Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: An in-well type sampling system including a sampling chamber actuable to receive a fluid sample and a pressure source coupled to the sampling chamber to supply pressure to the sampling chamber after the sampling chamber actuating. A pressure sensor is provided in communication with the pressure source to measure the pressure of the pressure source. A telemetry communicator is coupled to the pressure sensor to send a signal from the pressure sensor away from the sampling system.

Abstract: A tool string having a pressure dependent mandrel and actuator assembly can operate at the annulus pressure within a wellbore to lock the mandrel actuator assembly and prevent further motion of the mandrel within the tool string as the tool string is moved upward or downward in the wellbore. The tool string can further include a valve connected to the actuator assembly, where the valve can be in an open configuration within the wellbore due to the annulus pressure and related motion of the mandrel, and then be locked in an open configuration regardless of the annulus pressure as the tool string is moved upward or downward in the wellbore.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: A tool string having a pressure dependent mandrel and actuator assembly can operate at the annulus pressure within a wellbore to lock the mandrel actuator assembly and prevent further motion of the mandrel within the tool string as the tool string is moved upward or downward in the wellbore. The tool string can further include a valve connected to the actuator assembly, where the valve can be in an open configuration within the wellbore due to the annulus pressure and related motion of the mandrel, and then be locked in an open configuration regardless of the annulus pressure as the tool string is moved upward or downward in the wellbore.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: An assembly capable of being disposed in a subterranean bore for obtaining a fluid sample is described. The assembly can include an apparatus having a sample chamber and a housing encasing the sample chamber and providing a pressure source. The pressure source can be disposed of in an annulus defined by the sample chamber and the housing. The assembly can be attached to a slick line or wire line and conveyed into a wellbore.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.

Abstract: A downhole actuator apparatus that selectively maintains a pressure differential between two pressure regions in a well. The apparatus includes a body defining first and second chambers. A piston is slidably disposed in the body and is selectively moveable between first and second positions. A barrier is disposed in the body to selectively separate the first and second chambers. A fluid is disposed in the first chamber between the barrier and the piston. A control system that is at least partially disposed within the body is operable to generate an output signal responsive to receipt of a predetermined input signal. The output signal is operable to create a failure of the barrier such that at least a portion of the fluid flows from the first chamber to the second chamber and the piston moves from the first position to the second position.

Abstract: An assembly capable of being disposed in a subterranean bore for obtaining a fluid sample is described. The assembly can include an apparatus having a sample chamber and a housing encasing the sample chamber and providing a pressure source. The pressure source can be disposed of in an annulus defined by the sample chamber and the housing. The assembly can be attached to a slick line or wire line and conveyed into a wellbore.

Abstract: In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.

Abstract: In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.

Abstract: A downhole actuator apparatus that selectively maintains a pressure differential between two pressure regions in a well. The apparatus includes a body defining first and second chambers. A piston is slidably disposed in the body and is selectively moveable between first and second positions. A barrier is disposed in the body to selectively separate the first and second chambers. A fluid is disposed in the first chamber between the barrier and the piston. A control system that is at least partially disposed within the body is operable to generate an output signal responsive to receipt of a predetermined input signal. The output signal is operable to create a failure of the barrier such that at least a portion of the fluid flows from the first chamber to the second chamber and the piston moves from the first position to the second position.

Abstract: In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.

Abstract: In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.

Abstract: In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.