Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A pin clamp assembly is provided which includes a housing, a locating pin, a body, a twist pin, and a cam pin. The locating pin extends from the body. Both the body and the locating pin include longitudinally extending cavities contiguously disposed therein. The body also includes a longitudinally extending slot. At least a portion of the locating pin and the body is located in a bore disposed through the housing. The twist pin is disposed in the longitudinally extending cavities of the locating pin and body. The twist pin includes a longitudinally extending arcuate slot. The cam pin is coupled to the housing. The cam pin engages the slot. An electrical driven actuator includes an electric motor that rotates to move the locating pin linearly to rotate the twist pin.

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: Sheaths for medical instruments cover wrist mechanisms to provide a barrier to infiltration of biological material into the instrument, electrical isolation of energized portions of the instrument, seal the instrument to help maintain cavity pressure within a patient, or reduce the chance that two jointed instruments will tangle during a medical procedure.

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.

Abstract: In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.

Abstract: An instrument wrist uses members having epicycloidal and hypocycloidal surfaces to bear loads and preserve a separation of reference points in the same manner as circles rolling on each other. The cycloidal surfaces can be uniform, stepped, or blended and can be arranged to ensure geared motion of members without addition of additional gearing structures. A hypocycloidal surface provides a concave contact that improves resistance to deformations under load. The wrist mechanism is tendon stayed, which keeps members in contact, and optionally gear structures can be integrated into the members to ensure geared motion and support roll toques.

Abstract: A roll joint utilizes at least one tendon guide surface to guide actuator tendons for distal roll off and on their respective drums on a central shaft of the roll joint. The tendon guide surface turns the actuator tendon in an axial direction in a more compact space than might be required for a pair of pulleys, while using fewer parts with larger features more easily formed on a small scale.

Abstract: The present disclosure describes a gripper assembly which in one form includes a body, at least one jaw, a longitudinally extending wedge, and a spring. The body has a slot disposed therein and opposed longitudinally extending walls. The jaw is laterally slideable within the slot. The longitudinally extending wedge is fitted along the longitudinally extending wall. The jaw comprises a surface that is engageable with the wedge. The surface of the jaw is slideable along the wedge. And a spring biases the wedge toward the jaw to reduce the running clearance between the two structures.

Abstract: An animal feeder comprising a hopper for storing pieces of food is provided. The hopper includes an opening and a gate movable with respect to the hopper between an open position rendering the opening at least partially accessible to an animal and a closed position at least partially preventing access to the opening by an animal. A switch is coupled for activation by movement of the gate.

Abstract: A pin clamp assembly is provided which includes a housing, a locating pin, a body, a twist pin, and a cam pin. The locating pin extends from the body. Both the body and the locating pin include longitudinally extending cavities contiguously disposed therein. The body also includes a longitudinally extending slot. At least a portion of the locating pin and the body is located in a bore disposed through the housing. The twist pin is disposed in the longitudinally extending cavities of the locating pin and body. The twist pin includes a longitudinally extending arcuate slot. The cam pin is coupled to the housing. The cam pin engages the slot. An electrical driven actuator includes an electric motor that rotates to move the locating pin linearly to rotate the twist pin.

Abstract: A long travel gripper is provided which has first and second end caps, first, second and third guide rails, first and second jaws, and first and second piston assemblies. The first, second and third guide rails extend between the first and second end caps. The first and second jaws, each receive, and move rectilinearly along, the first, second and third guide rails. The first and second piston assemblies each include first and second piston rods and pistons, respectively.

Abstract: A pin clamp assembly is provided which includes a housing, a locating pin, a body, a twist pin, and a cam pin. The locating pin extends from the body. Both the body and the locating pin include longitudinally extending cavities contiguously disposed therein. The body also includes longitudinally extending and opposed slots, each disposed from opposed exterior surfaces of the body and into the cavity. At least a portion of the locating pin and the body is located in a bore disposed through the housing. The twist pin is disposed in the longitudinally extending cavities of the locating pin and body. The twist pin includes a longitudinally extending cavity disposed therein, and longitudinally extending and opposed cam slots disposed from opposed exterior surfaces of the twist pin and into the cavity therein. The cam pin is coupled to the housing within the bore and extending there across.

Abstract: In one embodiment of the invention, a robotic surgical tool having opposing jaws, the working element of the robotic surgical tool is made of a different material from the drive element of the robotic surgical tool. The two elements may be manufactured independently and assembled together at a later stage. The material comprising each element may thus have properties more appropriate to the function each element plays in the robotic surgical tool. For example, the metal selected to comprise the blade of a surgical scissor may be corrosion resistant and capable of being sharpened to a high degree.

Abstract: A rodless slide assembly is provided illustratively having a longitudinally-extending cylinder, a carriage, a stop assembly, and a catch assembly. The longitudinally-extending cylinder includes first and second ends and a path of travel extending therebetween. The carriage is slidable on the path of travel on the cylinder between the first and second ends. The stop assembly includes a stop block and a stabilizer. The stop assembly is coupled to the carriage and the stabilizer is located between the stop block and the carriage. The catch assembly comprises a catch bar and an actuator assembly. The catch bar is located adjacent the path of travel of the carriage.

Abstract: A rodless slide assembly is provided illustratively having a longitudinally-extending cylinder, a carriage, a stop assembly, and a catch assembly. The longitudinally-extending cylinder comprises first and second ends and a path of travel extending therebetween. The carriage is slidable on the path of travel on the cylinder between the first and second ends. The stop assembly comprises a stop block and is coupled to the carriage. In one embodiment the catch assembly includes a catch bar and an actuator assembly. The catch bar is located adjacent the path of travel of the carriage. The actuator assembly selectively moves the catch bar to engage the stop block and stop the carriage when the carriage is positioned at a selected location on the path of travel.

Abstract: A pin clamp assembly is provided which includes a housing, a locating pin, a body, a twist pin, and a cam pin. The locating pin extends from the body. Both the body and the locating pin include longitudinally extending cavities contiguously disposed therein. The body also includes longitudinally extending and opposed slots, each disposed from opposed exterior surfaces of the body and into the cavity. At least a portion of the locating pin and the body is located in a bore disposed through the housing. The twist pin is disposed in the longitudinally extending cavities of the locating pin and body. The twist pin includes a longitudinally extending cavity disposed therein, and longitudinally extending and opposed cam slots disposed from opposed exterior surfaces of the twist pin and into the cavity therein. The cam pin is coupled to the housing within the bore and extending there across.

Abstract: An animal control device directs a pressure pulse wave to an animal as a negative stimulus to deter undesired behavior. The animal control device includes a collar worn by an animal with a pressure pulse generator probe in contact with the animal's skin. The pressure pulse wave applied may be adjustable commensurate with the severity of undesired behavior. In one embodiment, the animal control device contains a remote transmitter for a trainer to administer a pressure pulse manually and at a desired intensity. In an alternate embodiment, the animal control device may contain a bark sensor to administer a pressure pulse when the animal produces undesirable barking. Alternatively, the animal control device may contain a sensor for directing a pressure pulse if an animal strays from a desired confined location.