cause the stone to fragment.

Abstract: Described herein are systems, devices, and methods for closing a perforation in any hollow vessel associated with a mammalian surgical procedure, for example a device for sealing an aperture in a tissue, the device comprising an implant and a delivery shaft configured to engage the implant, the delivery shaft comprising (i) a retaining sleeve, (ii) a release sleeve, and (iii) a handle coupled to the delivery shaft.

Abstract: The disclosure relates to a medical instrument for minimally invasive tissue ablation by means of an HF electrode, with a hollow shaft, wherein the HF electrode is electrically insulated from the hollow shaft, is arranged at a distal end of the latter and, in order to ablate tissue, protrudes axially beyond the hollow shaft at least in part. The angle orientation of the HF electrode relative to the hollow shaft is adjustable in a controlled manner to a working position in which the HF electrode, protrudes radially beyond an outer circumference of the hollow shaft in order to ablate tissue. In the working position, by means of suitable adjustment of the shaft and of the HF electrode, a position can always be found in which the distal end of the HF electrode sufficiently reaches or touches tissue portions that are to be ablated in the region of the bladder neck.

Abstract: For position sensors, e.g., a fiber-based system, that build a shape of an elongated member, such as a catheter, using a sequence of small orientation measurements, a small error in orientation at the proximal end of the sensor will cause large error in position at distal points on the fiber. Exemplary methods and systems are disclosed, which may provide full or partial registration along the length of the sensor to reduce the influence of the measurement error. Additional examples are directed to applying selective filtering at a proximal end of the elongated member to provide a more stable base for distal measurements and thereby reducing the influence of measurement errors.

Abstract: A triggering device includes an optical fiber (126) configured for optical shape sensing. A supporting element (104) is configured to support a portion of the optical fiber. An interface element (106) is configured to interact with the optical fiber associated with the supporting element to cause a change in a property of the fiber. A sensing module (115) is configured to interpret an optical signal to determine changes in the property of the fiber and accordingly generate a corresponding trigger signal.

Abstract: Delivery systems, methods and associated devices to facilitate delivery and deployment of a heart implant. Such delivery systems and methods of delivery include use of a pair of magnetic catheters, including an anchor delivery catheter carrying an anchor, which can be stacked with or can be axially offset from the magnetic head. Such systems further include use of a puncturing guidewire advanceable through the magnetic head of the anchor delivery catheter to establish access to a chamber of a heart and which is attached to a bridging element such that continued advancement of the guidewire draws a bridging element attached to the first anchor across the chamber of the heart while the bridging element remains covered by the magnetically coupled catheters. Methods and devices herein also allow for cutting and removal of a bridge element of a deployed heart implant.

Abstract: Embodiments of the present disclosure provide a delivery apparatus for a prosthetic heart valve. Disclosed delivery apparatuses can include a housing, a steerable shaft, a slide nut, and a threaded shaft disposed over the slide nut. The slide nut can have an external threaded surface and an internal surface comprising a slot. The threaded shaft can have an internal threaded surface engaging the external threaded surface of the slide nut. The delivery apparatus can further include an elongated nut guide extending into the slot of the nut to restrain the slide nut against rotation relative to the housing, and a pull wire having a proximal end portion extending into the housing and coupled to the slide nut, and a distal end portion coupled to a distal end portion of the steerable shaft. The threaded shaft can be rotatable relative to the housing to produce axial movement of the slide nut within the threaded shaft.

Abstract: An insertion device includes an insertion portion in which a movable member is held in contact with an outer circumferential surface of a hollow cylindrical member. When drive power is transmitted from the hollow cylindrical member to the movable member as the hollow cylindrical member is rotated about a longitudinal axis of the insertion portion, the movable member is rotated around its own axis parallel to the longitudinal axis and moved around the longitudinal axis. The insertion portion includes a membrane covering the movable member from an outer circumferential side thereof. The membrane urges the movable member toward the longitudinal axis, thereby pressing the movable member against the outer circumferential surface of the hollow cylindrical member.

Abstract: Embodiments of clinical support systems and methods are disclosed. In one embodiment, methods for clinical performance measurement are disclosed comprising defining a range of acceptable treatment variable values for a treatment variable of a subject, performing a selected intervention, determining an affected treatment variable value and determining a selection performance measure by comparing the affected treatment variable value to the acceptable treatment variable values. In one embodiment, methods for clinical decision training are disclosed comprising defining a treatment variable of a simulated subject, selecting an intervention on the treatment variable, modeling the selected intervention and presenting a visual representation of the selected intervention.

