Abstract: A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

Abstract: A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.

Abstract: A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.

Abstract: A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.

Abstract: A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.

Abstract: An electrosurgical apparatus for coagulating tissue used in combination with an endoscope which includes an elongated flexible tube having a plurality of side-ports located therethrough. The tube extends through a working channel of the endoscope and an ionizable gas is supplied to the tube at or near the proximal end of the tube. A diffusing member directs the ionizable gas from the proximal end of the tube through each of the side-ports towards the tissue. An electrode is used for ionizing the gas prior to the gas exiting the side-ports.

Abstract: A method of mounting a rail to a fence post including the steps of securing a fence rail mounting clip that includes a rail connector and a bracket to a side wall of a vertical fence post, determining a desired angle at which to mount the fence rail onto the fence post, moving the rail connector along an outer wall of the bracket so as to align an aperture in a rear wall of the rail connector with one of a plurality of angle-indicating characters disposed on the outer wall of the bracket, securing the rear wall and the outer wall together, and inserting a rail into a rail receiving receptacle on the rail connector.

Abstract: A system and method for evaluating hand decontamination compliance in a medical care facility includes a plurality of patient stations; a plurality of hand hygiene stations; personnel tags for personnel in the medical care facility; readers at the patient stations and at the hand hygiene stations capable of detecting the presence of personnel tags; and a controller for detecting whether a personnel tag accessed a hand decontamination station before presence at one of the patient stations. In an alternate embodiment, personnel tags of healthcare workers and patients are tracked in space within the facility to indicate contacts between the healthcare workers and the patients and whether the healthcare workers accessed hand hygiene prior to the contact. Hand hygiene stations include hand washing stations and antimicrobial hand rub dispensers.

Abstract: A fencing system includes a post mount mountable on a foundation and having a vertically extending outer surface. A post insert sits atop the post mount and has an outer surface disposed outwardly of the post mount outer surface. The post insert has an upper sidewall which extends upwardly of the post mount and defines an upwardly opening cavity. A post includes a sidewall having an inner surface defining a cavity therein in which the post mount and post insert are slidably received with the outer surface of the post insert preferably closely adjacent the post inner surface. A rail is mounted via a rail mounting bracket to the post insert. Threaded fasteners extend from the rail mounting bracket through respective holes in the post and are threaded into mounting holes in the post insert to provide a strong connection for the mounting of the rail mounting bracket and rail.

Abstract: A rail clip for connecting a horizontal fence rail to a vertical fence post. The rail clip comprises a housing that is slidably engaged with a mounting base secured to the fence post. The clip further includes a L-shaped mounting bracket, a first leg of which is inserted into the housing between the mounting base and the rail clip, and a second leg which abuts the underside of the housing. An end of the rail is inserted into a chamber formed in the housing and a fastener is used to secure the second leg of the mounting bracket, the housing and the end of the rail together. The mounting bracket aids in preventing the rail and rail clip from dislodging from each other and from the fence post when a lateral force is applied to the rail.

Abstract: A dispenser for dispensing a mist or a foam includes a solution in the dispenser, a foaming nozzle on the dispenser for dispensing the foam from the solution and a misting nozzle on the dispenser for dispensing the mist from the solution. The solution can include hydrogen peroxide. Preferably, instructions are provided to foam the solution onto a contaminated surface of a medical instrument prior to cleaning of the instrument and to maintain the foam in contact with the surface until such time as the instrument is cleaned, and to apply the mist of the hydrogen peroxide solution into a lumen of the instrument prior to cleaning of the instrument.

Abstract: A method and system of treating an instrument after contamination of a surface thereof includes the steps of covering the surface with a foam and then subsequently treating the foam with a defoaming agent.

Abstract: A method and system of treating an instrument after contamination of a surface thereof includes the steps of covering the surface with a hydrogen peroxide foam and then subsequently treating the foam with a defoaming agent and a neutralizing agent for hydrogen peroxide.

