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Streaming Now: NBC 5 News
As they begin to shape their prospective bids for president, a group of ambitious Republican governors is eager to seize on voters' contempt for that most dirty of political words: "Washington."
Former Texas Gov. Rick Perry vowed Wednesday that a judge's refusal to quash felony abuse of power charges won't derail -- or even delay -- his preparations for a possible 2016 presidential run.
Monday is Gov. Rick Perry's last day as governor of Texas.
Monday, January 19, 2015 is the last day Governor Rick Perry will serve as Governor of Texas.
Outgoing Texas Gov. Rick Perry used his farewell speech Thursday to call for greater bipartisanship and political compromise, hinting he's trying to cast himself as more centrist ahead of an expected 2016...
As he mulls a 2016 presidential run, Texas Gov. Rick Perry is showing he's unafraid to laugh about the "Oops moment" that derailed his 2012 White House bid.
Gov. Rick Perry would like to run for president in 2016 as a proven job-creator who modeled Texas' strong economy in his own political gunslinger image and says he can do the same for the rest of the country.
Gov. Rick Perry still wants his name out there for 2016, but not etched into a certain building.
Texas Gov. Rick Perry is marking the first night of Hanukkah by likening the Jewish Festival of Lights to the Boston Tea Party.


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Lee Sheriff's Capt. resigns after internal investigation involving conduct
For one of the officers involved in the scandal that brought down two of the Lee County Sheriff's Office's top cops almost two years ago- the shoe is on the other foot.
Lee County Sheriff's Office Capt. Gary Kamp tendered his resignation Wednesday, a month after an internal investigation found him guilty of insubordination, abusiveness and conduct unbecoming an officer.
"I leave your employ with some trepidation, but with a greater peace of knowing the significant contributions that have made to your office and our community," Kamp wrote in his resignation letter.
According to a Dec. 30 report released Thursday, in October an inquiry was opened into the Lee County Sheriff's Training Unit- headed by Kamp- after complaints of mistreatment by Kamp.
The report said Kamp was counseled and told to correct the problems without "intimidating, threatening, or attempting to investigate" who had spoken with Kamp's superiors.
On Nov. 17 reports said Lee Sheriff's officials learned that Kamp's behavior had not improved and got worse, after they learned he questioned a subordinate for nearly two hours trying to find out who had spoken out against him.
At that point reports said Kamp was moved to the Lee Sheriff's headquarters, where he was told that the Internal Affairs Unit would be investigating and was given a direct order to not have any contact with anyone under his command until the matter was resolved.
The next day, reports said Lee Sheriff's officials received several written statements detailing complaints and allegations of abuse against Kamp. In addition, reports said Kamp had contacted a lieutenant- which was against orders.
The investigation also found that Kamp had at some point had taken photos of a female corporal- zoomed in on her chest and buttocks area- and showed the pictures to two subordinates.
The investigation into Kamp's behavior was a turnaround from two years ago, when it was Kamp that filed a complaint against Dominick Ferrante.
Ferrante, the former head of the special operations division, resigned from the Lee Sheriff's Office in March 2009 under accusations he threatened Kamp.
A day after the resignation Ferrante's brother, Lee Sheriff's Chief Deputy Charles J. Ferrante, announced his intention to retire.
However before the Chief Deputy could file his retirement letter, he was suspended and placed under investigation after reports said he tried to intimidate an employee into removing a disparaging document from the personnel file of his brother, Dominick Ferrante, before it could be released to the media, the grievance stated.
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Wickaninnish In the Media Reports and Articles mentioning the Wickaninnish Inn from around the world
Stormy Weather
Vancouver Island's most popular beach resort town attracts tourists and surfers in summer. But in recent years, many have come back in the off-season for a very different experience: facing...
Contributed On November 1
Public & Media Relations Jane Ince
Tofino Storm Watching
When the gales of November come early on the western shore of Vancouver Island, they can pack quite a wallop. Thanks to the constant moisture laden winds from the Pacific Ocean, the coast gets more...
Contributed On October 1
Public & Media Relations Jane Ince
wild wood: how a canadian village kept the loggers at bay
In the 1960s the village of Tofino, on Canada's Vancouver Island, attracted draft dodgers, surfers and wilderness freaks. It's easy to see why, says our writer, as he explores the...
Contributed On September 18
Public & Media Relations Jane Ince
SeptemberCover.jpg CANADA'S TOP WINTER DESTINATIONSFrom Whistler to Banff to Montreal, this winter's best places to ski, snowboard—and even surf—in...
Contributed On September 1
Public & Media Relations Jane Ince


text: Comments (44) + Add comment Comments (44) Featured Ezz2013 + 1012d ago "The Wii U Will Be 2013's Greatest Sex Machine" 0_0 #1 (Edited 1012d ago ) | Agree(25) | Disagree(3) | Report | Reply legend911 + 1012d ago Works for me either way! #1.1 Agree(13) | Disagree(5) | Report | Reply SilentNegotiator + 1011d ago .....where do I put it? #1.2 Agree(7) | Disagree(1) | Report | Reply perdie + 1011d ago wherever it fits dude ;) and even in some places where it doesn't fit, if you know what I'm saying... #1.2.1 (Edited 1011d ago ) | Agree(2) | Disagree(1) | Report ProjectSiK + 1011d ago God dammit, Perdie... #1.2.2 Agree(1) | Disagree(1) | Report showtimefolks + 1011d ago who is this half girl naked with article? she looks like a pornstar lol #1.3 Agree(5) | Disagree(2) | Report | Reply VonBraunschweigg + 1011d ago Pornactress, a pornstar would have the Wii mote all the way up there. #1.3.1 Agree(3) | Disagree(0) | Report showtimefolks + 1010d ago who is the girl half naked girl? i must know lol #1.4 Agree(0) | Disagree(0) | Report | Reply metroid32 + 1012d ago Wii U is the best console going forward. #2 Agree(19) | Disagree(56) | Report | Reply LOGICWINS + 1012d ago ...for sex. #2.1 Agree(29) | Disagree(6) | Report | Reply bozebo + 1012d ago If they make a Pokémon MMO... so much epicness would ensue. They wouldn't launch it until the console sells at a profit though, because many people would mostly play it and not much else on the system, I don't think the market conditions are right for it having a subscription fee either. 