Abstract: An acoustic transducer (30), comprising: a support structure (36); an active assembly comprising a base plate (32) supported by the support structure (36) and a piezoelectric body (34) supported by the base plate (32); and a passive vibrator (38) supported by the support structure (36) and coupled via the support structure (36) to the active assembly (32, 34) so that vibration of the active assembly (32, 34) drives the passive vibrator (38). The active assembly (32, 34) and the passive vibrator (38) have the same resonant frequency.

Abstract: A robotic surgical instrument comprising a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation comprises a plurality of joints for articulating an end effector, the plurality of joints driveable by at least first and second pairs of driving elements. The driving mechanism comprises a pulley arrangement and a pulley drive. The pulley arrangement comprises first and second pulleys attached together such that their separation is fixed, wherein the first pair of driving elements is constrained to move around the first pulley, and the second pair of driving elements is constrained to move around the second pulley.

Abstract: An acoustic transducer (30), comprising: a support structure (36); an active assembly comprising a base plate (32) supported by the support structure (36) and a piezoelectric body (34) supported by the base plate (32); and a passive vibrator (38) supported by the support structure (36) and coupled via the support structure (36) to the active assembly (32, 34) so that vibration of the active assembly (32, 34) drives the passive vibrator (38). The active assembly (32, 34) and the passive vibrator (38) have the same resonant frequency.

Abstract: A surgical robot comprising a base and an arm extending from a proximal end attached to the base to a distal end attachable to a surgical instrument via a series of links interspersed by articulations. The arm comprises a receiver, a proximity sensor and a controller. The receiver is configured to receive data from the surgical instrument over a short-range wireless communications link with the surgical instrument. The proximity sensor is configured to detect the proximal presence of the surgical instrument. The controller is configured to respond to the proximity sensor detecting the proximal presence of the surgical instrument by enabling the short-range wireless communications link between the receiver and a transmitter of the surgical instrument to be established.

Abstract: A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of the surgical robot arm. The endoscope interface comprises an endoscope wedge mechanism moveable between an unlocked position and a locked position. The endoscope wedge mechanism comprises endoscope wedge elements which are displaceable such that collective displacement of the endoscope wedge elements actuates the endoscope wedge mechanism between the unlocked position and the locked position.

Abstract: Described herein is a technique for performing operations for a bounding volume hierarchy. The techniques include: for a bounding box with quantized orientation, the bounding box being part of a bounding volume hierarchy, rotating a ray according to the quantized orientation to generate a rotated ray; performing an intersection test against the bounding box with the rotated ray; and according to the results of the intersection test, continuing traversal of the bounding volume hierarchy.

Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Abstract: Described herein is a technique for modifying a bounding volume hierarchy. The techniques include combining preferred orientations of child nodes of a first bounding box node to generate a first preferred orientation; based on the first preferred orientation, converting one or more child nodes of the first bounding box node into one or more oriented bounding box nodes; combining preferred orientations of child nodes of a second bounding box node to generate a second preferred orientation; and based on the second preferred orientation, maintaining one or more children of the second bounding box node as non-oriented bounding box nodes.

Abstract: A method and a system for tuning a pad. The method may comprise disposing a downhole tool into a borehole, configuring the pad in a first configuration, taking a first measurement of the formation in the first configuration, configuring the pad in a second configuration, taking a second measurement of the formation in the second configuration, determining a tuning coefficient to reduce a tool body effect in the first measurement and the second measurement, computing a first weighted measurement from the tuning coefficient and the first measurement, computing a second weighted measurement from the tuning coefficient and the second measurement, and computing a tuned impedance from a ratio of the first weighted measurement and the second weighted measurement. A system for determining a formation boundary may comprise a downhole tool, an arm, and a pad. The system may further comprise a conveyance and an information handling system.

Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.

Abstract: In some embodiments, a negative pressure wound therapy device includes a negative pressure source and a controller configured to, in response to determining that the negative pressure source is directly fluidically connected to a wound dressing without a canister between the two, operate the negative pressure source in a first mode; otherwise, operate the negative pressure source in a second, different mode. The controller can be further configured to, in response to determining that a level of activity of the negative pressure source over a first time duration satisfies at least one of a leak or blockage condition, provide an indication of at least one of a leak or blockage and, in response to determining that the level of activity does not satisfy the at least one of the leak or blockage condition over a second time duration subsequent to the first time duration, discontinue providing the indication.

