Abstract: Apparatus (10) for registering printing plates (24) with a plurality of registration members (40A-40F), the apparatus (10) including a plate positioning system (64). The plate positioning system including a first member (50) adapted to pivot about a first pivot point and a plurality of second members (53A, 53B), each second member being pivotally coupled to the first member, and each second member comprising at least one element (58) adapted for engaging a printing plate. The apparatus includes a plurality of sensors (80A, 80B) adapted for detecting contact between the printing plates and the plurality of registration members. The plate positioning system includes a plurality of actuators (72A, 72B) coupled to the second members. An actuator in the plurality of actuators is selectively operated to apply force to an associated second member during a registration of a printing plate.

Abstract: The calibration of an imaging system is adjusted for geometric distortion of an image formed by a group of imaging channels on a media supported on a media support. The media support includes a plurality of individually spaced reference features disposed on a surface of the media support and a change in an expected position of at least one of the reference features is determined. Activation timing of the channels is adjusted in accordance with such changes. The imaging channels can be supported on a movable carriage and movement of the carriage can be adjusted in accordance with such changes.

Abstract: Apparatus (10) for registering printing plates (24) with a plurality of registration members (40A-40F), the apparatus (10) including a plate positioning system (64). The plate positioning system including a first member (50) adapted to pivot about a first pivot point and a plurality of second members (53A, 53B), each second member being pivotally coupled to the first member, and each second member comprising at least one element (58) adapted for engaging a printing plate. The apparatus includes a plurality of sensors (80A, 80B) adapted for detecting contact between the printing plates and the plurality of registration members. The plate positioning system includes a plurality of actuators (72A, 72B) coupled to the second members. An actuator in the plurality of actuators is selectively operated to apply force to an associated second member during a registration of a printing plate.

Abstract: A recording apparatus includes a media support adapted to receive recording media. One or more guide members are attached to the support and extend along a first direction substantially perpendicular to a first neutral axis and a second neutral axis associated with an assemblage comprising at least the support and the guide members. A carriage is adapted to move along the guide members and operable for moving a recording head along a path relative to the media support while forming an image on the recording media. One or more thermal compensation members is fixedly attached to the support to reduce distortions of the assemblage about both the first neutral axis. The second neutral axis, the distortions arise from a difference in thermal expansion between the each of the one or more guide members and the support.

Abstract: The calibration of an imaging system is adjusted for geometric distortion of an image formed by a group of imaging channels on a media supported on a media support. The media support includes a plurality of individually spaced reference features disposed on a surface of the media support and a change in an expected position of at least one of the reference features is determined. Activation timing of the channels is adjusted in accordance with such changes. The imaging channels can be supported on a movable carriage and movement of the carriage can be adjusted in accordance with such changes.

Abstract: A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves the operating member and varies a spring constant of the tunable spring to keep the force exerted by the manipulator member on an object at a desired level. The haptic interface allows simultaneous control over the maximum force exerted by the manipulator member as well as the transmission ratio between the operating member and the manipulator member. The remote manipulator may be a surgical grasper, for example. A tunable spring can be smaller and lighter than the high torque actuators used in some prior remote manipulators which provide force feedback.

Abstract: A support stand for surgical implements is disclosed. The support stand provides an operating environment which is particularly useful for use in laparoscopic surgery. The support stand is compact and includes positionable wrists for providing spherical motion of surgical implements about fixed points which can be made to coincide with incisions in a patient being operated on. Each wrist includes a member pivotally mounted to a support arm. Rotating the member provides rotation about a first axis passing through a fixed point. A surgical instrument holder is connected to the member by a linkage which provides rotation about a second axis passing through the fixed point. The linkage has four pivotally connected links, two of which are bent through an angle to provide precise spherical rotation about the fixed point.

Abstract: A suturing device is disclosed. The suturing device has particular application in surgery and is readily adaptable for use in laparoscopic surgery. The suturing device has an arcuate needle which is circulated around a circular path. The needle is driven by a drive belt which bears against the rear faces of a pair of closely spaced guides. Idler rollers behind the belt pinch the needle against the guides and slightly deform the drive belt. The needle is firmly gripped between the belt and the guides. The guides and the needle each subtend an angle of about 240.degree.. The motion of the needle is reversible. A surgeon can regulate the motion of the needle by turning a wheel with a fingertip. A pair of tissue gripping jaws are provided to hold tissues in place during suturing. The suturing device may be used to form a knot after a suture has been placed.