Abstract: An autonomous robotic cart includes a chassis, sensors coupled with the chassis, visible light cameras, and a handlebar unit coupled with the chassis. The handlebar unit includes a handlebar and a force sensor configured to detect a translational force and a rotational force exerted on the handlebar. The autonomous robotic cart also includes a holonomic and omnidirectional mechanical drive unit coupled with the chassis. The autonomous robotic cart is configured to autonomously navigate a physical environment to execute one or more navigation goals determined based on communication with a remote computing system configured to manage a fleet of robots including the autonomous robotic cart and also to cause the autonomous robotic cart to move translationally and rotationally in a direction corresponding to a output force vector determined based on sensor data.

Abstract: A computing system may be configured as a fleet controller for autonomous mobile robots operating within a physical environment. The system may include a communication interface receiving sensor data from the robots including image data captured by visible light cameras located on the robots, an environment mapper determining a scene graph representing the environment and identifying navigable regions of the environment, a workflow coordinator determining a workflow including tasks to be performed within the environment by one or more of the robots in cooperation with a human, and a route planner configured to determine routing information for a robot, which may autonomously navigate the environment to execute the tasks based on the routing information.

Abstract: A computing system may be configured as a fleet controller for autonomous mobile robots operating within a physical environment. The system may include a communication interface receiving sensor data from the robots including image data captured by visible light cameras located on the robots, an environment mapper determining a global scene graph representing the environment and identifying navigable regions of the environment, a workflow coordinator determining a workflow including tasks to be performed within the environment by one or more of the robots in cooperation with a human, and a route planner configured to determine routing information for the one or robots including a nominal route from a source location to a destination location. The robots may be configured to autonomously navigate the environment to execute the tasks based on the routing information.

Abstract: An autonomous robot drive assembly includes a force sensing assembly. The force sensing assembly is a force sensing handlebar that is mounted in a specific orientation to allow for a user to manipulate the robot. The handlebar is configured to allow a user to manipulate the handlebar by providing force to the handlebar to move the handlebar from a neutral position. The manipulation of the handlebar causes instructions to be determined for operation of the robot. Based on the manipulation of the handlebar, a drive assembly of the robot moves the robot in accordance with the instructions.

Abstract: An autonomous robotic cart includes a chassis, sensors coupled with the chassis, visible light cameras, and a handlebar unit coupled with the chassis. The handlebar unit includes a handlebar and a force sensor configured to detect a translational force and a rotational force exerted on the handlebar. The autonomous robotic cart also includes a holonomic and omnidirectional mechanical drive unit coupled with the chassis. The autonomous robotic cart is configured to autonomously navigate a physical environment to execute one or more navigation goals determined based on communication with a remote computing system configured to manage a fleet of robots including the autonomous robotic cart and also to cause the autonomous robotic cart to move translationally and rotationally in a direction corresponding to a output force vector determined based on sensor data.

Abstract: An autonomous robotic cart includes a chassis, sensors coupled with the chassis, visible light cameras, and a handlebar unit coupled with the chassis. The handlebar unit includes a handlebar and a force sensor configured to detect a translational force and a rotational force exerted on the handlebar. The autonomous robotic cart also includes a holonomic and omnidirectional mechanical drive unit coupled with the chassis. The autonomous robotic cart is configured to autonomously navigate a physical environment to execute one or more navigation goals determined based on communication with a remote computing system configured to manage a fleet of robots including the autonomous robotic cart and also to cause the autonomous robotic cart to move translationally and rotationally in a direction corresponding to a output force vector determined based on sensor data.

Abstract: An autonomous robot drive assembly includes a plurality of drive units. The plurality of drive units may allow for movement and control of the autonomous robot drive. Each of the plurality of drive units are configured to be oriented independent of the other drive units. Each drive unit may include a plurality of independently operable driven wheels. Each drive unit may further include a drive unit coupling, allowing for the drive unit to rotate independently of other portions of the autonomous robot. The drive unit coupling may not be driven and may be configured to freely rotate.

Abstract: A mechanical drive unit for a robot may be controlled by receiving from a force sensor an input message characterizing a physical force exerted on the force sensor in a first direction. A physical force input vector may be determined based on the input message and quantifying the physical force in two or more dimensions. A force output vector aggregating the physical force input vector and a second force input vector and quantifying a force to apply to move the robot in a second direction may be determined at least in part by applying a force multiplier multiplying the physical force input vector. An indication of the force output vector may be transmitted to the omnidirectional mechanical drive unit via a communication interface. The robot may be moved via the mechanical drive unit in the second direction based on the force output vector.

Abstract: An omnidirectional mechanical drive unit in a robot may be controlled by a processor. An input message characterizing a physical force exerted on a force sensor in a first direction may be received. A physical force input vector quantifying the physical force in two or more dimensions may be determined based on the input message. Upon determining that a triggering condition for navigational feedback is satisfied, a haptic force input vector for provide haptic navigational feedback via the omnidirectional mechanical drive unit may be determined. A force output vector aggregating the physical force input vector and the haptic force input vector may be determined. The force output vector may quantify a force to apply to move the robot in a second direction. An indication of the force output vector may be transmitted to the omnidirectional mechanical drive unit. The robot may be moved based on the force output vector.