3rd party publishers probably don't want them to make one, unfortunately they do have some pressure in the console industry. But, but.... Pokédex on the controller! Anyway, obviously it's the best console going forward if you are only comparing it to the 360 and PS3. But everyone is pretty sure Sony or MS's next offering (or both) will be way better. #2.2 (Edited 1012d ago ) | Agree(5) | Disagree(7) | Report | Reply 2pacalypsenow + 1011d ago Yeah until Ps4 and the Next xbox are announced #2.3 Agree(7) | Disagree(2) | Report | Reply H4all + 1012d ago The story of article din't good as his title.. -_____- #3 Agree(5) | Disagree(2) | Report | Reply Kingofwiiu + 1012d ago My wiiu can be a sex machine ? YEH!!! #4 Agree(14) | Disagree(3) | Report | Reply momthemeatloaf + 1012d ago I guess u gotta find some use out of it #5 Agree(28) | Disagree(9) | Report | Reply Kingofwiiu + 1012d ago That's what the playstation move was for..... People never actually played games with that thing... #5.1 Agree(20) | Disagree(15) | Report | Reply Machioto + 1012d ago @kingoftrolls Guess you've missed the ign spoof the move doesn't,look like a sex toy. Related video #5.1.1 (Edited 1012d ago ) | Agree(4) | Disagree(6) | Report nirwanda + 1012d ago I knew there was a second screen for a reason, I could see this happening somewhere 'You can watch whatever you like on the TV now we have a wii U darling, I will just take the wii U pad upstairs so the sound doesn't disturb you, there is a new app i would like to look at' #6 Agree(4) | Disagree(0) | Report | Reply bwazy + 1012d ago Yeah except I doubt you could take it upstairs without the controller getting d/c'd. #6.1 Agree(8) | Disagree(1) | Report | Reply corrus + 1012d ago AAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AA yeah yeah #7 Agree(4) | Disagree(1) | Report | Reply MasterCornholio + 1012d ago With all the weird accessory's that the Japanese invent it could be. #8 Agree(6) | Disagree(0) | Report | Reply MrAnderson + 1012d ago Half naked girl = hits. #9 Agree(16) | Disagree(1) | Report | Reply League_of_Draven + 1011d ago Half clothed girl = no hits. #9.1 Agree(0) | Disagree(0) | Report | Reply JaggedCarpet + 1012d ago Come for the games, stay for the sex. #10 Agree(3) | Disagree(0) | Report | Reply ado908 + 1011d ago It'sh my turn to usshheee da sexbox -.- #11 Agree(3) | Disagree(2) | Report | Reply DivineAssault + 1011d ago as long as its after 10pm lol.. child restrictions #12 Agree(1) | Disagree(0) | Report | Reply SmokingMonkey + 1011d ago Wii U greatest sex machine?!I think they meant that The Wii U will be 2013's greatest MASTURBATION machine. Just because you will be able to stream porn on your WiiU gamepad doesn't mean your having sex, it means your masturbating in a very strange way. #13 Agree(7) | Disagree(1) | Report | Reply Thepcz + 1011d ago wiiu lap dancewhat if they used the augmented reality function to make a hot woman magically dance/strip in your living room when you look at the control pad. she could even get on your lap :O #14 Agree(0) | Disagree(0) | Report | Reply younghavok + 1011d ago Sex sells, just ask Sony, they learned the hardway if I recall. But to the topic, we dont need sugardvd or whatever its called. there is a hub of porn (hint hint) that works just fine from the browser as is. Why get seperate app for that? We see how the youtube thing is working already #15 Agree(1) | Disagree(2) | Report | Reply Newsman + 1011d ago delete #16 (Edited 1011d ago ) | Agree(0) | Disagree(0) | Report | Reply BLKxSEPTEMBER + 1011d ago *grabs Wii u gamepad to play zombie u* awww man!!! Who left jeez on my screen!!!! #17 Agree(1) | Disagree(2) | Report | Reply googergieger + 1011d ago Well, glad to see it's good for something, at least... #18 Agree(0) | Disagree(0) | Report | Reply OmegaSlayer + 1011d ago Good. When the parents will know there's a porn risk on the system they won't buy it for their kids, pokemon or not. Mwahahahahah I hope Nintendo and WiiU bombs soon, very soon. #19 Agree(3) | Disagree(3) | Report | Reply Conzul + 1011d ago Bit harsh, doncha think? I'll wait till the console ends its lifecycle and then buy it cheap to play the generational Zelda game. Ninty is good for *something* #19.1 (Edited 1011d ago ) | Agree(0) | Disagree(0) | Report | Reply OmegaSlayer + 1011d ago I don't question tastes. You can like what you want. Of all the stuff released exclusively on Nintendo systems I liked 4 games: Donkey Kong Country, Super Metroid, Secret Of Mana and Battletoads. No Pikmin, no Mario, no Zelda...and I didn't like the revolutions they brought into gaming. From the Gameboy to the Wii to the WiiU #19.1.1 Agree(1) | Disagree(3) | Report USMC_POLICE + 1011d ago Not sure how great the Wii u is I always see them sitting in stores and I know I have no interest I'll wait for ps4. #20 Agree(1) | Disagree(1) | Report | Reply G-cis + 1011d ago because nintendo always keep them in stock? #20.1 Agree(0) | Disagree(0) | Report | Reply USMC_POLICE + 1011d ago No nintendo does not always keep them in stock I worked at best buy when the wii came out and we could never keep them on the shelf. I have friends who still work there and they say the wii u is always in stock and that the wii sold better than the wii u this holiday. #20.1.1 Agree(0) | Disagree(1) | Report XTGamers + 1011d ago Behold, the power of boobs as bait to catch hits #21 Agree(0) | Disagree(0) | Report | Reply Ares84HU + 1011d ago so the system doesn't sell and they thought that it's time to try selling it using sex because sex always sells. #22 Agree(0) | Disagree(0) | Report | Reply Deku-Johnny + 1011d ago A dedicated porn app for the Wii U. Where do I sign up? #23 Agree(0) | Disagree(0) | Report | Reply Bolts + 1011d ago I fap just fine with or without this. So, meh. #24 Agree(1) | Disagree(0) | Report | Reply user947031 + 1011d ago Can Nintendo make a game where I can degrade Princess Peach ? She needs to be taught a lesson for being kidnapped that many times. #25 Agree(0) | Disagree(0) | Report | Reply profgerbik + 1011d ago I'll pass this is a pathetic attempt to make money off porn and sell more Wii U's and make it "appear" more adult. What a Joke. As if there isn't enough free porn around as it is. Only morons pay for something as cheap and lowly as pornography anyway. Seriously... Yea let's pay people to do basic things like shit, piss, eat, have sex, sleep and takes showers ect.. The world we live in is beyond retarded.. Is there a word that is above retarded? A bunch of kids mainly all who will really care about this aren't wasting their money on porn, they have a computer I am sure that can easily access that for free and most people have laptops so no.. The Wii U is not special because it can go in your bathroom.. Who the hell has to masturbate in a bathroom anyway other than a kid hiding from his parents? What kind of example does this set? Considering the main majority of Wii U owners are still mostly kids and under aged teens.. Hell my phone has full flash, I could watch porn on that if I wanted to also.. The Wii U's gamepad screen would suck for that anyway, it isn't the greatest screen to use for viewing media just isn't.. Who came up with this idea Reggie? Wouldn't be surprising with the pathetic business tactics he uses on the regular basis.. #26 (Edited 1011d ago ) | Agree(2) | Disagree(1) | Report | Reply Add comment You need to be registered to add comments. Register here or login Username Password Remember Rules & guidelines Login


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One super tough protective case which has been specifically created designed to follow the contours your device. The gShell cannot be smashed or cracked. When bent, it will always return to its intended shape. The casing is produced using a lightweight elastomer polymer material. A skeleton design provides protection at impact points (corners & sides). Ports, controls and camera remain accessible and functional. Protects your device from one off knocks, drops and impact damage.
Catalogue Number: 561-9957
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Juniors offer a Pancake Breakfast – Sunday, Oct. 4
Come to the Kent Firehouse, 28 Maple Street, Sunday, Oct. 4 from 7:30 to 11 a.m. and enjoy breakfast cooked by the KVFD Juniors and advisors. The fundraiser benefits the Juniors.
