An apparatus for tissue regeneration is provided. The apparatus comprises means for generating at least one laser pulse comprising a wavelength; and means for directing the at least one laser pulse onto a tissue surface of a human or animal body, wherein the means for generating comprises control means to ensure that a sum of the pulse energies of the at least one laser pulse is selected so that the corresponding fluence on the tissue surface heats the tissue surface up to a maximal temperature T.sub.max between 70° C. and a tissue boiling temperature T.sub.b. Further, the means for generating of the apparatus are adapted so that a delivery time t.sub.ed of the at least one laser pulse (during which the second half of the pulse energy is delivered) is sufficiently short so that, given the wavelength and thus a corresponding penetration depth δ of the at least one laser pulse, a thermal exposure time t.sub.exp of the tissue surface is shorter than 900 microseconds. Here, the thermal exposure time t.sub.exp of the tissue surface is defined as a time interval in which the temperature of the tissue surface is above T.sub.o+(T.sub.max−T.sub.o)/2, wherein T.sub.o defines the initial temperature of the tissue surface, before the laser pulse arrives.

An apparatus for tissue regeneration is provided. The apparatus comprises means for generating at least one laser pulse comprising a wavelength; and means for directing the at least one laser pulse onto a tissue surface of a human or animal body, wherein the means for generating comprises control means to ensure that a sum of the pulse energies of the at least one laser pulse is selected so that the corresponding fluence on the tissue surface heats the tissue surface up to a maximal temperature T.sub.max between 70° C. and a tissue boiling temperature T.sub.b. Further, the means for generating of the apparatus are adapted so that a delivery time t.sub.ed of the at least one laser pulse (during which the second half of the pulse energy is delivered) is sufficiently short so that, given the wavelength and thus a corresponding penetration depth δ of the at least one laser pulse, a thermal exposure time t.sub.exp of the tissue surface is shorter than 900 microseconds. Here, the thermal exposure time t.sub.exp of the tissue surface is defined as a time interval in which the temperature of the tissue surface is above T.sub.o+(T.sub.max−T.sub.o)/2, wherein T.sub.o defines the initial temperature of the tissue surface, before the laser pulse arrives.

Various embodiments disclosed relate to drug-coated balloon catheters for treating strictures in body lumens and methods of using the same. A drug-coated balloon catheter for delivering a therapeutic agent to a target site of a body lumen stricture includes an elongated balloon having a main diameter. The balloon catheter includes a coating layer overlying an exterior surface of the balloon. The coating layer includes one or more water-soluble additives and an initial drug load of a therapeutic agent.

There is presented an interventional device (100), such as a device for minimally invasive surgery, comprising a bag arranged for being transformable between an open configuration and a closed configuration, a shaft (106), a grasper (108) mounted on a distal end of said shaft, wherein the bag further comprises a fluid passageway arranged so that in the closed configuration the fluid passageway enables that fluid may be expelled through the fluid passageway from an interior volume of the bag to an exterior volume of the bag and furthermore enables that a solid element above a predetermined threshold size may be retained in the bag. The fluid passageway may be advantageous for enabling that liquid may be expelled from the bag while larger solid elements, such as a piece of a tumour, may be retained in the bag for removal from a body cavity.

There is presented an interventional device (100), such as a device for minimally invasive surgery, comprising a bag arranged for being transformable between an open configuration and a closed configuration, a shaft (106), a grasper (108) mounted on a distal end of said shaft, wherein the bag further comprises a fluid passageway arranged so that in the closed configuration the fluid passageway enables that fluid may be expelled through the fluid passageway from an interior volume of the bag to an exterior volume of the bag and furthermore enables that a solid element above a predetermined threshold size may be retained in the bag. The fluid passageway may be advantageous for enabling that liquid may be expelled from the bag while larger solid elements, such as a piece of a tumour, may be retained in the bag for removal from a body cavity.

Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.

Systems, devices, and methods for delivering laser energy to a target in an endoscopic procedure are disclosed. An exemplary method comprises providing a first laser pulse train and a different second laser pulse train emitting from a distal end of an endoscope and incident on a target. The first laser pulse train has a first laser energy level, and the second laser pulse train has a second laser energy level higher than the first laser energy level. In an example, the first laser pulse train is used to form cracks on a surface of a calculi structure, and the second laser pulse train causes fragmentation of the calculi structure after the cracks are formed.

Methods and systems for surfactant enhanced laser-induced vapor bubbles for use in laser lithotripsy. Urinary tract stone disease is a common and costly disease that effects approximately 10% of the United States population. A preferred minimally invasive method for treatment of urinary tract stones is laser lithotripsy, which involves insertion of a flexible ureteroscope through the urinary tract to the stone's location, and then transmission of infrared (IR) laser energy through a flexible optical fiber, which is in turn placed through the single working channel of the ureteroscope. The IR laser energy is used for ablation of the urinary tract stone which is then removed. In order to have a more efficient ablation, the ureteroscope is fed with a surfactant composition which is flowed into the ureter and/or kidney of the subject. The laser causes larger bubbles to form in the surfactant composition, making a robust and longer lasting bubble.

Methods and systems for surfactant enhanced laser-induced vapor bubbles for use in laser lithotripsy. Urinary tract stone disease is a common and costly disease that effects approximately 10% of the United States population. A preferred minimally invasive method for treatment of urinary tract stones is laser lithotripsy, which involves insertion of a flexible ureteroscope through the urinary tract to the stone's location, and then transmission of infrared (IR) laser energy through a flexible optical fiber, which is in turn placed through the single working channel of the ureteroscope. The IR laser energy is used for ablation of the urinary tract stone which is then removed. In order to have a more efficient ablation, the ureteroscope is fed with a surfactant composition which is flowed into the ureter and/or kidney of the subject. The laser causes larger bubbles to form in the surfactant composition, making a robust and longer lasting bubble.

Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more objects detected within a vicinity of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more objects detected by the one or more sensors within the vicinity of the first kinematic chain.