Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links which rotate about pivots to position and re-position an instrument, like a surgical instrument, at a work point proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion with orthogonally decoupled degrees of freedom resolved at the work point.The proximal part of the apparatus is adjustably fixed to a stationary object, like an operating table, while the distal part of the apparatus holds the instrument. Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links.

Abstract: The invention consists of a plurality of separate pieces that may be fastened together to create a portable automobile snowplow. Each of the parts is folded in a specified fashion in order to define a particular portion of the snowplow. Then, by means of tabs and slots or other suitable fastening means, the parts may be affixed together. For simplified storage, the parts may be sized in a manner to permit them to be nested within each other.

Abstract: A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

Abstract: In a delta modulator a sequence of code symbols are generated which are indicative of increments of signal level, with each code symbol being determined in accordance with the difference in signal level between an input signal and a prediction signal which is a representation of the input signal. A sequence of the generated code symbols are stored, including the most recent code symbol and a preceding number of code symbols, with the pattern of code symbols at any instant defining a state of signal activity. There is a table of delta increments, a table of threshold values, and a digital gain logic network, all of which provide signal outputs which are controlled by the state of signal activity represented by the stored code signal pattern. The signal output from the delta table and the threshold table are modified an amount determined by the value of the signal output from the digital gain logic network.

Abstract: A quasi-liquid vise is provided for clamping irregularly shaped workpieces which comprises an open-topped vessel into which a workpiece may be inserted, a particulate fluidizable material located within and, substantially filling said vessel, pressure means connected to said vessel for introducing a gas or fluid therein to fluidize said particulate material, and means for applying a vacuum to said vessel and the particulate material to substantially solidify said particulate material when it is desired to clamp a workpiece therein. The solidifying effect of said vacuum applied to said particulate material may be enhanced by utilizing alternate layers of different sized particulate material wherein smaller particles fill voids and enhance the vacuum effect and hence the rigidity of the particulate material when it is desired to solidify same.