Annual awards presented to members
KVFD presents awards to members during annual dinner. More…
Support KVFD with a donation
KVFD is now accepting online donations through PayPal. Click on the button below:
Like Kent Volunteer Fire Department on Facebook


text:
Greek Debt Writedown Should Top 50%, Schaeuble Aide Tells Vima
Jan. 7 (Bloomberg) -- The planned 50 percent writedown of Greek government bonds held by private creditors as part of a debt swap won't be enough to make the country's debt sustainable, an adviser to German Finance Minister Wolfgang Schaeuble told To Vima in an interview.
The write down, which aims to lower Greece's debt to 120 percent of gross domestic product in 2020, will have to be greater and shouldn't be voluntary, Oxford University professor Clemens Fuest told the Athens-based newspaper.
Fuest said the danger that a euro area country may leave the common currency is existent and that would risk causing a chain reaction, according to the newspaper.
To contact the reporter on this story: Natalie Weeks in Athens at email@example.com
To contact the editor responsible for this story: Angela Cullen at email@example.com


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The North Carolina Senate Finance Committee passed House Bill 909 on 27 May 2015, which would make several significant changes to North Carolina alcoholic beverage control ("ABC") laws. The fourth edition of the bill...more
House Republican Budget -
The budget outline House GOP leaders released Tuesday proposes $2 billion in tax cuts as part of their two-year budget plan. It also spends nearly $40 billion, excluding their recently...more
Just when the Wampanoag Tribe of Gay Head (Aquinnah) appeared to have finally overcome decades of legal and political problems in its quest to develop gaming, a new problem has arisen, and this one may well insure that there...more
Wisconsin is home to 11 recognized Indian tribes. It is a fact that 11 tribes will not unanimously agree on all issues. It also is a fact that not all issues require unanimous agreement. However, Governor Scott Walker has...more
In This Issue:
In March, Ken Salazar will leave his well-appointed office at the helm of the Department of the Interior and return to Colorado,...more
In this issue:
- Graton's Never-Ending Battle To Develop Gaming
The Graton Rancheria was federally recognized as an Indian tribe on December 27, 2000, by an Act of Congress. The Tribe has been continuously pursuing...more
In This Issue:
- NORTHWEST GAMING LAW SUMMIT FOCUSES ON INDIAN COUNTRY by Robert W. Stocker II
The 9th Annual Northwest Gaming Law Summit held in Seattle last Thursday and Friday was well attended by...more
In This Newsletter:
- What Is Massachusetts Really Proposing For Indian Gaming?
- IRS Requests Comments Regarding The Allocation Of Volume Cap For Tribal Economic Development Bonds
- The Battle Of Tallahassee: War...more
In This Issue:
The California Assembly is back in session for the next several weeks, but Senate President Pro Tem Darrell Steinberg has just announced that there will be no...more
In This Issue:
- INTRASTATE GAMING LEGISLATION UPDATE by Robert W. Stocker II
- THE RINCON DECISION AND WHY IT MATTERS by Dennis J. Whittlesey
- DETROIT CASINOS' JUNE REVENUES INCREASE FROM SAME MONTH LAST...more
With online poker refusing to leave the legislative stage in Sacramento, and with many of California's biggest gaming tribes pushing hard for a seat at the table, one questions looms: Will the state tax the money that tribes...more
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text:
|Publication number
|Publication type
|Application number
|Publication date
|May 4, 2004
|Filing date
|May 30, 2000
|Priority date
|Jan 21, 1992
|Fee status
|Publication number
|Philip S. Green
|Original Assignee
|Sri International
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (80), Non-Patent Citations (1), Referenced by (44), Classifications (47), Legal Events (2)
|External Links: USPTO, USPTO Assignment, Espacenet
This application is a continuation of and claims the benefit of priority from U.S. patent application Ser. No. 09/047,912, filed Mar. 25, 1998 now U.S. Pat. No. 6,223,100, which is a continuation of U.S. patent application Ser. No. 08/709,965, filed Sep. 9, 1996 now U.S. Pat. No. 5,808,665, which is a continuation of U.S. patent application Ser. No. 07/823,932, filed Jan. 21, 1992 now abandoned, the full disclosures of which are incorporated herein by reference.
This invention relates generally to teleoperator method and apparatus, and particularly to those which include means for providing the operator of remote apparatus with the same sense as working directly with his hands at the worksite.
Teleoperating, which is well known, includes the human performance of tasks at a remote location using manipulators. Telepresense includes providing the teleoperator with the same feedback and control that he would have were he actually at the worksite carrying out the operation with his own hands. Telepresence operation generally includes use of a stationary visual display, particularly a stereographic visual display of the remote workspace. Stereoscopic television systems are well known as shown, for example, in U.S. Pat. Nos. 4,562,463 and 4,583,117 and in U.K. Patent Application GB 2,040,134.
Remote manipulators employing stereoscopic TV viewing together with force feedback also are well known as shown, for example, in an article entitled, "Controlling Remote Manipulators Through Kinesthetic Coupling," Bejczy et al, Computers in Mechanical Engineering, July 1983, pps. 48-60, and in an article entitled, "Stereo Advantage for a Peg-In-Hole Task Using a Force-Feedback Manipulator" by E. H. Spain, SPIE Vol. 1256 Stereoscopic Displays and Applications, 1990, pps. 244-254. In the Bejczy et al article, force-torque feedback is disclosed. Also, in U.S. Pat. No. 3,921,445, a manipulator which includes force, torque and slip sensors of a type which may be employed with the present invention is shown.
Even though the operator of prior art manipulators is provided with a stationary three-dimensional image of the workspace, and manual controllers for control of the manipulators are provided with feedback, the operator is not provided with a sense of actually being present at the worksite. The present invention is directed to a viewing arrangement for use in a remote manipulation system which substantially adds to the operator's sense of presence at the remote manipulator site.
An object of this invention is the provision of an improved teleoperator system and method which include an improved viewing system to enhance the operator's sense of presence at remote manipulators controlled by the operator from a remote location.
An object of this invention is the provision of an improved teleoperator system and method of the above-mentioned type wherein an image of manipulator end effectors for viewing by the operator are sensed by the operator as comprising an integral part of hand-controllers used by the operator to control the end effectors, thereby giving the operator a strong sense of presence at the worksite.
An object of this invention is the provision of an improved teleoperator system and method of the above-mentioned type which is well adapted for use in a wide variety of applications including military, industrial, biomedical, and the like.
The present invention includes manipulators located at a worksite and which are controlled by hand-operated means at a remote operator control station. End effectors at the manipulators are used for manipulating objects located in a workspace at the worksite, and force-torque feedback is employed for transmitting back to the operator mechanical resistance encountered by the end effectors. Stereographic visual display means provide the operator with an image of the workspace. In accordance with the present invention, the image is located adjacent the hand-operated means so that the operator looks in the direction of the hand-operated means for viewing the image adjacent the hand-operated means. Either a real or virtual image of the workspace may be provided adjacent the hand-operated means. Display means for display of a real image may be located adjacent the hand-operated means for direct viewing of the real image by the operator. For display of a virtual image of the workspace, a mirror is located between the operator's eyes and the hand-operated means. In this case, display means provide a real image which is inverted from top to bottom, which inverted image is viewed via the mirror, which mirror inverts the image and provides the operator with a virtual image of the workspace, which appears to be located adjacent the hand-operated means. By locating the image of the workspace adjacent the hand-operated means the operator is provided with a sense that the end effectors and hand-operated means are substantially integral despite, the fact the end effectors are located at the worksite and the hand-operated means are located at the remote operator's station. A stereophonic sound system may be included to provide the operator with stereophonic sound from the worksite. Video camera means are provided for viewing the workspace from which an image of the workspace is obtained. Various other sensors and associated responders may be located at the worksite and operator's station, respectively, for transmission of pressure, tactile, heat, vibration and similar information for enhanced telepresence operation.
