Abstract: Systems and methods are described for outputting light and/or audio using one or more light and/or audio sources of a robot. The light sources may be located on one or more legs of the robot, a bottom portion of the robot, and/or a top portion of the robot. The audio sources may include a speaker and/or an audio resonator. A system can obtain sensor data associated with an environment of the robot. Based on the sensor data, the system can identify an alert. For example, the system can identify an entity based on the sensor data and identify an alert for the entity. The system can instruct an output of light and/or audio indicative of the alert using the one or more light and/or audio sources. The system can adjust parameters of the output based on the sensor data.

Abstract: Devices and methods for closing an arteriotomy include a percutaneously placeable central tube deployable about the arteriotomy by which an array of radially expandable fingers having suction ports can be engaged with the surface of tissue about the arteriotomy enabling the fingers to grip the tissue without piercing it. A delivery tube can advance a closure element along the outside surface of the central tube, thereby radially contracting the fingers and puckering the gripped tissue to approximate the edges of the arteriotomy. The closure element is further advanced until it is forced off of the distal tips of the fingers such that the closure element surrounds the puckered tissue and secures permanent closure of the arteriotomy.

Abstract: Devices and methods for closing an arteriotomy by gripping surfaces of tissue disposed about the arteriotomy, without piercing the tissue, and drawing the gripped tissue together to approximate the edges of the arteriotomy, and, while holding the tissue, applying a more permanent closure to the tissue.