A robotic surgical system (10) for performing minimally invasive medical procedures comprises a robot manipulator (14) for a laparoscopic instrument (18) . The manipulator lias a manipulator arm (26) , a manipulator wrist (28) supported by the arm and an effector unit (30) supported by the wrist. The manipulator arm provides three degrees-of-freedom (DOF) for positioning the wrist. The wrist provides two DOF. The effector unit (30) comprises a laparoscopic instrument actuator (LIA: 120; 1120) and provides one degree-of-freedom by means of a revolute sixth joint (J6) for setting the roll angle of the LIA. The LIA comprises a seat (130; 1130) for mounting an instrument stem adaptor (300, 1300) to the effector unit, and an actuation mechanism (400; 1400) cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit comprises a 6 DOF force/torque sensor and a 6 DOF accelerometer.

Robotic surgical system for performing minimally invasive medical procedures

Thigh adipose tissue distribution is associated with insulin resistance in obesity and in type 2 diabetes mellitus.

Ultrasonic testing of materials: Josef and Herbert Krautkramer Springer-Verlag Publishing Company, Berlin, Heidelberg, New York (1975) 669 pp, $63.00

Methods of assessing driver behavior include monitoring vehicle systems and driver monitoring systems to accommodate for a driver's slow reaction time, attention lapse and/or alertness. When it is determined that a driver is drowsy, for example, the response system may modify the operation of one or more vehicle systems. The systems that may be modified include: visual devices, audio devices, tactile devices, antilock brake systems, automatic brake prefill systems, brake assist systems, auto cruise control systems, electronic stability control systems, collision warning systems, lane keep assist systems, blind spot indicator systems, electronic pretensioning systems and climate control systems.

System and method for responding to driver behavior

A method of automatically requesting assistance for a patient includes wearing a wireless device with one or more accelerometers on the patient to detect patient motion; determining a fall based on detected motions; and automatically requesting assistance for the patient if needed.

Personal emergency response (PER) system

A first method determines a position of a point of interest on a target object surface in a target object coordinate system using orientation and distance measurements of a pointing instrument in an instrument coordinate system. A second method determines an orientation of a pointing instrument in an instrument coordinate system for the instrument to be aligned with a point of interest on a target object surface having a target object coordinate system, wherein a position of the point of interest in the target object coordinate system is known. A third method controls orientation of a laser beam of a laser in an instrument coordinate system for the laser beam to trace an image on a target object surface having a target object coordinate system, wherein positions of points for the image on the surface of the target object in the target object coordinate system are known.

Method involving a pointing instrument and a target object

A hat stringer inspection device permits continuous inspection of hat stringers as one or more probes are moved along the length of the hat stringer. Probes may be magnetically coupled to opposing surfaces of the structure, including, for example, where one of the probes is positioned inside the hat stringer and the probes are magnetically coupled across the surface of the hat stringer. The device may be autonomous with a feedback-controlled motor to drive the inspection device along the hat stringer. Magnetic coupling is also used to re-orient the position and/or alignment of the probes with respect to changes in the hat stringer or shapes, sizes, and configurations of hat stingers.

Non-destructive stringer inspection apparatus and method

Automated apparatus for performing maintenance functions on airfoil-shaped bodies having short chord lengths, the apparatus being movable in a spanwise direction along the airfoil-shaped body. In accordance with various embodiments, the apparatus comprises a blade crawler capable of supporting any one of a plurality of end effectors for performing a set of maintenance functions on an airfoil-shaped body, such as a blade component. Included in these functions are multiple options for nondestructive inspection, drilling, grinding, fastening, applique application, scarfing, ply mapping, depainting, cleaning, and painting devices that are attached as the end effector for the blade crawler. As a whole, the blade crawler reduces maintenance time, labor hours and human errors when robotic maintenance functions are performed on blade components.

Apparatus for automated maintenance of aircraft structural elements

A method for displaying location specific maintenance history for an object is implemented by operating a camera to locate at least one marker tag with fiducial marker-based tracking functionality on the object to provide a reference to a coordinate system associated with the object. An area of the object surrounding the coordinates defined by marker tag is determined from the coordinate system. A repair history for the determined area is then projected onto the object with the projection referenced to the coordinate system associated with the object.

Projecting airplane location specific maintenance history using optical reference points

A local positioning system which includes a video camera, a computer communicating with the video camera and a target object sighted by the video camera and having a target object coordinate system. The computer is adapted to define a relative position and orientation of the video camera with respect to the target object, determine a position and orientation of the video camera in the target object coordinate system, and determine the position of a point of interest in the target object coordinate system. The system can also be used to aim the camera at a previously recorded point of interest on the target object. Contact with, or close proximity to, the target object is not required. A local positioning method is also disclosed.

Gary E. Georgeson

Papers

Method involving a pointing instrument and a target object

Non-destructive stringer inspection apparatus and method

Apparatus for automated maintenance of aircraft structural elements

Projecting airplane location specific maintenance history using optical reference points

Local positioning system and method