Abstract: An endoscopic tissue separator surgical device and method. The device has a multi-lumen shaft having proximal and distal ends, a central lumen for accepting an endoscope, and at least two fluid lumens, with a head coupled to the distal end of the shaft and a handle coupled to the proximal end. The head has an endoscope port and at least two fluid ports whose centers are all disposed along an arcuate line of curvature, while the handle has at least two fluid supply ports. Gas and fluid may be conveyed through the shaft from the handle to the head in the at least two fluid lumens separate from the lumen for accepting an endoscope. At least one lumen of the multi-lumen shaft may house a stainless steel tube with an inside diameter of sufficient size to accept an endoscope.

Abstract: An automated system for transporting items between variable endpoints includes a guidance system for identifying the endpoints and at least one autonomous mobile robot interacting with the guidance system for automatically moving items between the endpoints. The at least one robot is configured to (a) collect an item to be transported at a source end point, (b) travel to a destination endpoint utilizing the guidance system to locate the destination endpoint, (c) deliver the item to the destination endpoint, and (d) repeat (a) through (c) for a given set of items. The guidance system is dynamically reconfigurable to identify new endpoints.

Abstract: An automated system for transporting items between variable endpoints includes a guidance system for identifying the endpoints and at least one autonomous mobile robot interacting with the guidance system for automatically moving items between the endpoints. The at least one robot is configured to (a) collect an item to be transported at a source end point, (b) travel to a destination endpoint utilizing the guidance system to locate the destination endpoint, (c) deliver the item to the destination endpoint, and (d) repeat (a) through (c) for a given set of items. The guidance system is dynamically reconfigurable to identify new endpoints.

Abstract: An automated system for transporting items between variable endpoints includes a guidance system for identifying the endpoints and at least one autonomous mobile robot interacting with the guidance system for automatically moving items between the endpoints. The at least one robot is configured to (a) collect an item to be transported at a source end point, (b) travel to a destination endpoint utilizing the guidance system to locate the destination endpoint, (c) deliver the item to the destination endpoint, and (d) repeat (a) through (c) for a given set of items. The guidance system is dynamically reconfigurable to identify new endpoints.

Abstract: An adaptable handling system featuring a boundary subsystem and one or more robots. Each robot typically includes a chassis, a container lift mechanism moveable with respect to the robot chassis for transporting at least one container, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem, a container detection subsystem, and a controller. The controller is responsive to the boundary sensing subsystem and the container detection subsystem and is configured to control the drive subsystem to follow a boundary once intercepted until a container is detected and turn until another container is detected. The controller then controls the container lift mechanism to place a transported container proximate the second detected container.

Abstract: A disposable cassette for mixing a drug in a vial includes a liquid inlet for connection to a liquid supply, a first vial spike, a second vial spike, a chamber and a valve mechanism. The chamber, the first and second vial spikes, and the liquid inlet are in fluid communication with each other. The valve mechanism may be actuated to control flow between the chamber, the vial receptacles and the liquid inlet.

Abstract: An emergency stop system for an autonomous mobile robot includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.

Abstract: An adaptable handling system featuring a boundary subsystem and one or more robots. Each robot typically includes a chassis, a container lift mechanism moveable with respect to the robot chassis for transporting at least one container, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem, a container detection subsystem, and a controller. The controller is responsive to the boundary sensing subsystem and the container detection subsystem and is configured to control the drive subsystem to follow a boundary once intercepted until a container is detected and turn until another container is detected. The controller then controls the container lift mechanism to place a transported container proximate the second detected container.

Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.

Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.

Abstract: An emergency stop system for an autonomous mobile robot includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.

Abstract: A disposable cassette for mixing a drug in a vial includes a liquid inlet for connection to a liquid supply, a first vial spike, a second vial spike, a chamber and a valve mechanism. The chamber, the first and second vial spikes, and the liquid inlet are in fluid communication with each other. The valve mechanism may be actuated to control flow between the chamber, the vial receptacles and the liquid inlet.

Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.

Abstract: An automated system for transporting items between variable endpoints includes a guidance system for identifying the endpoints and at least one autonomous mobile robot interacting with the guidance system for automatically moving items between the endpoints. The at least one robot is configured to (a) collect an item to be transported at a source end point, (b) travel to a destination endpoint utilizing the guidance system to locate the destination endpoint, (c) deliver the item to the destination endpoint, and (d) repeat (a) through (c) for a given set of items. The guidance system is dynamically reconfigurable to identify new endpoints.

Abstract: An adaptable container handling robot includes a chassis, a container transport mechanism, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem configured to reduce adverse effects of outdoor deployment, and a controller subsystem responsive to the boundary sensing subsystem. The controller subsystem is configured to detect a boundary, control the drive subsystem to turn in a given direction to align the robot with the boundary, and control the drive subsystem to follow the boundary.

Abstract: A disposable cassette for mixing a drug in a vial includes a liquid inlet for connection to a liquid supply, a first vial spike, a second vial spike, a chamber and a valve mechanism. The chamber, the first and second vial spikes, and the liquid inlet are in fluid communication with each other. The valve mechanism may be actuated to control flow between the chamber, the vial receptacles and the liquid inlet.

Abstract: An adaptable handling system featuring a boundary subsystem and one or more robots. Each robot typically includes a chassis, a container lift mechanism moveable with respect to the robot chassis for transporting at least one container, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem, a container detection subsystem, and a controller. The controller is responsive to the boundary sensing subsystem and the container detection subsystem and is configured to control the drive subsystem to follow a boundary once intercepted until a container is detected and turn until another container is detected. The controller then controls the container lift mechanism to place a transported container proximate the second detected container.

Abstract: A disposable cassette for mixing an intravenous drug in a vial to a patient includes a liquid inlet for connection to a liquid supply, a first vial spike, a second vial spike and a chamber. The chamber, the first and second vial spikes, and the liquid inlet are in fluid communication with each other. A valve mechanism may be actuated to control flow between the chamber, the vial receptacles and the liquid inlet.

Abstract: A disposable cassette for mixing an intravenous drug in a vial to a patient includes a liquid inlet for connection to a liquid supply, a first vial spike, a second vial spike and a chamber. The chamber, the first and second vial spikes, and the liquid inlet are in fluid communication with each other. A valve mechanism may be actuated to control flow between the chamber, the vial receptacles and the liquid inlet.

Abstract: A system and method for the preparation and delivery of intravenous drugs includes a liquid inlet for connection to a liquid supply and vial receptacles. The system may also include a liquid outlet for providing the intravenous drug in mixed, liquid form to the patient. The system may include a chamber having a variable volume, and a valve mechanism, which may be actuated to control flow between the liquid outlet, the variable-volume chamber, the vial receptacles and the liquid inlet. The liquid inlet, the vial receptacles, the variable-volume chamber, the liquid outlet and the valve mechanism may be located in a disposable cassette, which may be received in a control unit.