Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: A method of assembling a turbine runner while it remains situated in a water passageway. The turbine runner comprises a hub having a longitudinal axis, spaced apart outer and inner surfaces defining a cavity, and a corresponding plurality of blades pivotally connected to the hub. Each blade has a trunnion and is supported in rotation by an associated blade support assembly including at least one trunnion bushing. The cavity substantially encloses the support assemblies. The method comprises the steps of assembling a maintenance platform in the water passageway below the runner, installing for at least one of the blades a new trunnion bushing in the associated blade support assembly, and removing the maintenance platform from the water passageway. The hub has an inner hub for supporting the trunnion bushing, and the inner hub may be split into upper and lower inner hubs which may be uncoupled for installing the new trunnion bushing.

Abstract: A shrouded turbine for enhancing the levels of dissolved gas such as oxygen in water flowing therethrough. The turbine comprises a rotatably mounted runner within a stationary casing. The casing includes a head cover, a discharge ring and a draft tube which together define a water passage extending from an upstream inlet port to a downstream outlet port. A gas chamber substantially surrounds a peripheral portion of the draft tube, and a gas discharge slot connects the gas chamber to the water passage. The slot is substantially continuous and extends substantially about an entire circumference of the water passage. An oxygen containing gas source is connected to the gas chamber, and the gas pressure in the gas chamber is greater than a water pressure in the water passage adjacent the slot. Gas is discharged from the slot into the water passage so that the level of dissolved oxygen in the water discharged from the downstream port is increased.

Abstract: A pair of nut locking cups are engaged on the external surfaces of a pair of nuts and are constructed so that the outside radius of a cup is equal to one-half of the distances between adjacent studs to allow the cups to be placed on the nuts regardless of nut position with the outside radii of the cups remaining in contact with each other; a locking bar is positioned across the two adjacent studs with the studs being welded to the bar; the locking cups are also welded to the locking bar and thus form a positive lock between the studs and the anchor point for the nut lock cups.