Depending upon the application, different scaling may be provided in the transmission of information between the operator's station and worksite. For example, for microassembly, microsurgery and like operations involving small part manipulation, optical and/or video magnification may be employed to provide an enlarged 3-dimensional image for viewing by the operator. With similar scaling between the hand operated means and manipulators, the perception of the operator is substantially that which a miniature operator would have were he at the worksite.
The invention, together with other objects and advantages thereof, will be better understood from the following description considered with the accompanying drawings. It will be understood that the drawings are for purposes of illustration and example only, and that the invention is not limited thereto. In the drawings, wherein like reference characters refer to the same parts in the several views,
FIG. 1 is a diagrammatic showing of a teleoperator system embodying the present invention including side elevational views of a worksite and remote control operator's station;
FIG. 2 is an enlarged rear elevational view of the operator's station taken substantially along line 2—2 of FIG. 1;
FIG. 3 is an enlarged rear elevational view of the worksite taken substantially along line 3—3 of FIG. 1;
FIG. 4 is a simplified side elevational view which is similar to FIG. 1 and showing dimensional relationships between elements at the worksite and elements at the operator's station;
FIG. 5 is a diagrammatic view to illustrate visual perception by a miniature virtual eye, and
FIG. 6 is a diagrammatic view to illustrate visual perception by the operator when image magnification is employed;
FIG. 7 is a diagrammatic view which is similar to that of FIG. 1 but showing the teleoperator system used for telepresence surgery;
FIG. 8 is a rear elevational view of the operator's station shown in FIG. 7;
FIG. 9 is a rear elevational view of the worksite shown in FIG. 7;
FIGS. 10 and 11 are fragmentary side elevational views of modified forms of operator's station and manipulator, respectively, having increased degrees of freedom;
FIG. 12 is a side elevational view of a modified form of operator's station wherein display means are positioned for direct viewing by the operator;
FIG. 13 is a rear elevational view of the modified form of operator's station shown in FIG. 12; and
FIG. 14 shows a fragmentary portion of the insertion portion of an endoscope for use with the present invention.
Reference now is made to FIGS. 1-3 wherein the teleoperator system is shown to include an operator's station 20 (FIGS. 1 and 2) and worksite 22 (FIGS. 1 and 3). An operator 18 at the operator's station controls manipulator means 24 at the remote worksite. Manipulator means 24, comprising right and left manipulators 24R and 24L, respectively, are used for manipulating objects, such as object 26 which is shown located on a platform, or base, 28 within a workspace 30 shown in broken lines. For purposes of illustration only, and not by way of limitation, the right manipulator 24R is shown to comprise a housing 32R affixed to base 28 and from which housing a telescopic arm 34R extends. The inner end 34R1 of arm 34R is mounted for pivotal movement in any pivotal direction using conventional mounting means. For example, the inner end of arm 34R may be mounted for pivotal movement about a horizontal pivot axis 36 which pivot axis, in turn, is adapted for pivotal movement about vertical axis 38.
Arm 34R includes telescopic inner section 34R1 and outer section 34R2, which outer section is adapted both for axial movement into and out of inner section 34R1 and for rotation about its longitudinal axis. An end effector 40R is carried at the outer end of the arm which, for purposes of illustration, is shown to comprise a gripper. Motor means, not shown, control pivotal movement of arm 34R about pivot axes 36 and 38, axial and rotary movement of outer arm section 34R2 along and about the longitudinal axis of the arm, and opening and closing of gripper 40R. The motor means, together with motor control circuits for control of the motors, may be included in housing 32R. The motors are under control of a computer 42 connected thereto through right manipulator interface 44R and the above-mentioned motor control circuits.
The left manipulator 24L is of substantially the same design as the right manipulator 24R and the same reference numerals, but with the suffix L instead of R, are used to identify similar parts. For purposes of illustration, the left end effector 40L, shown in FIG. 3, is seen to comprise cutting blades which operate to cut in the manner of a pair of scissor blades.
The worksite is provided with a pair of video cameras 46R and 46L for viewing workspace 30 from different angles for production of stereoscopic signal outputs therefrom at lines 48R and 48L. The angle γ between the optical axes of the cameras shown in FIG. 3 is substantially equal to the operator's interocular viewing angle γ of an image of the workspace as shown in FIG. 2.
The video camera outputs at lines 48R and 48L are supplied to an image memory 50 for momentary storage of video fields of right and left images from the cameras. Fields of right and left images from image memory 50 are alternately supplied through left/right switch means 52 to visual display means 54, such as a television monitor, for alternate display of the two images at the face 54A of the monitor. Timing and control means 56 provide timing and control signals to various elements of the system, including elements included in the stereographic display system, for signal timing and control of the system. If digital storage means 50 are employed, then conversion of the camera signal outputs to digital signal form by analog to digital converter means prior to storage, and conversion of the digital signal output from left/right switch means to analog signal form in preparation for display at monitor 54 may be employed.
An electrooptical device 58 at the face of the display means 54 controls polarization of light received from display means 54 under control of a left/right synchronizing signal from timing and control unit 56. The left and right image fields are viewed by operator 18 wearing a pair of passive polarized glasses 60 having right and left polarizing elements 62 and 64 polarized in orthogonal directions. The polarization of light from display 54 through electrooptical device 58 is synchronized field by field such that the right field is occluded from the left eye and the left field is occluded from the right eye for stereographic viewing by the operator. Other means for stereographic viewing of left and right image fields are well known, including, for example, those using active stereographic glasses, which may be used in the practice of this invention to provide the operator with a stereoscopic view of the remote workspace.
The vertical deflection coil connections for monitor 54 are reversed, causing the monitor to scan from bottom to top thereby creating a top-to-bottom inverted image 301 of workspace 30. Letters a, b, c and d are used to identify corresponding corners of the workspace 30 and inverted workspace image 30I. The inverted workspace image 301 is viewed by the operator via a mirror 66 at the top of a table 68, which mirror inverts image 30I to return the image as viewed by the operator to an upright position. Looking downwardly in the direction of the mirror, the operator views a virtual image 30V of workspace 30. In accordance with one aspect of the present invention, the image viewed by the operator, which in the FIGS. 1-3 embodiment comprises a virtual image, is located adjacent controller means 70 used by the operator for control of manipulator means 24 at the worksite.
Controller means 70 are shown located beneath the table top 68 and include right and left controllers 72R and 72L for control of the respective right and left manipulators 24R and 24L. The right and left controllers are of substantially the same design so that a description of one applies to both., As with the manipulators, the suffixes R and L are used to distinguish elements of the right controller from those of the left controller. For purposes of illustration, and not by way of limitation, the right controller 72R is shown to comprise a housing 74R affixed to the bottom of table top 68 and from which hand-operated means 76R in the form of a telescopic control arm, or stick, extends.
