Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: Apparatuses and methods for attaching a minimal access tool to a user's body (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.

Abstract: A Jaw Closure Transmission system is presented comprising an input sub-system, output sub-system and a transmission sub-system.

Abstract: An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.

Abstract: Devices having a handle that provides unlimited roll to an end-effector at the distal end of the device. For example, described herein are medical devices that have an elongate tool frame, an end-effector, and a handle that includes: a first portion, a second portion that rolls relative to the first portion, a push rod within the first portion connected to a control input, and a shuttle body within the second portion that rotates with the second portion but is axially driven by the push rod when the user actuates the control input. The device may include a proximal wrist/forearm attachment allowing one or more degrees of freedom in pitch, yaw or roll about the user's arm. The handle may articulate relative to the tool frame, and this articulation may be transmitted to the end-effector. The end-effector may be a jaw assembly.

Abstract: Apparatuses and methods for attaching a minimal access tool to a user's boy (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.

Abstract: A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.

Abstract: Flexure bearing systems and configurations guide translational motion along a single-axis in micro and macro applications such as micro-electro-mechanical system (MEMS) devices including sensors and actuators like electrostatic comb-drive actuators. The flexure bearing systems and configurations described herein provide an improved constraint against movement (i.e., stiffness) of the primary mover in non-motion axes such as a bearing axis.

Abstract: A tissue biopsy device comprising an inner needle loaded by a first spring and held in place by a first trigger; an outer needle loaded by a second spring and held in place by a second trigger; an outer housing that surrounds the first and the second needles; and a handle attached thereto.

Abstract: An embodiment of an electromagnetic actuator, such as a moving magnet actuator (MMA), includes a back iron, a first coil winding, a second coil winding, a mover, and a permanent magnet. The first and second coil windings are connected to the back iron, and have generally annular shapes. The mover moves relative to the back iron during use of the MMA. The permanent magnet is connected to the mover and moves with the mover during use of the MMA. The permanent magnet has a generally annular shape.

Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: An active retractable seal assembly for use between rotating and non-rotating turbo machinery components including: a plurality of seal rings mounted to the non-rotating component, the seal rings movable toward and away from the rotating component between respective closed and open positions as a function of pressure drop across the seal rings, wherein the seal rings are normally in the open position; and a fluid bypass circuit for directing fluid around one or more of the plurality of seal rings to reduce the pressure drop across the one or more of the seal rings, thereby causing the one or more seal rings to move towards the open position under the action of spring(s) or actuator(s).

Abstract: Flexure bearing systems and configurations guide translational motion along a single-axis in micro and macro applications such as micro-electro-mechanical system (MEMS) devices including sensors and actuators like electrostatic comb-drive actuators. The flexure bearing systems and configurations described herein provide an improved constraint against movement (i.e., stiffness) of the primary mover in non-motion axes such as a bearing axis.

Abstract: A shaft seal serves to reduce leakage between a rotating shaft and a static shell. The shaft seal includes a plurality of compliant plate members, each having a root and a tip. The compliant plate members are secured to one of the static shell and the rotating shaft at their root in facing relation. The tips of the compliant plate members define a sealing ring between the static shell and the rotating shaft. An axial flow resistance member is disposed within the compliant plate members and serves as a harrier to axial leakage flow between the compliant plate members.

Abstract: Disclosed is an actuator that includes a cylinder having an input port, a piston disposed at least partially inside of the cylinder, and one or more piston rings disposed in a circumferential piston ring groove or grooves. The actuator also includes at least one spring, inserted into the circumferential piston ring groove adjacent to the one or more piston rings and a high pressure side of said piston ring. The spring preloads the one or more piston rings to seal between a low pressure face of the one or more piston rings and a low pressure face of the circumferential piston ring groove. The invention also includes a method for moving an adjustable seal in a radial direction using the piston-ring sealed actuator. The method includes moving the adjustable seal in an axial direction, breaking a primary axial contact between the adjustable seal and a primary sealing face.

Abstract: A method of assembling a turbomachine that includes a rotor and a stationary component is provided. The method includes coupling a housing to the stationary component using at least one biasing member, wherein the housing extending circumferentially about the rotor. The method also includes coupling at least one annular ring to the housing, and coupling a plurality of plate members to the housing such that the at least one annular ring extends from the housing towards the rotor and partially through the plurality of plate members.

Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: A multiple degrees of freedom motion system comprising an arrangement of rigid stages, flexure constraint modules, actuators, and sensors. These components of the motion system are arranged and connected in a systematic fashion to provide a high degree of decoupling between the motion axes, suitable placement of ground-mounted actuators to actuate each motion axis, and suitable placement of sensors to allow end-point measurement along each motion axis. This arrangement of rigid stages, flexure constraint modules, actuators and sensors enables large motion range and high motion quality in the motion system, while using standard and commonly available components.

Abstract: A method and seal assembly for a rotary machine including a rotary component and a stationary component is provided. The method includes providing a seal housing including a front plate and a back plate that is spaced from the front plate such that a cavity is defined between the front plate and the back plate. The method also includes coupling a plurality of flexible compliant plates to at least one of the seal housing and the stationary component such that the compliant plates are spaced from the front plate and the back plate within the cavity, and coupling at least one projection to at least one of the seal housing and the compliant plates such that the at least one projection facilitates reducing flow through at least one of a first axial gap and a second axial gap that are defined between the seal housing and the compliant plates.