Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

Abstract: A bit line selector switch is serially connected with a data sink for detecting high speed data transmissions, typically in the gigabit-per-second range, and a backplane having a plurality of data lines. The selector switch incorporates a selector circuit that operates in one of two modes, a first “selected”, or ON, mode and a second “not selected”, or OFF, mode. The selector circuit includes one, preferably differential, input. In one embodiment, a selector switch has a plurality of selector circuits thus allowing the switch to operate in both modes simultaneously. Data coupled to a differential input of the selector circuit will, when operating in the “selected” or ON mode, transmit the data to the data sink which be, for example, a memory device, processor, or the like. In the “not selected” or OFF mode, the selector circuit will pass any data received to a positive supply rail.

Abstract: A coupler and air pump for pressurizing a sealed beverage container having a valve, such as a beer keg, and for dispensing a beverage from such a container. The Handpowered air pump housing is joined to a metallic coupler by a threaded collar. Cams on the lower end of the coupler lock into the container valve and a handle actuates a probe in the coupler to open the valve of the container.

Abstract: An improved mechanical coupler which is utilized in systems for tapping kegs of fluids which are kept under pressure. The improvement consists of a probe head which is fixed relative to the probe of the coupler and a large flexible fluid seal which is designed in three sections such that the two uppermost sections enable the seal to fold in on itself while the lowermost section lies substantially flat against the valve assembly to thereby form a very secure sealing means between the probe and the valve assembly of the container when the seal is compressed against the valve assembly at the time the improved coupler is locked in place.

Abstract: The present invention relates to an improved apparatus for retaining a valve body in secure engagement with the valve neck of a pressurized container. The apparatus assembly of the present invention incorporates a unique design which makes the retaining arrangement tamperproof since the retaining ring or rings which keep the valve body in place within the valve neck cannot be removed through the use of any ordinary tool. It will take a special tool designed especially to remove the retaining ring or rings in order to accomplish the removal process. As a result, product safety is assured with a significant reduction in product liability.