Abstract: A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of the surgical robot arm. The endoscope interface comprises an endoscope wedge mechanism moveable between an unlocked position and a locked position. The endoscope wedge mechanism comprises endoscope wedge elements which are displaceable such that collective displacement of the endoscope wedge elements actuates the endoscope wedge mechanism between the unlocked position and the locked position.

Abstract: A method and system for estimating a resistivity of a formation. A method for estimating a resistivity of a formation may comprise disposing a downhole tool into a borehole, wherein the downhole tool comprises a pad, an injector electrode, and a return electrode, injecting a current signal into the formation from the injector electrode, measuring a voltage signal between the injector electrode and the return electrode; and determining a formation resistivity and a formation dielectric constant from at least one of the voltage signal, at least one property of the downhole tool, and at least one property of the borehole. A system for estimating a resistivity of a formation may comprise a downhole tool. The downhole tool may comprise a pad, wherein the pad comprises an injector electrode and a return electrode. The system may further comprise a conveyance for disposing the downhole tool in a borehole and an information handling system.

Abstract: Embodiments of negative pressure wound therapy systems, apparatuses, and methods for operating the systems and apparatuses are disclosed. In some embodiments, the apparatus includes a negative pressure source, a connector port, at least one switch, and a controller. The negative pressure source is connected through the connector port to either (i) a wound dressing having a canister configured to store fluid aspirated from the wound or (ii) a wound dressing without a canister between the connector port and the wound dressing. The controller determines, based on a signal received from the at least one switch, whether the canister is positioned in the fluid flow path and adjusts one or more operational parameters of negative pressure wound therapy based on the determination. The switch is activated by the connection of either the canister or canisterless wound dressing to the apparatus.

Abstract: A system is disclosed for configuring a hearing device. The system includes an audiogram processing component arranged to process image data indicative of an image of an audiogram associated with a person so as to produce audiogram data indicative of the audiogram, and a hearing device configuration component arranged to produce hearing device configuration data based on the audiogram data. The configuration data is indicative of configuration settings for a hearing device that will cause the hearing device to assist the hearing of the person.

Abstract: A console for controlling a robotic manipulator having an end effector, the console comprising: a hand controller connected to a gimbal assembly; and an articulated linkage connected at its proximal end to a rigid support structure, and at its distal end to the gimbal assembly. The gimbal assembly comprises only three degrees of freedom provided by only three joints, a first joint of the three joints permitting the gimbal assembly to rotate relative to the distal end of the articulated linkage about a first axis. The articulated linkage and gimbal assembly are arranged such that in every configuration of the articulated linkage and gimbal assembly, the first axis has the same orientation relative to the support structure. The articulated linkage has a parallelogram profile thereby mechanically constraining the first axis to have the same orientation relative to the support structure in every configuration of the articulated linkage.

Abstract: A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.

Abstract: A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.

Abstract: Techniques for scheduling operations for a task graph on a processing device are provided. The techniques include receiving a task graph that specifies one or more passes, one or more resources, and one or more directed edges between passes and resources; identifying independent passes and dependent passes of the task graph; based on performance criteria of the processing device, scheduling commands to execute the passes; and transmitting scheduled commands to the processing device for execution as scheduled.

Abstract: Embodiments of negative pressure wound therapy systems and methods for operating the systems are disclosed. In some embodiments, a system includes a negative pressure source, a wound dressing configured to be positioned over a wound, and optionally a canister configured to store fluid aspirated from the wound. The negative pressure source, wound dressing, and canister (when present) can be fluidically connected to facilitate delivery of negative pressure to the wound. The system can be configured to automatically detect whether the canister is positioned in the fluid flow path between the negative pressure source and the dressing while negative pressure source provides negative pressure to the wound dressing. Operation of the system can be adjusted based on whether presence of the canister has been detected. For example, a value of an operational parameter can be set to indicate that the canister is present.