The right and left control arms 76R and 76L are provided with the same degrees of freedom as the associated manipulator arms 34R and 34L, respectively. For example, the inner end of control arm 76R is mounted for pivotal movement about a horizontal pivot axis, corresponding to manipulator pivot axis 36, which axis, in turn, is adapted for pivotal movement about an intersecting vertical axis, corresponding to manipulator axis 38. Control arm 76R also includes inner section 76R1 and outer section 76R2, which outer section is adapted both for axial movement into and out of inner section 76R1 and for rotation about its longitudinal axis. It will be apparent that the control arm 76R is provided with the same four degrees of freedom as the associated manipulator arm 34R. Additionally, sensor means 78R are located adjacent the outer end of outer arm section 76R2 for use in controlling gripping action of gripper 40R. Similar sensor means 78L adjacent the outer end of control arm 76L are adapted for use in controlling operation of scissor blades 40L.
Right and left controllers 72R and 72L are included in a servomechanism system wherein mechanical motion of control arms 76R and 76L controls the position of manipulator arms 34R and 34L, and pressure on sensor means 78R and 78L controls opening and closing of end effectors 40R and 40L, respectively. In FIG. 1, right and left hand controller interfaces 80R and 80L, respectively, are shown for connection of, the controllers to computer 42. Servomechanisms for control of mechanical motion at a remote location are well known, including those which provide force and torque feedback from the manipulator to the hand-operated controller means. Any suitable prior art servomechanism may be used in the practice of the present invention, with those incorporating force and torque feedback being particularly preferred for telepresence operation of the system. In the illustrated system, right and left microphones are included at the worksite, outputs from which microphones are amplified by right and left amplifiers and supplied to right and left speakers at the operators' station for providing a stereophonic sound output to provide the operator with an audio perspective present at the workspace. In FIG. 1, only the right channel of the stereophonic system is shown including right microphone 82R, right amplifier 86R and right speaker 88R. The left microphone and speaker are located directly behind the respective right microphone and speaker at the worksite and operator's control station as viewed in FIG. 1. Obviously, earphones may be provided for use by the operator in place of the speakers which would help to block out external noises at the operator's control station. Also, in FIG. 1 a light shield 54B at the monitor is shown for blocking direct viewing of the monitor face by the operator.
Reference now is made to FIG. 4 wherein a simplified diagrammatic view of the system illustrated in FIGS. 1-3 is shown and wherein various lengths and angular positions are identified by reference characters. In FIG. 4, the optical path length between the cameras and a point F at the workspace is identified by reference character L. A corresponding path length between the operator's eyes and point F at the virtual image of the workspace is identified by the distance a+b, where a is the distance from the eyes of the operator to mirror 66, and b is the distance from the mirror to point F at the virtual image. Other dimensions shown include the height G of the cameras above the pivot point of manipulator arm 34R and corresponding height g of the operator's eyes above the pivot point of control arm 76R. With the control arm 76R at length d, the manipulator arm 34R adjusts to length D. Similarly, with the control arm 76R at an angle PA with the vertical, the manipulator arm 34R is positioned at the same angle from vertical. The angle from vertical at which the cameras view the workspace and the eyes view the virtual image of the workspace is identified by a.
Between elements of the worksite and operator station, the following relationships pertain:
where k is a scale factor constant.
When k equals 1 such that a+b=L, d=D and g=G, no scaling of worksite dimensions is required.
Any scale factor may be employed, the invention not being limited to full-scale manipulation. For example, the worksite can be small, including microscopic in size, in which case the optical parameters, including distance to object, interocular distance and focal length, and mechanical and dimensional parameters are appropriately scaled.
By using appropriate scaling and image magnification and force and torque feedback, and by locating the image 30V of the workspace 30 adjacent hand-operated control means 76R and 76L, the operator is provided with a strong sense of directly controlling the end effectors 40R and 40L. The operator is provided with a sense that the end effectors 40R and 40L and respective control arms 76R and 76L are substantially integral. This same sense of togetherness of the hand-operated control means and end effectors is not provided in prior art arrangements wherein the image viewed by the operator is not located adjacent the hand-operated control means. Even where the prior art includes stereoscopic viewing and force and torque feedback, there is a feeling of disconnectedness of the hand motions from the visual image object being worked upon. The present invention overcomes this sense of disconnectedness by locating the workspace image where the operator's hands appear to exercise direct control over the end effectors.
For small-scale manipulation, such as required for surgical applications, it is desired to replicate the visual experience that a miniature observer would have were he closely adjacent the actual worksite. In FIG. 5, the virtual eye 90 of a hypothetical miniature observer is shown viewing an actual workspace. Light from a source at a point X, Y, Z in the actual workspace produces a stimulus on the miniature observer's eye 90 at a point identified as X′/M. In FIG. 6, an eye 92 of an actual operator is shown viewing an enlarged image of the virtual workspace produced by means of a video camera 94 used to view the actual workspace. The illustrated camera includes a light-receiving lens 96 and solid state imaging device such as a charge-coupled-device (CCD) array 98 where the point light source at X, Y, Z is shown imaged at point Xi, Yi, Zi. With correct scaling, a corresponding light source is produced at point MXi, MYi, MZi at either the real or apparent position of the face of the visual display which, due to stereoscopic operation of the system appears to the operator to originate from point MX, MY, MZ corresponding to point X,Y,Z at the actual workspace. At the retina of the actual eye 92, a stimulus is produced at point X′ at proportionately the same position as point X′/M at eye 90 of the hypothetical observer. This relationship is ensured by selecting a correctly scaled camera distance and lens focal length such that the optical magnification Mo=M/M, where M is the desired overall magnification and Mv is the video magnification. A typical video magnification, Mv, which equals the ratio of the CCD-array 98 width to the display width, is about 40.
Reference now is made to FIGS. 7 through 9 wherein a modified form of this invention is shown for medical use. Here, right and left manipulators 100R and 100L are shown which are under control of right and left controllers 102R and 102L, respectively. Elements of the imaging system are substantially the same as those employed in the imaging system illustrated in FIGS. 1-3 described above except that an enlarged virtual image 104V of actual workspace 104 is provided for viewing by the operator. Also, servomechanism elements for connection of the right and left controllers 102R and 102L to the respective manipulators 100R and 100L are substantially the same as those described above with reference to FIGS. 1-3. In the illustrated arrangement, the right and left manipulators are of substantially the same construction as are the right and left controllers, such that a description of one manipulator and one controller applies to both. Again, suffixes R and L are used to distinguish between right and left elements thereof.
The manipulators include outer control sections 100RA and 100LA and insertion sections 100RB and 100LB, which insertion sections are adapted for insertion into a body cavity through cylindrical tubes, or cannulas, not shown. For purposes of illustration, the manipulators are shown inserted through the abdomen wall 106 of a subject. As is well understood, for laparoscopic surgical procedures, wall 106 is separated from internal organs by insufflation wherein a gas is introduced into the abdomen by any suitable means not shown. Manipulator motors and associated motor control circuits are contained in the outer control sections 100RA and 100LA of the manipulators for control of the insertion section. The manipulators, together with a laparoscope 108 for viewing organs within the cavity, are carried by a fixed rail 110 forming part of a surgical table upon which the subject is supported.
The insertion sections 10 ORB and 100LB of the manipulators may be of substantially the same design as manipulator arms 34R and 34L described above with reference to the FIGS. 1-3 embodiment. The insertion sections are of relatively small size for use inside the body. Insertion section 10 ORB includes telescopic inner section 112R1 and outer section 112R2, which outer section is adapted for both axial movement into and out of inner section 112R1 and for rotation about its longitudinal axis. End effectors 114R and 114L are carried at the outer ends of the respective right and left sections 112R2 and 112L2 for manipulation of organ 116. The inner section 112R1 is adapted for pivotal movement about intersecting perpendicular axes located substantially at point P where the insertion section intersects wall 106. Exclusive of operation of end effectors 114R and 114L the manipulator arms each are provided with four degrees of freedom, the same as in the embodiment shown in FIGS. 1-3. End effectors 114R and 114L simply may comprise, essentially, microsurgical instruments with their handles removed including, for example, retractors, electrosurgical cutters and coagulators, microforceps, microneedle holders, dissecting scissors, blades, irrigators, and sutures.