Abstract: A body cavity drainage device includes a drainage tube with a distal end configured for insertion into the body cavity of a patient, a fluid outlet at a proximal end of the drainage tube; and an activation apparatus coupled to the drainage tube between the proximal end of the drainage tube and the distal end of the drainage tube. The activation apparatus may be configured to alter a position of the distal end of the drainage tube in response to an input at a control device of the activation apparatus, and a first portion of the drainage tube extending from the activation apparatus toward the distal end may be at least substantially coaxial with a second portion of the drainage tube extending from the activation apparatus toward the proximal end. Methods relate to forming a body cavity drainage devices.

Abstract: Steerable medical devices and methods of use. In some embodiments, the steerable medical devices can be steered bi-directionally. In some embodiments the steerable medical devices include a first flexible tubular member and a second flexible tubular member secured together at a location distal to a steerable portion of the steerable medical device.

Abstract: A device for introducing material into a body cavity is shown. The device includes a catheter with a distal tip. A first lumen extends through the catheter. The catheter is configured to faun a mist from liquid passed through the first lumen, for example including a misting nozzle in fluid communication with the first lumen and configured to provide a mist from a flow of liquid through the first lumen. An inflatable balloon may be included on the catheter to allow the user to isolate the portion of the body in which the material is introduced. Additional described features can provide for controlled deflection of a distal region of the catheter, guidewire or guide loop tool lumens, misting nozzles on the catheter, and delivery apparatuses including the catheter devices coupled to endoscopes such as bronchoscopes. Methods of use of the catheter devices and delivery apparatuses are also described.

Abstract: A hand held, hand operated apparatus for rotating, or spinning, rotatably oscillating and/or inducing back and forth longitudinal movement in a device, such as an elongated medical device. A drive shaft of the hand held, hand operated rotational drive apparatus includes a ratcheting mechanism capable of enabling oscillating (repeated forward and reverse) rotation of a device that has been coupled thereto when there is little or no resistance on the rotated device, and of enabling an actuator to return to a position that will enable further forward, or driving, rotation of the drive shaft and the rotated device when resistance on the rotated device prevents the rotated device and the drive shaft from rotating in a reverse direction.

Abstract: A handle assembly is provided for use in navigating a deformable shaft within a body. The assembly includes a first guide member defining first and second linear channels and a second guide member configured for rotation relative to the first guide member. First and second connectors are disposed within, and movable within, the first and second linear channels along first and second parallel axes, respectively, and are configured for coupling to first and second steering wires, respectively. The assembly includes means, such as a flexible coupling connected to the second guide member and the connectors, for translating rotation of the second guide member into linear movement of the first connector in a first axial direction and linear movement of the second connector in a second axial direction, opposite the first axial direction such that the first and second steering wires move in opposite directions.

Abstract: A steerable catheter has a body with an outer surface and an inner surface defining a central lumen. The outer surface and inner surface define a wall of the body, which has a plurality of steering lumen and control lumen extending longitudinally therethrough. The body includes a body material. The steering lumen and control lumen have a control lumen lining and steering lumen lining, respectively, with a higher durometer than the body material. A steering wire is positioned within the steering lumen and a control wire is positioned within the control lumen.

Abstract: An electrophysiology catheter has a distal electrode section having a generally-cylindrical, hollow housing body, a lumen and an opening in a sidewall. A flex circuit has a first portion supported on the outer surface the housing body, and a second portion that extends into the lumen via the opening for connection to cables and/or wires in the lumen. The flex circuit has a first and second magnetic field sensing coil traces generally perpendicular to each other and a magnetic field sensing coil wire generally perpendicular thereto is wound around the housing body to form an x/y/z position sensor. One or more ring electrodes are carried on the housing body, separated by ring spacers. A force sensor is mounted on a distal end of the housing body, with strain gauges electrically connected to the flex circuit. The housing is configured to provide a distal anchor for a puller tensile.

Abstract: A steerable catheter comprises a mobile tube and an intermediate tube, coaxial with each other, which extend from a proximal end to a distal end of the catheter and are telescopically mounted into each other with possibility of mutual rotation and axial translation. The mobile tube comprises a central lumen extending from the proximal end to the distal end. The intermediate tube comprises, along its whole length, a longitudinal notch radially offset in a direction of offset with respect to the axis of the steerable catheter and extending axially from the proximal end to the distal end. The longitudinal notch contains a cable adapted to undergo a traction exerted from the proximal end, the traction generating a bending of the steerable catheter directed towards the offset direction. The steerable catheter further comprises around the intermediate tube a sealed external sheath surrounding the intermediate tube over its periphery and covering the longitudinal notch over its length.

