Abstract: The robotic system for harvesting, and performing pre- and post-harvesting tasks of date palm trees includes three main parts: a truck platform, a scissor lift, and a multi-task system. The truck platform provides mobility for the whole system, while the scissor lift raises the multi-task system to the top of the palm tree. The multi-task system is fixed on top of the scissor lift and includes a large basin that catches fruits during harvesting. A circular track is fixed within the basin and includes a 2-degree-of-freedom (DOF) slider base mounted thereon. On top of the 2-DOF slider base is a robotic arm fitted with the proper tool (harvesting tool, maintenance tool or bagging system) for the task to be performed. The circular track has pivoting sections, and the basin has a flexible portion in the rear of the truck platform to allow the system to surround the palm tree.

Abstract: A medical device, and related method, for manipulating material, such as calculi, within a patient's body includes a handle, a sheath, a retrieval basket, and a retainer coupled to the distal end of the retrieval basket. The retrieval basket includes a plurality of legs, each of which includes an intermediate portion located at the distal end of the retrieval basket. The retainer secures at least the intermediate portion of one of the plurality of legs to the intermediate portion of another of the plurality of legs.