Abstract: A light processing apparatus includes a first non-linear crystal disk for transmitting a first beam of photons having a first frequency to a second beam of photons having the first frequency and a second frequency oscillating in polarization directions orthogonal to each other, the second frequency being a half of the first frequency. Further included is a waveplate for transmitting the second beam of photons to a third beam of photons by rotating polarization directions of the second beam of photons such that the photons of the first frequency and of the second frequency oscillate in the same polarization directions. A second non-linear crystal disk is configured to transmit the third beam of photons to a fourth beam of photons of the first frequency, the second frequency and a third frequency, the third frequency being approximate a third of the first frequency.

Abstract: Herein disclosed is a robot apparatus for inserting or removing an endo-tool into or from a clinical subject. The robot apparatus includes a robot moving hand configured to move linearly towards or away from the clinical subject. The moving hand further includes a moving hand actuator being controlled by a surgical operator in a distance and a manipulator configured to maneuver the endo-tool to be inserted to or withdrawn from a clinical subject. The robot apparatus also includes a robot stationary hand being linearly stationary between the clinical subject and the moving hand. A sterile barrier is configured to separate a sterile side from a non-sterile side with the moving hand actuator, the stationary hand actuator being on the non-sterile side, and the manipulator and the clamp being on the sterile side.