A manipulator, for use with a robotic control system, to maneuver an existing instrument (e.g., medical instrument) to a desired location within a target zone includes at least one controller, a rotation mechanism in communication with the at least one controller and being rotated about a first axis, a horizontal movement mechanism in communication with the at least one controller and being displaced along a first path, and a deflection mechanism capable of receiving a portion of the existing instrument. Such a deflection mechanism is in communication with the at least one controller and displaced along a second path in such a manner that causes deflection of a distal end (e.g., portion of an insertion tube) of the existing medical instrument.

Impedance devices for obtaining conductance measurements within luminal organs. In at least one embodiment of an impedance device of the present disclosure, the device, comprises an elongated body and an detector positioned upon the elongated body, the detector comprising at least five electrodes and configured to obtain one or more conductance measurements generated using a first arrangement of four of the at least five electrodes and further configured to obtain one or more fluid velocity measurements using a second arrangement of four of the at least five electrodes when the elongated body is positioned within a fluid environment of a mammalian luminal organ, wherein the first arrangement is different from the second arrangement.

A steerable laser probe may include an actuation structure, a nosecone fixed to the actuation structure by one or more links and one or more link pins, a flexible housing tube, and an optic fiber disposed in the flexible housing tube and the actuation structure. A compression of the actuation structure may be configured to gradually curve the flexible housing tube and the optic fiber. A decompression of the actuation structure may be configured to gradually straighten the flexible housing tube and the optic fiber.

An end-firing optical fiber includes protective ferrule through which treatment radiation is fired in an axial direction, the protective ferrule having refractive properties that cause the radiation to disperse laterally and/or the fiber having sufficient flexibility to enable the fiber to be aimed at a tissue situated to the side of the axis along which the fiber was inserted. The fiber and protective ferrule may be mounted in a cannula, with the cannula being sufficiently flexible to enable the cannula to be withdrawn into a scope having a straight working channel, but has a pre-formed curvature that enables treatment of lateral tissues when the cannula is extended out of a scope.

A steerable laser probe may include a handle having a handle distal end and a handle proximal end, a plurality of actuation controls of the handle, a flexible housing tube having a flexible housing tube distal end and a flexible housing tube proximal end, and an optic fiber disposed within an inner bore of the handle and the flexible housing tube. An actuation of an actuation control of the plurality of actuation controls may gradually curve the flexible housing tube. A gradual curving of the flexible housing tube may gradually curve the optic fiber. An actuation of an actuation control of the plurality of actuation controls may gradually straighten the flexible housing tube. A gradual straightening of the flexible housing tube may gradually straighten the optic fiber.

The present invention relates to a laser irradiation apparatus and a laser irradiation method. The laser irradiation apparatus, according to the present invention, comprises: an optical fiber which transmits a laser and has a light emitting surface; a protecting member for covering an end portion of the optical fiber including the light emitting surface; and an indication member which is identified by an X-ray and indicates the position and/or direction of the light emitting surface.

A steerable laser probe may include a handle, an actuation structure of the handle, a housing tube, a flexible tube, an optic fiber, and a wire having a pre-formed curve. The flexible tube may be disposed within the housing tube wherein a distal end of the flexible tube projects out from a distal end of the housing tube. The optic fiber may be disposed within an inner bore of the handle, the housing tube, and the flexible tube. The wire may be disposed within the housing tube.

A steerable laser probe may include a handle, an actuation lever, an optic fiber, and a housing tube. The housing tube may have a first housing tube portion having a first stiffness and a second housing tube portion having a second stiffness. The second stiffs ness may be greater than the first stiffness. The optic fiber may be disposed within the housing tube and within an inner bore of the handle. An actuation of the actuation lever about a pivot pin of the handle may gradually curve the optic fiber. An actuation of the actuation lever about the pivot pin of the handle may gradually straighten the optic fiber.

An example probe multi-spot, multi-fiber, laser probe includes a plurality of optical fibers extending from a proximal end of the laser probe to at least near a distal end of the laser probe, and a cannula having a distal end and surrounding the plurality of optical fibers along at least a portion of the laser probe at or near the distal end of the laser probe. A distal pass-through element is positioned within the cannula and at or near the distal end of the cannula and has a groove and/or channel corresponding to each fiber and through which a respective optical fiber passes, and is formed so as to induce a radial rotation of each of the plurality of optical fibers, relative to a central longitudinal axis of the cannula, as the respective optical fiber passes through the distal pass-through element.

A steerable laser probe may include a handle, an actuation structure of the handle, a housing tube, a flexible tube, an optic fiber, and a wire having a pre-formed curve. The flexible tube may be disposed within the housing tube wherein a distal end of the flexible tube projects out from a distal end of the housing tube. The optic fiber may be disposed within an inner bore of the handle, the housing tube, and the flexible tube. The wire may be disposed within the housing tube.