A method for capturing an object in a cavity in a patient is described. The method includes advancing a ureteroscope into the cavity containing the object. A basket is advanced through a working channel of the ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Then, two actions are performed simultaneously. The basket is collapsed while simultaneously the basket tool is advanced forward so that the object remains within the basket, ideally near the center of the basket, as the basket closes around the object. Once the object is captured, the basket is retracted to remove the object out of the cavity. Further, this process may be automated by having the method carried out by robotic arms acting in tandem, with one or more robotic arms advancing the basket tool or ureteroscope, and another robotic arm collapsing the basket.

An end-firing surgical laser fiber suitable for Thulium Laser Fiber lithotripsy applications includes an internally reflective tube that extends beyond the distal end surface of the fiber to provide a standoff sleeve, and that is welded or otherwise fixed to an end section of the fiber. The standoff sleeve may be made of silica glass or sapphire, a reflective metal, and/or may include a reflectivity-enhancing coating or structure on an inner surface of the tube. In addition, the reflective standoff sleeve may be tapered to increase or decrease a diameter of a distal end of the sleeve to control output power density, and may include index matched fillers or structures that absorb, transmit, or scatter energy away from the fiber cladding, and/or an energy blocking or absorbing structure positioned at an upstream end of the sleeve. Still further, the laser output may be modified by adding relatively low power, extended duration pulses to a high frequency pulse train in order to clear suspended dust particles from an interior of the sleeve during a lithotripsy procedure, and prevent buildup of the particles on the inside diameter of the sleeve.

Disclosed herein are systems and methods for monitoring a condition associated with a medium proximate a target region. The system comprising a surgical laser, a surgical fiber coupled to the surgical laser for delivering laser light to a target region and receiving at least a portion of the laser light reflected from the target region. The system further comprising a processor configured to analyze the collected reflected laser light and determine, based at least in part on the analysis of the reflected laser light a value of a parameter associated with the medium proximate the target region.

Disclosed herein are systems and methods for monitoring a condition associated with a medium proximate a target region. The system comprising a surgical laser, a surgical fiber coupled to the surgical laser for delivering laser light to a target region and receiving at least a portion of the laser light reflected from the target region. The system further comprising a processor configured to analyze the collected reflected laser light and determine, based at least in part on the analysis of the reflected laser light a value of a parameter associated with the medium proximate the target region.

A system and method for detecting relative location of a surgical laser fiber tip relative to a surgical laser target during a surgical laser procedure utilizes a spectrophotometer to detect radiation indicative of the relative location. For example, the detected radiation may indicate contact between the fiber tip and a stone being subjected to laser lithotripsy, so as to prompt the surgeon to withdraw the fiber tip from the stone and/or take other action to limit contact-induced erosion of the fiber tip, and to avoid saturation of the endoscope camera resulting from the flash that occurs following contact. In addition, the absence of any detected radiation by the spectrophotometer may be used to indicate that the stone is no longer present, or that the fiber tip is no longer aimed at the stone, prompting the operator to reposition the fiber and/or temporarily cease firing of the laser. The main surgical laser may be a pulsed Holmium laser, which is delivered to the target through the optical fiber together with a pulsed 532 nm aiming beam.

Systems and methods for controlling an irrigation flow rate during a lithotripsy procedure are provided. The system includes a laser configured for lithotripsy procedure, a lithotripsy irrigation system, and a temperature sensor configured to provide input to enable control of a flow of the lithotripsy irrigation system in response to a change in temperature from the operation of the laser.

Systems and methods for controlling an irrigation flow rate during a lithotripsy procedure are provided. The system includes a laser configured for lithotripsy procedure, a lithotripsy irrigation system, and a temperature sensor configured to provide input to enable control of a flow of the lithotripsy irrigation system in response to a change in temperature from the operation of the laser.

A laser light irradiation system that irradiates a stone in a body with laser light to cause the stone to be dust, the laser light irradiation system including a laser fiber that emits the laser light, and a processor configured to control a frequency of the laser light emitted from the laser fiber, wherein the processor is configured to switch between first laser light of a first frequency and second laser light of a second frequency such that the second laser light is emitted at least before or after an emission timing of the first laser light, the first laser light generating a water flow that pulls the stone toward the laser fiber, the second laser light generating a water flow that stirs the stone.

A laser light irradiation system that irradiates a stone in a body with laser light to cause the stone to be dust, the laser light irradiation system including a laser fiber that emits the laser light, and a processor configured to control a frequency of the laser light emitted from the laser fiber, wherein the processor is configured to switch between first laser light of a first frequency and second laser light of a second frequency such that the second laser light is emitted at least before or after an emission timing of the first laser light, the first laser light generating a water flow that pulls the stone toward the laser fiber, the second laser light generating a water flow that stirs the stone.

A robotic system is configured to automatically trigger a robotic action based on an identified phase of a medical procedure. The robotic system includes a video capture device; a robotic manipulator; one or more sensors; an input device; and control circuitry. The control circuitry is configured to: determine a first status of the robotic manipulator based on sensor data from the one or more sensors; identify a first input from the input device for initiating a first action of the robotic manipulator; perform a first analysis of a video of a patient site captured by the video capture device; identify a first phase of the medical procedure based at least in part on the first status of the robotic manipulator, the first input, and the first analysis of the video; and trigger a first automatic robotic action of the robotic manipulator based on the identified first phase.