QUICK - RELEASE END EFFECTOR TOOL INTERFACE

The various embodiments herein relate to a coupling apparatus for a medical device having a coupler body, a cavity defined in the coupler body, a rotatable drive component disposed within the cavity and having at least two pin receiving openings, and an actuable locking ring disposed around the cavity

GROSS POSITIONING DEVICE AND RELATED SYSTEMS AND METHODS

Disclosed herein are gross positioning systems for use with robotic surgical devices to provide gross positioning of the robotic surgical devices. The gross positioning systems have a base, a first arm link operably coupled to the base, a second arm link operably coupled to the first arm link, a third arm link operably coupled to the second arm link, and a slidable coupling component slidably coupled to the third arm link

Vertical Track Modulus Trending

Systems and methods for determining a trend in Vertical track modulus are disclosed in accordance with embodiments of the present invention. Vertical deflection data is collected along a particular section of railroad track. A first set of Vertical track modulus is determined, based in part, on the collected vertical deflection data. At a second time, vertical deflection data is again collected along the particular section of railroad track to be used in determining a second set of vertical track modulus. At least the first and second sets of Vertical track modulus are analyzed to determine a math ematical algorithm that facilitates developing a trend in the vertical track modulus of the railroad track

Design and development of a three dimensional kinematic simulation, steering system and scientific instrument deployment mechanism for a planetary micro-rover

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1994.Includes bibliographical references (p. 112).by Shane M. Farritor.M.S

Modular and Cooperative Medical Devices and Related Systems and Methods

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

METHODS , SYSTEMS , AND DEVICES RELATING TO SURGICAL END EFFECTORS

The embodiments disclosed herein relate to various medical device components , including components that can be incorporated into robotic and / or in vivo medical devices, and more specifically including end effectors that can be incorporated into such devices. Certain end effector embodiments include various vessel cautery devices that have rotational movement as well as cautery and cutting functions while maintaining a relatively compact structure. Other end effector embodiments include various end effector devices that have more than one end effector

LOCAL CONTROL ROBOTIC SURGICAL DEVICES AND RELATED METHODS

The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices

Planetary Cliff Descent Using Cooperative Robots

Future robotic planetary exploration will need to traverse geographically diverse and challenging terrain. Cliffs, ravines, and fissures are of great scientific interest because they may contain important data regarding past water flow and past life. Highly sloped terrain is difficult and often impossible to safely navigate using a single robot. This paper describes a control system for a team of three robots that access cliff walls at inclines up to 70°. Two robot assistants, or anchors, lower a third robot, called the rappeller, down the cliff using tethers. The anchors use actively controlled winches to first assist the rappeller in navigation about the cliff face and then retreat to safe ground. This paper describes the coordination of these three robots so they function as a team to explore the cliff face. Stability requirements for safe operation are identified and a behavior-based control scheme is presented. Behaviors are defined for the system and command fusion methods are described. Controller stability and sensitivity are examined. System performance is evaluated with simulation, a laboratory system, and testing in field environments

METHODS, SYSTEMS, AND DEVICES RELATING TO FORCE CONTROL SURGICAL SYSTEMS

The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user