A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

Modular manipulator support for robotic surgery

A steering system for vehicles in which the steered angle ratio of a rear wheel to a front wheel is controllable in accordance with the vehicle speed. The steering system is provided with a manual switch device for selecting to set an arbitrary one of a plurality of predetermined steered angle ratios. The steering system may be further provided with a switch lock device for locking the switch state of the manual switch device. The switch lock device may be actuated when the vehicle speed is higher than a predetermined reference vehicle speed. Further, the switch lock device may be actuated when a reduction gear is shifted to a shift position having a relatively low reduction ratio. The switch lock device may also be actuated when the steered angle of the front wheel is larger than a predetermined value.

Steering system for vehicles

A method of processing an acellular tissue matrix to give a particulate acellular tissue matrix includes: cutting sheets of dry acellular tissue matrix into strips; cryofracturing the dry acellular tissue matrix strips at cryogenic temperatures; separating the resulting particles by size at cryogenic temperatures; and freeze drying the fraction of particles desired size to remove any moisture that may have been absorbed to give a dry particulate acellular tissue matrix. Rehydration of the dry particulate acellular tissue matrix may take place just prior to use. The particulate acellular tissue may be applied to a recipient site, by way of injection, spraying, layering, packing, in-casing or combinations thereof. The particulate acellular tissue may further include growth and stimulating agents selected from epidermal growth factor, fibroblast growth factor, nerve growth factor, keratinocyte growth factor, platelet derived growth factor, vasoactive intestinal peptide, stem cell factor, bone morphogetic proteins, chondrocyte growth factor and combinations thereof. Other pharmaceutically active compounds may be combined with the rehydrated particulate material including: analgesic drugs; hemostatic drugs; antibiotic drugs; local anesthetics and the like to enhance the acceptance of the implanted particulate material. The particulate material product may also be combined with stem cells selected from mesenchymal stem cells, epidermal stem cells, cartilage stem cells, hematopoietic stem cells and combinations thereof.

Particulate acellular tissue matrix

A pulse arc welding machine in which the repetition frequency of the pulse currect is unaffected by the frequency of the power source and the mean value of the pulse current applied can be accurately controlled over a broad range while the arcing is maintained stable. A pulse peak current supplying circuit is connected in series with an arcing region formed between a consumable wire electrode and a material to be welded between the output terminals of a standard direct current source while a base current supplying circuit is connected in parallel with the pulse peak current supplying circuit. The pulse peak current supplying circuit and the base current supplying circuit are both composed of a switching element such as a transistor coupled in series with an inductive element. Diodes are provided for suppressing high voltage transients in the circuit.

Pulse arc welding machine

An arc welding machine comprises an output control circuit (2) which produces an arc output in accordance with output control signal, an output detection circuit (3) which measures the state of arc output and produces a feedback signal indicative of the output arc state, and a fuzzy inference control circuit (1) which introduces the feedback signal, produces a welding current waveform and welding voltage waveform required to produce the optimal arc state based on the fuzzy inference, and delivers the resulting waveforms to the output control circuit as the output control signal.

ARC welding machine

An arc-welding method, which comprises: arc-welding objects of welding together along the line of a groove formed between said objects of welding by continuously moving a welding electrode along the line of said groove while reciprocating said welding electrode in the width direction of said groove; characterized by: calculating at prescribed time intervals, for each one reciprocation of said welding electrode in the width direction of said groove, deviations (l-lo) of values (I) of one of arc current and arc voltage from a previously set reference value (lo), for each of left-side deviations (L) and right-side deviations (R) relative to the vertical plane which passes through the center of amplitude of said one reciprocation of said welding electrode and is parallel to the line of said groove; calculating at said time intervals, when said welding electrode moves over the left side of said groove relative to said vertical plane, differences (L-R) between said left-side deviations (L) and the immediately preceding right-side deviations (R), to controllably aligning the center of said amplitude of said one reciprocation of said welding electrode with the center of said groove In the width direction thereof at said prescribed time intervals so that said differences (L-R) become null; and, calculating at said prescribed time intervals, when said welding electrode moves over the right saide of said groove relative to said vertical plane, differences (L-R) between said right-side deviations (R) and the immediately preceding left-side deviations (L), to controllably aligning the center of said amplitude of said one reciprocation of said welding electrode with the center of said groove in the width direction thereof at said prescribed time intervals so that said differences (L-R) become null.

