Abstract: A minimally invasive medical system including a robot manipulator, having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to degrees-of-freedom.

Abstract: A sealing bolt includes a seal head adapted to be mounted to the container lid, a seal stud adapted to be mounted to the container body, a pin connecting the seal head to the seal stud, a conductor in a transverse passage in the pin and a resilient member arranged for biasing the pin into a first position in which the conductor is compressed. The pin is movable against biasing by the resilient member into a second position by application to the seal head of a predetermined torque. The sealing bolt also includes a monitoring and detection unit including a transmitter and a detector coupled to respective ends of the conductor, and a processor coupled to the transmitter and the detector operable to determine that the pin has been moved into the second position for a first time when a signal detected by the detector has undergone a predetermined change.

Abstract: A sealing bolt for sealing a container (e.g. for fissile materials), the sealing bolt adapted to cooperate, in use, with a locking device for locking a container lid to a container body of the container. The sealing bolt includes an upper part (i.e. adapted to be manipulated by an operator using a tool), a lower part (cooperating with the locking device 46) and an axial rod connecting the upper and lower parts, the upper part, lower part and axial rod being arranged coaxially about an axis. An integrity element is disposed in the upper part and a release arrangement (a detachable conical end-piece 24 retained by a ball 34 and recess 32 arrangement) is disposed so as to be releasably attached to the lower part. The sealing bolt is movable, through a first operator actuation of the upper part, from a first state, in which the integrity element is intact, to a second state, in which the integrity element of the sealing bolt is visibly broken.

Abstract: A container for nuclear and/or hazardous material including a container body and lid made of metal in which the body and lid are welded together to form a sealed container. Scannable elements are spatially distributed on the lid and adapted to be scanned with an ultrasonic scanner. One or more of the scannable elements is an inclined surface element, each inclined surface element being inclined relative to the axis of the lid. Upon scanning the scannable elements, the ultrasonic scanner produces a first scan signal. The first scan signal is based upon which of the scannable elements are inclined surface elements, and includes an identification code. A second scan signal is obtained by scanning a signature surface element in a weld zone between the body and lid. The lid may be identified/authenticated using a third signal derived from the intersection of the first and second scan signals.

Abstract: The invention relates to a method for treating PSMA expressing cancers, wherein the method comprises administering to patient in need thereof an effective amount of one or more Ac-225-radiopharmaceuticals, wherein the effective amount of said one or more Ac-225-radiopharmaceuticals is administered as a dosage of from 25 kBq to 400 kBq/kg of body weight of said patient or wherein the effective amount of said one or more Ac-225-radiopharmaceuticals is administered as a unitary dosage of from 3 MBq to 30 MBq to said patient.

Abstract: A sealing system for sealing a container lid to a container body includes at least three tags adapted to be mounted to the container lid or the container body, each tag having a unique ID and a first RF transceiver configured to transmit a first RF signal. The system includes at least three anchors adapted to be mounted to the other of the container lid and the container body, each anchor having a unique ID and a second RF transceiver configured to receive the first RF signals. A master unit is adapted to (i) determine, associated with the ID for each tag, a respective current 3D position, based on the first RF signals, (ii) store previously determined 3D positions for each tag, and (iii) generate an alert, timestamp and/or a log entry if separation between the current 3D position and a respective previously determined 3D position exceeds a threshold.

Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator. The manipulator has an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and is configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Abstract: A sealing bolt and a related system for sealing a container lid to a container body includes a seal stud mounted to the container body, a seal head connecting the container lid, and a pin connecting the seal head to the seal stud, where the container lid is connected to the container body by connecting the seal head to the seal stud, and a rupture cable is fed through a transverse passage in the pin and arranged such that any rotational or translational movement of the pin with respect to the seal head and/or the seal stud causes the rupture cable to break.

Abstract: A method for constructing a 3D reference map useable in real-time mapping, localization and/or change analysis, wherein the 3D reference map is built using a 3D SLAM (Simultaneous Localization And Mapping) framework based on a mobile laser range scanner A method for real-time mapping, localization and change analysis, in particular in GPS-denied environments, as well as a mobile laser scanning device for implementing said methods.

Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Abstract: A method for constructing a 3D reference map useable in real-time mapping, localization and/or change analysis, wherein the 3D reference map is built using a 3D SLAM (Simultaneous Localization And Mapping) framework based on a mobile laser range scanner A method for real-time mapping, localization and change analysis, in particular in GPS-denied environments, as well as a mobile laser scanning device for implementing said methods.

Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: —determining a position of the instrument relative to the fulcrum; —measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and —calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Abstract: A method of force estimation for a minimally invasive medical system including a robot manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and being configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, where the method includes determining a position of the instrument relative to the fulcrum, measuring by means of the 6 degrees of freedom force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument, and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Abstract: A non-contact identification and measurement method for identifying moving three-dimensional objects within an identification area, comprising the steps of detecting the presence of a moving object by scanning said identification area with a first eye-safe laser-based range detector system; discriminating between an object safe to be identified and an object not to be identified; for an object safe to be identified, activating a second laser-camera system and determining the speed and position of said object with said second laser-camera system; when said object safe to be identified reaches a position located in an active measurement area within said identification area, activating a third laser-camera system to acquire range data of said object.

Abstract: The present invention relates to a sealing bolt (2) for sealing a container lid (4) to a container body (6). The sealing bolt (2) comprises a seal stud (10) mounted to the container body (6), a seal head (8) connecting the container lid (4),and a pin (14) connecting the seal head (8) to the seal stud (10). The container lid (4) is connected to the container body (6) by connecting the seal head (8) to the seal stud (10). According to an aspect of the present invention, a rupture cable (30) is fed through a transverse passage (24) in the pin (14) and arranged such that any rotational or translational movement of the pin (14) with respect to the seal head (8) and/or the seal stud (10) causes the rupture cable (30) to break.

Abstract: A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist.

Abstract: A method is described for producing a radioconjugate labeled with radionuclide Ac-225 comprising the step of chelating said radionuclide Ac-225 with a conjugated chelate compound in a chelation reaction mixture to obtain a radioconjugate labeled with Ac-225, wherein the pH of the chelation reaction mixture is comprised between 7.1 and 10, preferably between 8.0 and 9.5, more preferably about 9.0.

Abstract: A non-contact identification and measurement method for identifying moving three-dimensional objects within an identification area, comprising the steps of detecting the presence of a moving object by scanning said identification area with a first eye-safe laser-based range detector system; discriminating between an object safe to be identified and an object not to be identified; for an object safe to be identified, activating a second laser-camera system and determining the speed and position of said object with said second laser-camera system; when said object safe to be identified reaches a position located in an active measurement area within said identification area, activating a third laser-camera system to acquire range data of said object.

Abstract: A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the ef

Abstract: In a head-end process for the reprocessing of reactor core material with embedded fuel particles, reactor core material is arranged in a reactor containing a fluid. The reactor comprises a voltage discharge installation in the fluid. Voltage discharges are applied through the fluid for fragmenting the fuel particles into fragmentation products and the fragmentation products are segregated.