Abstract: Disclosed herein is a modular process plant structural system which includes numerous modules, all ISO-certified under ISO 1496 and capable of holding within the entire module at least one chemical (or non-chemical) production plant piece of equipment, capable of individually being shipped or transported. The modules can be stacked vertically, horizontally, or mixed (both vertical and horizontal arrangement). The modules are pre-fabricated offsite, built with the desired equipment within the module, pre-plumbed with piping, instrumentation, and electrical wiring, and then the multiple modules are shipped multimodally as ISO 1496 containers to the desired location and assembled to form a plant. Generally, two or more modules are connected together to form a complete plant. The plant can be of any type, e.g., chemical, mechanical/production, thermal, and the like, or of any size, e.g., production, small, micro, or pilot plant scale.

Abstract: In one aspect, an apparatus comprises a transmit path including a power amplifier to receive, process and output a transmit radio frequency (RF) signal the transmit path comprising a power amplifier. A detection circuit coupled to the transmit path may be configured to: detect, during a first portion of a packet of the transmit RF signal, a level of the transmit RF signal at an input to the power amplifier; and detect, during a second portion of the packet of the transmit RF signal the level of the transmit RF signal at an output of the power amplifier. Based at least in part on the detected level at at least one of the power amplifier input or output, a level of at least one component of the transmit path upstream to the power amplifier is to be updated, to control a transmit power variation of the transmit RF signal.

Abstract: In one aspect, an apparatus includes a receive path to receive, process and output a receive radio frequency (RF) signal, the receive path comprising at least one low noise amplifier (LNA) and a plurality of signal nodes. The receive path may be configurable to operate in a plurality of modes. The apparatus also may include at least one filter to filter the receive RF signal and at least one detector circuit to detect one or more levels present at one or more of the plurality of signal nodes. The apparatus may configure an order of the at least one LNA and the at least one filter, based at least in part on the one or more levels detected in the at least one detector circuit.

Abstract: In one aspect, a method comprises: monitoring, via at least one computer system of a central entity, performance information of a plurality of wireless devices present in a network environment remotely coupled to the central entity; updating a monitoring database based on monitoring the performance information; and causing at least some of the plurality of wireless devices to be reconfigured from a first mode to a second mode based at least in part on the performance information.

Abstract: In one aspect, a method comprises: comparing, in a comparator, a signal level of a receive radio frequency (RF) signal to a first threshold, the receive RF signal obtained from a controllable location in an RF front end circuit; and in response to the signal level of the receive RF signal exceeding the first threshold, causing the RF front end circuit to be reconfigured from a first mode in which an input to a low noise amplifier (LNA) is coupled an antenna to a second mode in which the input to the LNA is coupled to an RF filter.

Abstract: In one aspect, an apparatus comprises a transmit path including a power amplifier to receive, process and output a transmit radio frequency (RF) signal the transmit path comprising a power amplifier. A detection circuit coupled to the transmit path may be configured to: detect, during a first portion of a packet of the transmit RF signal, a level of the transmit RF signal at an input to the power amplifier; and detect, during a second portion of the packet of the transmit RF signal the level of the transmit RF signal at an output of the power amplifier. Based at least in part on the detected level at at least one of the power amplifier input or output, a level of at least one component of the transmit path upstream to the power amplifier is to be updated, to control a transmit power variation of the transmit RF signal.

Abstract: A highly intuitive physician input device for communication with a minimally invasive endoscopic concentric tube surgical robot. The physician input device can comprise a user interface handle assembly, a user interface linear joint assembly, a user interfaced bearing block assembly, and a user interface base assembly, and sensors distributed throughout to measure each of these axes, possibly redundantly for safety. Due to the network of sensors and encoders built in to the physician input device, it is capable of triggering a movement in the endoscopic concentric tube robot corresponding to that of the movements made on the physician input device. There are at least four movement controls the physician input device is capable of communicating to the concentric tube robot, those being translation, pan, tilt, and axial rotation. In some embodiments a fifth control includes actuation of a tool such as a gripper.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: A surgical system, method, and apparatus for suturing a first anatomical structure to a second anatomical structure of a subject includes an endoscope tube for being advanced through a lumen of the first anatomical structure to a surgical site near the second anatomical structure. A manipulator arm extends through the endoscope tube to the surgical site, and includes a first concentric tube manipulator with an end effector configured to grasp and manipulate a suture at the surgical site. A needle arm extends through the endoscope tube to the surgical site, and includes a second concentric tube manipulator with a needle tip configured to pierce the tissue of the first and second anatomical structures. The needle arm is also configured to grasp the suture and to retract and pull the suture through the pierced tissue so that the suture extends through and forms stitching that stitches together the first and second anatomical structures.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: A system for performing minimally invasive surgery includes a holding arm, a holding arm interface, an actuation unit detachably disposed on the holding arm interface, and an endoscopic sheath assembly disposed on the holding arm interface opposite the actuation unit. The actuation unit includes a component bay configured to receive a camera, lens and first and second removable and disposable cartridges. Each cartridge includes a concentric tube array extending therefrom, each array including at least one guide tube and a surgical tool disposed inside the guide tube. Numerous safety and communication features are disposed on the various components of the system to ensure failsafe operation and to prevent damage to equipment or harm to patients.

Abstract: A minimally invasive surgery device includes a guide tube with a highly-curved distal end housed within a channel. The highly-curved distal end is configured with a curvature optimized for improved triangulation in a tissue workspace. The highly-curved distal end of the guide tube extends from a curved channel inside an endoscopic device on a surgical robot. The combination of the curved channel and the highly-curved distal end of the guide tube provides improved maneuverability in the workspace. In some embodiments, the highly-curved distal end includes nitinol and shapeset to a desired curvature. The highly-curved distal ends may be curved to achieve a stable shape with repeatable performance. In some embodiments, each first and second guide tube includes a double-curvature configuration.

Abstract: A highly intuitive physician input device for communication with a minimally invasive endoscopic concentric tube surgical robot. The physician input device can comprise a user interface handle assembly, a user interface linear joint assembly, a user interfaced bearing block assembly, and a user interface base assembly, and sensors distributed throughout to measure each of these axes, possibly redundantly for safety. Due to the network of sensors and encoders built in to the physician input device, it is capable of triggering a movement in the endoscopic concentric tube robot corresponding to that of the movements made on the physician input device. There are at least four movement controls the physician input device is capable of communicating to the concentric tube robot, those being translation, pan, tilt, and axial rotation. In some embodiments a fifth control includes actuation of a tool such as a gripper.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: A method and apparatus for use in manipulating material during a medical procedure includes positioning the material in engagement with a major side surface on a distal end portion of a shaft. A gripper is operated to grip the material between a wire and a major side surface of the shaft by moving the wire along a longitudinal central axis of the shaft. Material is moved to a desired position relative to a patient's body while the material is gripped between the wire and the major side surface of the distal end portion of the shaft. The wire is then retracted along the longitudinal central axis of the shaft to release the material for movement relative to the end distal end portion of the shaft.

Abstract: An improved toilet which is a combination of a self-flushing system and an Econo-system, wherein re-cycled water from wash basins, or drinking fountains are used to supplement use of fresh water for flushing; the toilet including a lever operated by the toilet seat to activate a self flush piston having a manually adjustable regulator thereabove, and the toilet including an inner and outer tank with float valve means to control the intake of fresh water in accordance to the quantity of re-cycled water stored in the system at time of a flushing action.