Abstract: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

Abstract: A method of two-phase atherectomy for removal of plaque within an artery forming a stenosis including a first phase of rotational drilling by exerting a rotational force on a cutter to form a channel within the plaque having a diameter substantially equal to a diameter of the cutter—the cutter being rotated at a first rotational speed sufficient to maintain rotation of the cutter about a stationary rotational axis—and a second phase of orbital impact by exerting a rotational force on the cutter to result in radial orbital motion of the cutter within the channel resulting in periodic impact of the cutter upon the plaque to form micro-fractures within the plaque and enlarge the diameter of the channel to a diameter substantially greater than the diameter of the cutter—the cutter being rotated at a second rotational speed to result in the radial orbital motion of the cutter.

Abstract: A fluoroscopic surgical system employing a FORS sensor (40), a navigation controller (70), a fluoroscopic imager (30) and a mechanical connector (50) adjoined to the fluoroscopic imager (30). In operation, mechanical connector (50) is utilized to detachably attach FORS senor to fluoroscopic imager (30), whereby navigation controller (70) processes a shape reconstruction of FORS sensor (40) relative to a reference point fixed or movable within an operating space (20) for controlling a tracking of fluoroscopic imager (30) within the operating space (20). The system may further employ a surgical instrument (60) whereby, concurrently or subsequently to a fluoroscopic imaging of a patient anatomy, FORS sensor (40) is thereafter detached from fluoroscopic imager (30) and detachably attached to surgical instrument (60), or FORS sensor (40) is concurrently detachably attached to fluoroscopic imager (30) and surgical instrument (60).

Abstract: A modular surgical instrument is disclosed. The modular surgical instrument comprises a control interface, a shaft extending from the control interface, an end effector extending from said shaft, and a control circuit. The control circuit is configured to sense the electrical potential applied to the modular surgical instrument, determine if the sensed electrical potential is above a predetermined threshold, and adjust the operation of the modular surgical instrument when the sensed electrical potential exceeds the predetermined threshold.

Abstract: A steering assembly including a handle portion, the handle portion having a first screw with a first helical thread and a second screw with a second helical thread, the first and second threads being in opposite directions, and an actuator with an outer surface adapted to be actuated by a user, the actuator in operable communication with the first and second screws, wherein actuation of the actuator cause axial movement of the first screw in a first direction, and causes axial movement of the second screw in a second direction opposite the first direction.

Abstract: An endoscope apparatus includes alight source, a bendable insertion section to be inserted into an observation target, a light guide path which is provided in the insertion section and which guides light emitted from the light source, an illumination light emitter which is provided at the distal end of the insertion section and which emits at least some of the light guided by the light guide path to the observation target as illumination light, a curvature sensor which detects a bending shape of at least part of the insertion section, and an illumination light controller which controls an optical characteristic of the illumination light on the basis of the bending shape of the insertion section detected by the curvature sensor.

Abstract: Provided is a multiple-electrode monorail guide catheter for use in vascular insertion, including: an elongated catheter main body having a proximal end and a distal end; a guidewire inlet opening on the distal end; a guidewire outlet opening; an operation tube; a terminal unit on the proximal end; an electrode assembly having a double-lumen structure composed of an outer tube having electrodes on an outer surface of the outer tube and an inner tube independently provided from the outer tube, allowing insertion of a guidewire, having an outer diameter smaller than an inner diameter of the outer tube, and being accommodated within an outer tube lumen; a clearance defined by the outer tube luminal surface and an inner tube outer circumferential surface; and lead wires extending from the electrodes to the terminal unit on the proximal end and being inserted into the lumen of the outer tube.

Abstract: A method may include accessing an artery in communication with an ophthalmic artery of a subject, and advancing a microcatheter along the accessed artery so as to align a distal end of the microcatheter with an ostium of the ophthalmic artery, wherein the microcatheter includes a lumen having a guidewire positioned therein. In addition, the method includes proximally withdrawing the guidewire relative to the microcatheter so as to enable a distal portion of the microcatheter to assume a curved relaxed configuration, and cannulating the ostium with the distal portion of the microcatheter when the distal portion is in the curved relaxed configuration.

Abstract: A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.

Abstract: A hand-held catheter force control device includes an elongate base sized to be hand-held. The base defines a longitudinal axis between first and second opposing longitudinal ends. A linear actuator is mounted to the base to provide linear motion substantially parallel to the longitudinal axis of the base. A sheath clamp is coupled to the base. The sheath clamp is sized to fixedly capture a sheath handle. A catheter clamp is coupled to the linear actuator. The catheter clamp is sized to fixedly capture a catheter, and is aligned to be substantially co-axial with the sheath clamp. Systems and methods can incorporate the catheter force control device.