Abstract: A combined MR and nuclear imaging device comprising an MRI device and an nuclear imaging device, wherein the nuclear imaging device is capable of operating with the magnetic field of the MRI device or in a region where the magnitude of the magnetic field is lesser. The combined system allows MRI examination and nuclear medicine examinations to be conducted quasi-simultaneously with no or minimal motion of the patient during the combined examination. The nuclear imaging device comprises nuclear detector modules capable of operating within a large magnetic field when the modules oriented in the direction of the field, and capable of operating in any direction when the magnitude of the field is below a certain threshold.

Abstract: An orientation preserving angular swivel joint suitable for mechanical robotic arms and in particular snake robots, the joint comprising two members and an angular bevel gear train that connects the two members of the joint. The gear train allows an actuator to be positioned along the axis of the joint while transferring forces to the periphery of the mechanism, thus creating a high mechanical advantage proportional to the radius of the robot. The gear train is capable of transferring rotational motion between the two members with a constant ratio. Relative rotation between two bays of the joint does not take place, thereby preventing electrical wires running through the body of the snake from being twisted, and thus avoiding failure.