Arc welding method

An automatic arc-welding method, which comprises, when welding two objects to be welded together by means of a welding wire along a first groove formed between the objects to be welded on a first side thereof, continuously determining by calculation a target welding current, with which a depth of penetration agrees with a target value thereof, on the basis of the root gap, the material of the welding wire and the like; continuously determining by calculation a target feeding rate of the welding wire, at which an extension length of the welding wire agrees with a target value thereof, on the basis of the welding current, the material of the welding wire and the like; continuously determining by calculation a target welding speed, at which a height of the weld bead agrees with a target value thereof, on the basis of the feeding rate of the welding wire, the material of the welding wire, the root gap and the like; and on the other hand, when welding the objects to be welded together by means of the welding wire along a second groove formed on a second side of the objects to be welded, opposite to the first groove, continuously determining by calculation a target welding current and a target welding speed while taking into consideration the depth of penetration and the weld bead in the first groove; thereby automatically controlling the welding current, the feeding rate of the welding wire and the welding speed on the basis of the respective target values thus determined.

Automatic arc-welding method

A method for one-side root path welding of a pipe joint comprises the steps of forming a ring groove having a V-shaped bottom portion thereof at end faces of both pipes whose joint is circumferentially welded, attaching a backing material (16) to a butt portion of the pipes from an internal side of the pipes, running an automatic welding machine (1) along a guide rail (12) mounted on an outer surface of the pipes in the circumferential direction thereof, controlling a position of a welding torch (2) along a seam by means of an arc sensor, and welding root pass from the outer side of the pipes with a predetermined welding current and at a welding speed in a high-speed rotating arc welding of the pipes at a predetermined rotational speed and with a predetermined diameter of rotation The rotational speed of arc is from 10 to 150 Hz The rotation-diameter of the arc is from 1 to 4 mm The welding current is from 200 to 500 A The welding speed is from 75 to 300 cm/min

Method for one-side root pass welding of a pipe joint

PROBLEM TO BE SOLVED: To provide a welding robot operation program automatic preparation system capable of sufficiently securing teachingless enabled and highly efficient welding quality in the case of welding a work having a complicated three- dimensional shape by utilizing plural welding robots SOLUTION: A work model is generated from the work shape information of CAD data, a welding model for a basic welding line consisting of the fitting line of a fitting member 110 is generated and a cell model is generated by dividing a work 100 by area division lines 311 to 314 for determining the operation ranges of welding robots The existence of interference between a work and a welding robot is checked in each basic welding line, and when interference is generated, a welding line shortened to a range having no interference generation is generated, the welding direction, order and route of the welding line are determined in each area and then welding design information is specified to prepare an operation program COPYRIGHT: (C)1998,JPO

Automatic preparation system for welding robot operation program

In a rotary arc-welding method which comprises: directing a nozzle substantially vertically toward a weld zone of objects of welding; feeding a consumable welding electrode through said nozzle eccentrically from the center axis of said nozzle toward said weld zone; feeding welding current to said consumable welding electrode to produce an arc between the tip of said consumable welding electrode and said weld zone to weld said objects of welding with each other by means of the arc heat; rotating said nozzle to cause a circular movement of said arc from the tip of said consumable welding electrode corresponding to the eccentricity thereof; and, feeding a shielding gas toward said weld zone to shield said arc and said weld zone from the open air; the improvement characterized in that: the diameter of said consumable welding electrode is limited within the range of from 0.8 to 1.2 mm; said welding current is limited within the range of from 400 to 800 amperes; and, the number of rotation of said nozzle is limited within the range of from 3,000 to 6,000 r.p.m.

Yuji Sugitani

Papers

Arc welding method

Automatic arc-welding method

Method for one-side root pass welding of a pipe joint

Automatic preparation system for welding robot operation program

Rotary arc-welding method