The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.

For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

A catheter configured to deliver therapeutic energy to a tissue can include can include an elongate shaft extending along a shaft longitudinal axis and comprising a shaft proximal end and a shaft distal end. The catheter can include a flexible tip assembly comprising a tip assembly outer surface, wherein the flexible tip assembly is connected to the shaft distal end and is configured to deliver therapeutic energy to the tissue, and wherein the flexible tip assembly further includes. The flexible tip assembly can include an insulative layer comprising an insulative layer outer surface, wherein the insulative layer is disposed on the tip assembly outer surface and a mapping electrode disposed on the insulative layer outer surface.

Devices and methods for vascular navigation, assessment and/or diagnosis are disclosed where a location detection system generally includes an elongate body defining a lumen at least partially along a length of the elongate body. One or more sensors are positioned near or at a distal tip of the elongate body and one or more openings are defined along the elongate body in proximity to the one or more sensors. The one or more openings are configured to control a boundary distance between the one or more sensors and a fluid with a parameter of a known initial value when emitted from the one or more openings. A controller is in communication with the one or more sensors and is configured to track a change in the parameter relating to concentration over the one or more sensors and determine a position of the one or more sensors within a body.

Impedance devices with integrated circuit modules and method of using the same to obtain luminal organ information. In one embodiment, a device comprises an elongated body for at least partial insertion into a mammalian luminal organ and having a first conductor extending therethrough, a proximal electrical unit connected to the elongated body to deliver power along the first conductor, and a sensor substrate located at or near a distal end of the elongated body and comprising a circuit module operable and/or configured to direct the sizing portion to obtain sizing data and the pressure sensor to obtain pressure data, and facilitate transmission of the sizing data and/or the pressure data to the proximal electrical unit.

Embodiments described relate to techniques for identifying and characterizing biological structures using machine learning techniques. These techniques may be employed to enable a device to identify the particular type of tissue and/or cells (e.g., platelets, smooth muscle cells, or endothelial cells) in, for example, a biological structure, which may be a tissue or a lesion of a duct (e.g., vasculature) in an animal (e.g., a human or non-human animal), among other structures. The machine learning techniques may use raw impedance spectroscopy measurement data in addition to values derived from that raw data. In addition, the machine learning techniques may be used to select frequencies at which to measure impedance and select features to extract from the measured impedance at the selected frequencies to arrive at a small set of frequencies that allow for reliable differentiation.

In examples, there is a method comprising receiving an esophageal gas sample at a nitric oxide sensor, the nitric oxide sensor generating a signal indicative of the amount of nitric oxide in the esophageal gas sample, the nitric oxide sensor outputting the signal, and, based on the signal, determining the amount of nitric oxide in the esophageal gas sample.

A cuff is described for a target anatomic feature within a body, along with a system for utilizing the cuff. The cuff includes a band defining a circumferential opening extending along a length of the band; and a pair of engagement surfaces defined by or affixed to the cuff, the engagement surfaces structured for application of a spreading force to be distributed continuously along a portion of the circumferential opening, thereby increasing the circumferential opening and expanding the cuff for a closed configuration to an open configuration sized for placement of the cuff. The cuff is structured to remain in the closed configuration in the absence of the spreading force and automatically return to the closed configuration after removal of the spreading force.

A catheter configured to deliver therapeutic energy to a tissue can include can include an elongate shaft extending along a shaft longitudinal axis and comprising a shaft proximal end and a shaft distal end. The catheter can include a flexible tip assembly comprising a tip assembly outer surface, wherein the flexible tip assembly is connected to the shaft distal end and is configured to deliver therapeutic energy to the tissue, and wherein the flexible tip assembly further includes. The flexible tip assembly can include an insulative layer comprising an insulative layer outer surface, wherein the insulative layer is disposed on the tip assembly outer surface and a mapping electrode disposed on the insulative layer outer surface.

The invention refers to a photonic integrated circuit (PIC), the photonic integrated circuit comprising: at least one laser, the laser having a laser output, a measuring portion including a measuring port and configured to measure an intensity and/or wavelength of light input at the measuring port, and an output portion configured to output light from the photonic integrated circuit to the portion of the tissue, wherein optionally the laser includes a ring resonator laser, a laser generating light having a fixed wavelength, a laser being constructed using hybrid integration, and/or a tunable laser.