Laparoscope 108 for viewing the workspace 104 is shown comprising an outer operating section 108A and insertion section 108B. The outer end section 120 of insertion section 108B is axially and rotatably movable within the inner end 122 thereof, and is provided with a pair of image transmission windows 124,124 for stereoscopic viewing of workspace 104. The laparoscope also is provided with illuminating means, not shown for illuminating the workspace, and with liquid inlet and outlet means, not shown, for flow of liquid past the windows. Video camera means within section 108A are responsive to light received through the viewing windows for generation of left and right electronic images at output lines 48R and 48L for connection to image memory 50. A magnified 3-dimensional image 104I is produced at display means 54 for viewing by the operator wearing cross-polarized glasses 60 via mirror 66. As with the embodiment shown in FIGS. 1-3, a virtual image 104V of the workspace 104 is produced adjacent control arms 130R and 130L of controllers 102R and 102L. Control arms 130R and 130L are of the same type as control arms 76R and 76L included in the FIGS. 1-3 embodiment described above. They include telescopic inner and outer sections 132R1 and 132R, and 132L1 and 132L2. Sensor means 134R and 134L located adjacent the outer ends of the control arms control operation of end effectors 114R and 114L, respectively, in the manner described above with reference to FIGS. 1-3. It here will be noted that the angle from vertical at which the image is viewed by the operator need not equal the angle from vertical at which the object is viewed by the cameras. In the arrangement illustrated in FIGS. 7-9, the operator is shown to view the image 104V at an angle θ from vertical (FIG. 7) whereas the object 116 is shown as viewed directly downwardly. With no external reference, the sense of vertical within a body is not particularly great, and no confusion is produced in the mind of the operator as a result of the different observer and camera viewing angles relative to vertical.
With the FIGS. 7-9 embodiment, not only is a magnified virtual image 104V of the workspace provided for viewing by the operator, but control arms 130R and 130L of greater length than the length of the manipulator insertion sections 100RB and 100LB are employed. Servomechanism scaling of axial movement of the telescopic control arms is provided such that axial extension or retraction thereof results in a smaller extension or retraction of the telescopic insertion sections. Angular pivotal motion of the control arms 130R and 130L produces the same angular pivotal motion of insertion sections 100RB and 100LB, and rotational movement of the end sections 132R2 and 132L2 of the control arms produces the same rotational motion of end sections 112R2 and 112L2 of the insertion sections of the right and left manipulators, without scaling. This embodiment of the invention, with its magnified image, is of particular use in the area of microsurgery, and especially in those cases where the surgeon cannot reach an area by hand because of size constraints.
The present invention is not limited to use with manipulators having any particular number of degrees of freedom. Manipulators with different degrees of freedom which are well known in the art may be used in the practice of this invention. In FIGS. 10 and 11, to which reference now is made a controller 140 and manipulator 142, respectively, are shown which include a wrist joint to provide the same with additional freedom of movement. The illustrated controller 140 includes a housing 144 affixed to the bottom of table top 68 upon which table mirror 66 is located. An enlarged virtual image 146V of actual workspace 146 is provided adjacent the operator's hand 148 viewable by the operator when looking downwardly onto the mirror 66 in a manner described above.
A control arm 150L comprising inner and outer sections 150L1 and 150L2, respectively, is mounted within housing 144 for pivotal movement in any pivotal direction as indicated by intersecting double-headed arrows 152 and 154. The outer section 150L2 is adapted for axial movement into and out of inner section 150L1 in the direction of double-headed arrow 156. It also is adapted for rotation about its longitudinal axis in the direction of double-headed arrow 158. In this embodiment, the control arm includes an end section 160 pivotally attached to outer section 150L2 by wrist joint 162 for pivotal movement in the direction of double-headed arrow 164. End section 160 comprises axially aligned inner and outer sections 160A and 160B, the outer section 160B of which is rotatable about its longitudinal axis in the direction of double-headed arrow 166. As with the above-described arrangements, sensor means 168 are located adjacent the free end of the control arm for operation of an end effector 170 at manipulator 142 shown in FIG. 11.
Referring to FIG. 11, end effector 170 is shown to comprise a pair of movable jaws attached to a wrist 172 comprising axially aligned links 172A and 172B. Outer link 172B is rotatable about its longitudinal axis relative to inner link 172A by motor means, not shown, in the direction of double-headed arrow 166M in response to rotation of section 160B of the hand-operated control unit in the direction of arrow 166. Wrist link 172A is pivotally attached to manipulator forearm 174 for pivotal movement in the direction of double-headed arrow 164M in response to pivotal movement of end section 160 of the hand-operated control means about pivot axis 162. Forearm 174 is longitudinally axially movable in the direction of double-headed arrow 156M in response to axial movement of outer section 150L2 of control arm 150L in the direction of double-headed arrow 156. It also is rotatable about its longitudinal axis in the direction of double-headed arrow 158M in response to rotation of outer section 150L2 of control arm 150L in the direction of double-headed arrow 158. Additionally, it is pivotally movable about point 176 in the directions of double-headed arrows 152M and 154M in response to pivotal movement of control arm 150L in the directions of double-headed arrows 152 and 154, respectively. For biomedical use, such as remote laparoscopic surgery, pivot point 176 is substantially located at the level of abdominal wall 178 through which the manipulator extends. In FIG. 11, manipulator arm 174 is shown extending through a cannula 180 which penetrates the abdominal wall.
The outer operating end of the manipulator is adapted for attachment to a supporting rail, not shown, of the surgery table upon which the subject is supported. It includes an end effector drive motor 182 for opening and closing of gripper 170. Wrist drive motor 184 controls pivotal movement of wrist 172 in the direction of double-headed arrow 164M, and extension drive motor 186 controls axial movement of manipulator arm 174 in the direction of double-headed arrow 156M. Forearm pivotal control motors and linkages, identified generally by reference numeral 188, provide for pivotal movement of arm 174 about pivot point 176 in the directions of arrows 152M and 154M. Pivotal motion about point 176 is provided by simultaneous lateral movement of the outer operating end of the manipulator and pivotal movement of arm 174. Movements are coordinated such that the center of rotation of forearm 174 is fixed in space at point 176 at the level of the abdominal wall.
Controller 140 and manipulator 142 are included in a system such as shown in FIGS. 7, 8 and 9 which includes a second controller and manipulator for use by the operator's right hand, and associated servomechanism means of any suitable type, not shown, for remote control of the manipulators by the hand-operated controllers. Video camera means at the worksite, such as shown in FIG. 9, together with display means, such as shown in FIG. 7, are employed for providing the operator with an image of the workspace at a location adjacent the left and right hand-operated control means. By using manipulators with a wrist joint, an added degree of freedom is provided for increased maneuverability and usefulness thereof. However, as noted above, the present invention is not limited to use with manipulators with any particular degree of freedom.