Abstract: A mounting bracket for connecting a fence rail to a fence post. The bracket includes a housing which defines a rail-receiving cavity into which an end of the rail is inserted. A pair of flange members is integrally formed with the housing and extend outwardly away from the side walls of the housing. The flange members have a top wall disposed inwardly of the top wall of the housing; and a front wall disposed inwardly of the front end of the housing. The flange members each have an aperture in the front wall and a second aperture in the side wall thereof A fastener is inserted through the front wall aperture of each flange member and is screwed into the post. The flange members are configured so that the head of each fastener is disposed inwardly of the front wall of the flange member when the fastener is fully screwed into the post. A second fastener is inserted through each second aperture in the side walls of the flange members and is screwed into the rail.

Abstract: A mounting bracket for mounting a post on a planar surface such as a deck. The mounting bracket is used with posts which include an inner support integrally formed with an adjustment plate and having a vinyl sleeve slipped thereover. The mounting bracket comprises a trim assembly which includes a peripheral wall and a movable portion disposed inwardly of the peripheral wall. The movable portion may be one or more flexible tabs formed in a floor of the trim assembly, a base plate inserted into abutting contact with the floor of the trim assembly or one or more flexible tabs formed in a base plate which is then inserted into a recessed area in the trim assembly. The movable portion is moved relative to the peripheral wall of the trim assembly by an adjustment device. In the preferred embodiment of the invention, the adjustment devices comprise a plurality of bolts that are selectively rotatable in one or more of a first and a second direction.

Abstract: An endoscope processor, according to the present invention, provides for cleaning and sterilizing an endoscope having a body, and a first flexible tube attached to the body. It includes an operational housing and an enclosure which is attachable to and detachable from the operational housing, the enclosure being sealed from ingress of potentially contaminating microorganisms when detached from the operational housing. The enclosure is shaped, sized and oriented to receive the endoscope in an orientation with the first flexible tube depending vertically downwardly from the endoscope body. The enclosure includes a liquid inlet and a liquid outlet.

Abstract: An endoscope enclosure for sterilizing an endoscope having a body, and a first flexible tube attached to the body. The endoscope enclosure has an interior space for receiving the endoscope in an orientation with the first flexible tube depending vertically downwardly from the endoscope body. It includes both an inlet fluid connector and an outlet fluid connector, each fluidly communicating with the interior space and which has an closure for isolating the interior space from an exterior environment therethrough. The interior space is sealed from the exterior environment so that an endoscope can be sterilized by passing fluid through the interior space via the inlet and outlet fluid connectors and stored therein in an orientation with the first flexible tube depending downwardly, and in sterile form being protected from ingress of potentially contaminating microorganisms.

Abstract: A mounting attachment for connecting a picket to an angled rail. The mounting attachment comprises a base having an aperture therethrough and into which the picket is inserted. A spring-biased retaining member is provided on the base and is adapted to engage an outer surface of the picket when it is inserted into the aperture. The retaining member urges the picket into contact with the wall of the base which defines the aperture, thus preventing the picket from moving within the aperture and substantially parallel to the longitudinal axis of the rail.

Abstract: A bracket assembly for securing a rail to a post. The bracket assembly includes a bracket that is secured to the post and a spring-biased cover plate. The cover plate includes a perimeter wall that includes a slot which extends from its front edge through to its back edge. A portion of the perimeter wall terminates adjacent either side of the slot. These portions of the perimeter are movable relative to each other. The bracket includes a back wall with a peripheral outer wall extending upwardly and outwardly away therefrom. The peripheral wall defines a rail receiving receptacle into which an end of a rail is placed. The rail is preferably secured in position by a plurality of fasteners inserted through the rail and into the housing. Once the end of the rail is retained in the bracket, the terminal portions of the perimeter wall are arcuately separated from each other and the cover plate is snap-fitted over the peripheral outer wall of the bracket.

Abstract: A method provides flow to multiple channels in an endoscope during an endoscope decontamination procedure. A member is inserted into a chamber in a body of an endoscope through an opening into the chamber, the chamber being intersected by a first lumen and a second lumen. The member separates fluidly the first lumen from the second lumen. Fluid is flowed through a first channel through the member into the first lumen and through a second channel through the member into the second lumen. Additional lumens can be so treated at the same time. Fluids can include detergents and other cleaning fluids, disinfectants and sterilants.