Abstract: A computing system may be configured as a fleet controller for autonomous mobile robots operating within a physical environment. The system may include a communication interface receiving sensor data from the robots including image data captured by visible light cameras located on the robots, an environment mapper determining a global scene graph representing the environment and identifying navigable regions of the environment, a workflow coordinator determining a workflow including tasks to be performed within the environment by one or more of the robots in cooperation with a human, and a route planner configured to determine routing information for the one or robots including a nominal route from a source location to a destination location. The robots may be configured to autonomously navigate the environment to execute the tasks based on the routing information.

Abstract: An autonomous robot drive assembly includes a plurality of drive units. The plurality of drive units may allow for movement and control of the autonomous robot drive. Each of the plurality of drive units are configured to be oriented independent of the other drive units. Each drive unit may include a plurality of independently operable driven wheels. Each drive unit may further include a drive unit coupling, allowing for the drive unit to rotate independently of other portions of the autonomous robot. The drive unit coupling may not be driven and may be configured to freely rotate.

Abstract: A method for a robot to autonomously interact with elevator controls comprising: while physically traversing a route to a target location within an environment, determining that the route includes navigating to a particular floor that is different than a current floor of the robot; navigating to a set of one or more elevators along the route; identifying a location of an elevator call button corresponding to the set of one or more elevators; navigating to the location of the elevator call button and pressing the elevator call button, wherein pressing the elevator call button comprises: rotating the robot in place until a vertical structure faces the elevator call button; extending or retracting the vertical structure until a button pushing element is aligned with the elevator call button; moving towards the elevator call button and causing the button pushing element to press the elevator call button.

Abstract: A method for a robot to autonomously interact with elevator controls comprising: while physically traversing a route to a target location within an environment, determining that the route includes navigating to a particular floor that is different than a current floor of the robot; navigating to a set of one or more elevators along the route; identifying a location of an elevator call button corresponding to the set of one or more elevators; navigating to the location of the elevator call button and pressing the elevator call button, wherein pressing the elevator call button comprises: rotating the robot in place until a vertical structure faces the elevator call button; extending or retracting the vertical structure until a button pushing element is aligned with the elevator call button; moving towards the elevator call button and causing the button pushing element to press the elevator call button.

Abstract: A tool for deploying an anastomosis device includes a member configured to hold the anastomosis device, and an expander movable relative to the anastomosis device.

Abstract: An anastomosis device includes a deployable section that may be connected to a discard section. The deployable section may be configured to expand in two substantially orthogonal directions during deployment. The deployable section may include a ring that includes one or more expandable elements.

Abstract: A method for performing anastomosis between a graft vessel and a target vessel with an integrated anastomosis tool may include actuating at least one control on the integrated anastomosis tool to create an opening in the target vessel and complete an anastomosis with the target vessel. Another method for performing anastomosis may include creating an opening in intact tissue of the target vessel with an integrated anastomosis tool; and deploying an anastomosis device with the integrated anastomosis tool. The anastomosis may be performed with an anastomosis device, such as an anastomosis device having a deployable section detachable from a discard section.

Abstract: A combined imaging plate scanning and erasing system, comprising: (a) a housing; (b) an imaging plate cassette infeed assembly positioned within the housing, the maging plate cassette infeed assembly comprising: (i) a mechanism to pull an imaging plate cassette into the housing; (ii) a mechanism to open the imaging plate cassette; and (iii) a mechanism to remove an imaging plate from the cassette; (c) a scanner positioned within the housing; (d) a curved path erasing assembly positioned between the imaging plate infeed assembly and the scanner; and (e) an imaging plate transportation assembly to move the imaging plate back and forth in a path extending from the imaging plate cassette, past the erasing assembly and through a scan area adjacent to the scanner.

Abstract: A combined imaging plate scanning and erasing system, comprising: (a) a housing; (b) an imaging plate cassette infeed assembly positioned within the housing, the maging plate cassette infeed assembly comprising: (i) a mechanism to pull an imaging plate cassette into the housing; (ii) a mechanism to open the imaging plate cassette; and (iii) a mechanism to remove an imaging plate from the cassette; (c) a scanner positioned within the housing; (d) a curved path erasing assembly positioned between the imaging plate infeed assembly and the scanner; and (e) an imaging plate transportation assembly to move the imaging plate back and forth in a path extending from the imaging plate cassette, past the erasing assembly and through a scan area adjacent to the scanner.

Abstract: A deployment system for forming an incision in a target vessel, for placement of an anastomosis device and for deployment of an anastomosis device having an inner flange formed by radial expansion of the device and an outer flange formed by axial compression of the device.

Abstract: A lid assembly that includes a lid and a coupling mechanism for coupling the lid to a palmtop computer system. The coupling mechanism is double jointed so as to move the lid from a closed position to an open position. In one embodiment, the coupling mechanism includes a plate and two clips that attach to the plate such that the clips rotate relative to the plate. The plate couples to the lid such that the lid rotates relative to the plate. In the closed position, the lid covers the display of the palmtop computer system. The lid is movable into the open position. In the open position, the display is uncovered and the lid is disposed against the rear side of the palmtop computer system. In one embodiment, the lid includes an opaque region and a non-opaque region. The non-opaque region allows for viewing a portion of the display of the palmtop computer while the lid is in the closed position.