Reference now is made to FIGS. 12 and 13 wherein a modified form of this invention is shown which provides for direct viewing of a 3-dimensional image 240I of a workspace, not shown. In FIGS. 12 and 13, only the operator's station is shown, which includes right and left controllers 242R and 242L and associated right and left hand-operated means 244R and 244L which may be of the same type as controllers and control arms described above. The operator's station is adapted for remote control of manipulators which also may be of the above-described type. The 3-dimensional image 240I of the workspace is provided by visual display means 246 in conjunction with electrooptical device 58 at the face of the display means and cross-polarized glasses 60 worn by the operator, to which display means left and right video fields from left and right video cameras that view the workspace are alternately supplied, all in the manner described in detail above. End effector and object images 248 and 250, respectively, are shown within the workspace image as viewed by video cameras at the worksite. The display means 246 is located adjacent the left and right hand-operated means 244R and 244L for direct viewing by the operator. With this arrangement, the end effector and object images together with the hand-operated means 244R and 244L are simultaneously viewable by the operator. Since the hand-operated means also are visible, the operator is provided with a visual sense of connection between the end effector means and hand-operated means whereby they appear substantially as being integral.
Reference now is made to FIG. 14 wherein the distal end portion, or tip, 260 of the insertion section of an endoscope is shown which is of substantially the same type as shown in the above-mentioned publication entitled "Introduction to a New Project for National Research and Development Program (Large-Scale Project) in FY 1991" which endoscope may be used in the practice of the present invention. The insertion end of the endoscope includes a pair of spaced viewing windows 262R and 262L and an illumination source 264 for viewing and illuminating a workspace to be observed. Light received at the windows is focused by objective lens means, not shown, and transmitted through fiber-optic bundles to a pair of cameras at the operating end of the endoscope, not shown. The camera outputs are converted to a 3-dimensional image of the workspace which image is located adjacent hand-operated means at the operator's station, not shown. Right and left steerable catheters 268R and 268L pass through accessory channels in the endoscope body, which catheters are adapted for extension from the distal end portion, as illustrated. End effectors 270R and 270L are provided at the ends of the catheters which may comprise conventional endoscopic instruments. Force sensors, not shown, also are inserted through the endoscope channels. Steerable catheters which include control wires for controlling bending of the catheters and operation of an end effector suitable for use with this invention are well known. Control motors for operation of the control wires are provided at the operating end of the endoscope, which motors are included in a servomechanism of a type described above for operation of the steerable catheters and associated end effectors from a remote operator's station. As with the other embodiments, the interfacing computer in the servomechanism system remaps the operator's hand motion into the coordinate system of the end effectors, and images of the end effectors are viewable adjacent the hand-operated controllers in a manner described above. With this embodiment, the operator has the sensation of reaching through the endoscope to put his hands directly on the end effectors for control thereof. Endoscopes of different types may be employed in this embodiment of the invention so long as they include one or more accessory channels for use in control of end effector means, and suitable viewing means for use in providing a visual display of the workspace. For example, gastric, colonscopic, and like type,endoscopes may be employed.
The invention having been described in detail in accordance with requirements of the Patent Statutes, various other changes and modifications will suggest themselves to those skilled in this art. For example, as noted above, the invention may include the use of tactile feedback to provide the subtle sensations for palpation and for manipulating tissues and instruments. To provide this feedback, tactile sensor arrays may be included on the end effectors which are coupled to tactile sensor stimulator arrays on the hand-operated control means, which reproduce the tactile sensation on the operator's hands. A variety of transduction technologies for teleoperator tactile sensing are known including resistive/conductive, semiconductor, piezoelectric capacitive and photoelectric. Hand-operated control means and manipulators of different types may be employed using a wide variety of well-known mechanisms and electromechanical elements including, for example, gimbals, linkages, pulleys, cables, drive belts and bands, gears, optical or electromagnetic position encoders, and angular and linear motors. Force feedback to the operator requires use of body contact with hand-operated control means. Both hand grip type hand controllers such as those illustrated, and control brace type hand controllers are well adapted for use with the present invention for force feedback to the operator. Control brace hand controllers include use of structures with positive sensors mounted on the operator at joints for measuring joint angles. Force feedback then can be applied to each joint. Similarly, light fabric gloves with variable-resistance or fiber-optic flex sensors mounted on the joints for measuring bending of individual fingers may be used. Gloves of this type also may be provided with force feedback to provide for telepresence interaction with real objects. Regardless of the type of hand-operated control means employed, an image of the workspace is produced adjacent thereto to provide the operator with a sense that the end effector means and hand-operated control means are substantially integral. Also, as noted above, servomechanisms of many different types are well known in the robotic and teleoperator system arts, and the invention is not limited to any particular type. Those that include force and torque feedback to the operator are preferred to contribute to a telepresence sense of operation. In addition, many different means for producing a stereoscopic image of the workspace are known. For example, instead of using two cameras, a single camera may be employed together with switched cross-polarizing elements in the image receiving path. In this case, a pair of spaced stereoscopic lenses are used for viewing the workspace from different angles and providing first and second images thereof to the camera. In the FIG. 9 arrangement, wherein a laparoscope is shown, other types of endoscopes may be used for viewing the workspace. As noted above, the invention is not limited to any particular application or use. In the biomedical field, uses include, for example, open surgery, including surgery from a remote location, microsurgery, and minimum invasive surgery such as laparoscopic and endoscopic surgery. Laboratory use including microscopic manipulation also is contemplated. Industrial use of the invention include, for example, hazardous materials handling, remote operations, microassembly, and the like. Military and undersea use of the teleoperator system of this system are apparent. It is intended that the above and other such changes and modifications shall fall within the spirit and scope of the invention defined in the appended claims.
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|United States Surgical Corporation
|Self-contained powered surgical apparatus
|May 10, 1994
|Jan 2, 1996
|Riza; Erol D.
|Laparoscopic surgical instrument
|Oct 20, 1994
|Jun 3, 1997
|Lucent Technologies Inc.
|Jumper cable selection and routing system
|Feb 20, 1996
|Jun 9, 1998
|Computer Motion, Inc.
|Method and apparatus for performing minimally invasive cardiac procedures
|Sep 9, 1996
|Sep 15, 1998
|Sri International
|Endoscopic surgical instrument and method for use
|Nov 2, 1993
|Nov 2, 1999
|International Business Machines Corporation
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|Jun 11, 1997
|Aug 15, 2000
|Computer Motion, Inc.
|Medical robotic system
|Mar 25, 1998
|Apr 24, 2001
|Sri, International
|Apparatus and method for performing computer enhanced surgery with articulated instrument
|Dec 30, 1997
|Jun 12, 2001
|Computer Motion, Inc.
|Method and apparatus for performing minimally invasive cardiac procedures
|Oct 15, 1998
|Jul 10, 2001
|Sri International
|Method and apparatus for transforming coordinate systems in a telemanipulation system
|Apr 7, 1999
|Apr 2, 2002
|Intuitive Surgical, Inc.
|Alignment of master and slave in a minimally invasive surgical apparatus
|Aug 13, 1999
|Jul 23, 2002
|Intuitive Surgical, Inc.
|Camera referenced control in a minimally invasive surgical apparatus
|Robotic Surgery; Spring 2003; George Washington University; all pages; Niraj Bhalakia
|Citing Patent
|Filing date
|Publication date
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|Feb 28, 2006
|Sri International
|Computed pivotal center surgical robotic system and method
|Mar 24, 2004
|Aug 11, 2009
|Japan Science And Technology Agency
|Surgical operation device
|Apr 25, 2006
|Oct 13, 2009
|Hrayr Kamig Shahinian
|Remote manipulator with eyeballs
|Apr 18, 2005
|Jun 22, 2010
|Biomet Sports Medicine, Llc
|Methods of making a polymer and ceramic composite
|Dec 9, 2004
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|Biomet Manufacturing Corp.
