Abstract: A variety of transmission mechanisms are provided that include split pulleys nested within each other in order to reduce the size of the transmissions, to provide infinitely variable transmission ratios that include forward and reverse ratios, or to provide some other benefits. The transmissions include multiple inner split pulleys nested within an outer split pulley. Two, three, or more inner split pulleys can be disposed within the transmission to balance the mass of the inner split pulleys in order to reduce vibration and internal stresses experienced by the transmission. This can increase the lifespan of the transmission, reduce wear, and increase efficiency. Additionally, providing multiple inner split pulleys in a nested configuration can allow for reduction of loads transmitted through bearings of the transmission.

Abstract: A variety of transmission mechanisms are provided that include split pulleys nested within each other in order to reduce the size of the transmissions, to provide infinitely variable transmission ratios that include forward and reverse ratios, or to provide some other benefits. The transmissions include multiple inner split pulleys nested within an outer split pulley. Two, three, or more inner split pulleys can be disposed within the transmission to balance the mass of the inner split pulleys in order to reduce vibration and internal stresses experienced by the transmission. This can increase the lifespan of the transmission, reduce wear, and increase efficiency. Additionally, providing multiple inner split pulleys in a nested configuration can allow for reduction of loads transmitted through bearings of the transmission.

Abstract: The disclosure describes vehicle mountable robotic and communication systems and techniques that can facilitate communications between a police officer and a driver within vehicles in a manner that removes the police officer from a proximity of the driver and enables real-time communication between the police officer and the driver. A vehicle mountable robotic and communication system can deliver a communication device from a police vehicle to a driver vehicle so that the police officer and the driver may remain separated during part or all of a traffic stop or other temporary detention. This communication device can provide a sensory or communicative interface to permit the police officer to collect additional information of the environment of the driver and/or permit the police officer and the driver to engage in two-way communication.

Abstract: The disclosure describes vehicle mountable robotic and communication systems and techniques that can facilitate communications between a police officer and a driver within vehicles in a manner that removes the police officer from a proximity of the driver and enables real-time communication between the police officer and the driver. A vehicle mountable robotic and communication system can deliver a communication device from a police vehicle to a driver vehicle so that the police officer and the driver may remain separated during part or all of a traffic stop or other temporary detention. This communication device can provide a sensory or communicative interface to permit the police officer to collect additional information of the environment of the driver and/or permit the police officer and the driver to engage in two-way communication.

Abstract: A system and method for abdominal surgery is disclosed. The system can have one or more end effectors that can be attached to an introducer and/or tray and inserted into the abdomen through a large puncture through the patient's umbilicus. The end effector can have a surgical tool, such as a grasper. The system can have a manipulatable control arm that can be inserted into the abdomen through a small puncture through the patient's body wall. The end effector can be attached to the control arm and simultaneously or concurrently detached from the introducer or tray. The control arm can then manipulate the end effector to perform the surgery.

Abstract: A system and method for abdominal surgery is disclosed. The system can have one or more end effectors that can be attached to an introducer and/or tray and inserted into the abdomen through a large puncture through the patient's umbilicus. The end effector can have a surgical tool, such as a grasper. The system can have a manipulatable control arm that can be inserted into the abdomen through a small puncture through the patient's body wall. The end effector can be attached to the control arm and simultaneously or concurrently detached from the introducer or tray. The control arm can then manipulate the end effector to perform the surgery.

Abstract: A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body.

Abstract: A system and method for abdominal surgery is disclosed. The system can have one or more end effectors that can be attached to an introducer and/or tray and inserted into the abdomen through a large puncture through the patient's umbilicus. The end effector can have a surgical tool, such as a grasper. The system can have a manipulatable control arm that can be inserted into the abdomen through a small puncture through the patient's body wall. The end effector can be attached to the control arm and simultaneously or concurrently detached from the introducer or tray. The control arm can then manipulate the end effector to perform the surgery.

Abstract: A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body.