Abstract: Provided herein are compounds, or salts, esters, tautomers, prodrugs, zwitterionic forms, or stereoisomers thereof, as well as pharmaceutical compositions comprising the same. Also provided herein are methods of using the same in modulating (e.g., inhibiting) KRAS (e.g., KRAS having a G12D or G12V mutation or wild-type KRAS) and treating diseases or disorders such as cancers in subjects in need thereof.

Abstract: A vehicle including a monitoring apparatus comprising a drone housing and a drone configured to be stowable in the drone housing and deployable for flying adjacent to the vehicle. The drone comprising a frame, at least one rotor connected to the frame, and at least one sensor connected to the frame. The at least one sensor is configured to monitor an area adjacent to the vehicle when the drone is deployed and provide a feedback signal. The vehicle further comprises a control module operably connected to the drone. The control module is configured to output a warning signal to a driver of the vehicle which is indicative of a potential hazard. The warning signal is responsive to the feedback signal of the at least one sensor of the drone.

Abstract: Techniques for rapid halt of repositionable arms include a computer-assisted device comprising a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit communicably coupled to the first repositionable arm and the second repositionable arm. The control unit is configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure, determine whether the composite deviation is greater than a deviation threshold, and in response to the composite deviation being greater than the deviation threshold: halt motion of the first repositionable arm or the second repositionable arm.

Abstract: A stand mixer is provided having a pivotable head and a sliding stand for receipt of a bowl or other container. The head and bowl stand are pivotally linked such that as the head pivots an axis, the bowl stand moves simultaneously along a vertical direction. A plurality of linkages may be connected between the head and bowl stand to provide for such simultaneous movement.

Abstract: A teleoperation system includes an input device configured to by manually manipulated by an operator, a first manipulator configured to support an imaging device, a second manipulator configured to support an attachment selected from the group consisting of: an instrument and a tissue probe, a display device; and a control system. The imaging device has a field of view. The control system is configured to receive a first image of a workspace captured by the imaging device; determine a movement command based on movement of the input device; and in response to a first determination that the movement command is for teleoperating the attachment while the attachment is inserted into the workspace in a first direction that is non-corresponding to a second direction of the field of view, cause the display device to display a second image indicative of a tip of the attachment overlayed with the first image.

Abstract: A system includes a manually manipulatable input control and a control module. The control module is configured to determine whether there is uncontrolled movement of the component based on whether a movement of the input control includes a change in a roll angle of the input control, the movement of the input control includes a change in a grip separation of the input control, or a first mechanical degree of freedom of the input control affected by gravity has moved while a second mechanical degree of freedom of the input control not affected by gravity has not moved. The control module is further configured to command the system to switch to a safe mode in response to determining that there is uncontrolled movement of the input control. The safe mode includes a mode in which an instrument does not move in response to movement of the input control.

Abstract: A system and method of breakaway clutching in a device includes a plurality of links coupled by a plurality of joints, a brake coupled to brake a first joint of the plurality of joints, and a control unit operatively coupled to the brake. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion and switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion. The control unit causes more braking with the first brake in the first state than in the second state.

Abstract: A system includes a manually manipulatable component configured to generate signals when movements of the component are detected and a control module. The control module is configured to determine that there is uncontrolled movement of the component by determining that a distance of a movement of the component relative to a previous position of the component is greater than a threshold distance or determining that a first mechanical degree of freedom (DOF) of the component has moved and a second mechanical DOF of the component has not moved, and command the system to switch from an operating mode to a safe mode in response to determining that there is uncontrolled movement of the component. The previous position is associated with when a last definitive movement of the component was detected. The first mechanical DOF is affected by gravity and the second mechanical DOF is not affected by gravity.

Abstract: A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.

Abstract: Provided herein are compounds, or salts, esters, tautomers, prodrugs, zwitterionic forms, or stereoisomers thereof, as well as pharmaceutical compositions comprising the same. Also provided herein are methods of using the same in modulating (e.g., inhibiting) KRAS (e.g., KRAS having a G12C mutation) and treating diseases or disorders such as cancers in subjects in need thereof.

Abstract: Provided herein are compounds of formula (I) and (II), or salts, esters, tautomers, prodrugs, zwitterionic forms, or stereoisomers thereof, as well as pharmaceutical compositions comprising the same. Also provided herein are methods of using the same in modulating (e.g., inhibiting) KRAS (e.g., KRAS having a G12D mutation) and treating diseases or disorders such as cancers in subjects in need thereof.

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector; determine a deviation between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.

Abstract: A stand mixer is provided having a motor, an attachment support coupled to the motor, a mixing shaft coupled to the motor, a retractable plunger, and a mixing attachment. The mixing shaft may be rotatable by the motor. The retractable plunger may be extendable between a first position into the mixing shaft and a second position extending from the mixing shaft. The mixing attachment may be removably attached to the mixing shaft and may define a shaft channel for sliding receipt of the mixing shaft. The mixing attachment may also define an aperture connected with the with the shaft channel and configured for selective receipt of the retractable plunger. The mixing shaft can be inserted into the shaft channel and may be moved to selectively lock the mixing attachment to the mixing shaft by receipt of the retractable plunger into the aperture of the mixing attachment.

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.

Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.

Abstract: A dead-beat escapement break away assembly which consists of, a pallet engagement collet with at least one magnet attached thereto and a pallet alignment feature attached thereto; a pendulum crutch attachment mechanically coupled to the pallet engagement collet; a pallet which is adapted to be magnetically coupled to the pallet engagement collet so as to mechanically engage the pendulum crutch attachment to the pallet, thereby enabling the pallet to break away from the pallet engagement collet when sufficient force is applied to the pallet to overcome the magnetic force of the magnet.

Abstract: A stand mixer is provided having a pivotable head and a sliding stand for receipt of a bowl or other container. The head and bowl stand are pivotally linked such that as the head pivots an axis, the bowl stand moves simultaneously along a vertical direction. A plurality of linkages may be connected between the head and bowl stand to provide for such simultaneous movement.