Abstract: Systems, devices and methods are provided in which an instrument can translate along an insertion axis. Rather than relying primarily on a robotic arm for instrument insertion, the instruments described herein have novel instrument based insertion architectures that allow portions of the instruments themselves to translate along an insertion axis. For example, an instrument can comprise a shaft, an end effector on a distal end of the shaft, and a handle coupled to the shaft. The architecture of the instrument allows the shaft to translate relative to the handle along an axis of insertion. The translation of the shaft does not interfere with other functions of the instrument, such as end effector actuation.

Abstract: Disclosed herein is a soil remediation and soil pore stabilising composition comprising at least one electrolyte and at least one cofactor.

Abstract: Disclosed herein is a soil remediation and soil pore stabilising composition comprising at least one electrolyte and at least one cofactor.

Abstract: Disclosed herein is a soil remediation and soil pore stabilising composition comprising at least one electrolyte and at least one cofactor.

Abstract: A method for performing a soil analysis to determine quantities of one or more cations to be included in a soil treatment plan for an agricultural soil is described by either directly measuring or indirectly estimating the Zeta Potential of a soil sample. From these measurements or estimates appropriate quantities of water soluble cations (Ca, Mg, K, Na) can be determined and the Zeta Potential can be adjusted to a desired value. A method of estimating Zeta Potential is obtained from measurements of soluble and exchangeable cation concentrations, which are combined to generate Cation Relationship of Plants and Soil Solution (CROPSS) Value, and then through the use of a mapping relationship between a CROPSS value and Zeta Potential for reference soils, the CROPSS value can be used to determine the appropriate soil treatment to be applied that will adjust the Zeta Potential to a desired range or value.

Abstract: Disclosed herein is a soil remediation and soil pore stabilising composition comprising at least one electrolyte and at least one cofactor.