|Continuous phase composite for musculoskeletal repair
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|Aug 23, 2011
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|Microsurgical robot system
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|Oct 18, 2011
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|Methods relating to microsurgical robot system
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|United Technologies Corporation
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|Feb 5, 2007
|Sep 17, 2013
|Biomet Sports Medicine, Llc
|Continuous phase compositions for ACL repair
|May 11, 2012
|Dec 10, 2013
|Board Of Regents Of The University Of Nebraska
|Robotic devices with arms and related methods
|Nov 26, 2008
|Mar 25, 2014
|Board Of Regents Of The University Of Nebraska
|Multifunctional operational component for robotic devices
|Jan 31, 2011
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|Biomet Manufacturing, Llc
|Continuous phase composite for musculoskeletal repair
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|Board Of Regents Of The University Of Nebraska
|Methods, systems, and devices for surgical access and procedures
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|Board Of Regents Of The University Of Nebraska
|Magnetically coupleable robotic surgical devices and related methods
|Dec 17, 2010
|Nov 25, 2014
|Board Of Regents Of The University Of Nebraska
|Modular and cooperative medical devices and related systems and methods
|Aug 30, 2012
|Nov 25, 2014
|Intuitive Surgical Operations, Inc.
|Indicator for tool state and communication in multi-arm robotic telesurgery
|Aug 5, 2011
|Mar 3, 2015
|Board Of Regents Of The University Of Nebraska
|Methods and systems for handling or delivering materials for natural orifice surgery
|Jun 21, 2007
|Mar 3, 2015
|Board Of Regents Of The University Of Nebraska
|Magnetically coupleable robotic surgical devices and related methods
|Jun 30, 2009
|Mar 3, 2015
|Intuitive Surgical Operations, Inc.
|Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
|Aug 15, 2008
|Mar 10, 2015
|Board Of Regents Of The University Of Nebraska
|Modular and cooperative medical devices and related systems and methods
|Mar 15, 2013
|Apr 21, 2015
|Board Of Regents Of The University Of Nebraska
|Local control robotic surgical devices and related methods
|Jun 11, 2012
|Jun 23, 2015
|Board Of Regents Of The University Of Nebraska
|Methods, systems, and devices relating to surgical end effectors
|Jul 11, 2012
|Jul 28, 2015
|Board Of Regents Of The University Of Nebraska
|Robotic surgical devices, systems, and related methods
|Mar 20, 2002
|Sep 25, 2003
|Bonutti Peter M.
|Methods of securing body tissue
|Oct 26, 2004
|Mar 24, 2005
|Sri International
|Computed pivotal center surgical robotic system and method
|Dec 9, 2004
|Jun 8, 2006
|Borden Mark D
|Continuous phase composite for musculoskeletal repair
|Feb 13, 2006
|Aug 31, 2006
|Doyle Mark C
|Hand-actuated articulating surgical tool
|Mar 24, 2004
|Dec 14, 2006
|Hiroyuki Gotani
|Surgical operation device
|Jun 28, 2006
|Jan 4, 2007
|Intuitive Surgical Inc.
|Indicator for tool state and communication in multi-arm robotic telesurgery
|Jun 21, 2007
|Jan 3, 2008
|Board Of Regents Of The University Of Nebraska
|Magnetically coupleable robotic surgical devices and related methods
|Dec 28, 2007
|Sep 11, 2008
|Board Of Regents Of The University Of Nebraska
|Methods, systems, and devices for surgical visualization and device manipulation
|Aug 22, 2011
|Mar 8, 2012
|Intuitive Surgical, Inc.
|Indicator for tool state and communication in multiarm telesurgery
|Dec 20, 2006
|Mar 27, 2013
|Medical robotic system providing three-dimensional telestration
|U.S. Classification
|International Classification
|Cooperative Classification
|European Classification
|Sep 26, 2007
|Fee payment
Year of fee payment: 4
|Sep 23, 2011
|Fee payment
Year of fee payment: 8


text:
Seductive Cymone Model
Sincerely CymoneModel Female Wesley Chapel, Florida, US
My Website: Sincerely Cymone Official WebsiteMy MM URL: http://www.modelmayhem.com/cymone
Mayhem # 223820
About Me
Modeling.. Much more than a hobby no less than a passion
-Sincerely Yours
Month of July is almost fully booked
I'm available most weekends with notice
During the week requires 2 to 3 weeks notice
Upcoming Projects
Promotional Model for Smart Water 7/15-7/19 Miami
Editorial with Matt Shields TBD Orlando
Fashion/Editorial with Hennessy Williams 7/23 Orlando
Promotional Model for Delta 7/25 Orlando
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Thank you for taking time to check out my port.
No drive by friend requests! This is not Facebook!
Leave a tag, comment, or send a msg.
Promotional work
-Chevy Promotional Model Gator Growl
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It's been an amazing decade working with so many Talented Artists!
Literally too many to name but thank you all for your hard work, vision, and expertise!
Seductive Cymone Model
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text:
Martin County felony arrests Dec. 27, 2012
Larry Fudge, 20. 4500 block of Southeast Geneva Drive, Stuart, tampering with evidence; possession of marijuana under 20 grams; expired driver's license.
Whitney Gibson, 34, 3100 block of Southeast Indian Street, Stuart, possession of meth; possession of marijuana under 20 grams.
Robin Doneth, 26, 600 block of Southwest 35th Street, Palm City, criminal mischief; battery.
Dominique Southern, 22, 4300 block of Southeast Lake Drive, Stuart, aggravated battery on a pregnant woman.
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Enjoy fascinating talks by leading experts, family-friendly activities, art parties, gala fundraisers and more!
For information and tickets, click on the event links below or call 416.586.8080.
If you are interested in our clay classes, please click here.
Tickets to lectures, programs, and special events are final sale and non-refundable. For more information please review our ticketing policy.
Tuesday November 3, 6:30 - 8:30 pm
Members of the Gardiner Museum's Young Patrons Circle and MOCCA's Moccamigos enjoy exclusive access to this intimate evening with Kent Monkman as he provides insight into his installation at the Gardiner Museum The Rise and Fall of Civilization.
Friday November 6, 7-9 pm
Curated by RPM.FM - Indigenous Music Culture, the Gardiner presents performances by Sean Conway, an Irish-Ojibwe singer-songwriter and multi-instrumentalist, and Amanda Rheaume an accomplished Métis singer-songwriter.
Friday November 13, 7-9 pm
Curated by RPM.FM - Indigenous Music Culture, the Gardiner presents performances by Christa Couture, a Cree/Métis singer-songwriter, and Logan Staats, a young multi-instrumentalist born and raised on the Six Nations Reserve.
Tuesday November 17, 6:30-8 pm
Thursday November 19, 6:30 to 8 pm
Professor Ethan Matt Kavaler, Director of the Centre for Reformation and Renaissance Studies and Professor of the History of Art at the University of Toronto, discusses the highly developed art of clay sculpture in The Netherlands in the fifteenth and sixteenth centuries.
Speaker: Professor Ethan Matt Kavaler, University of Toronto
Wednesday December 2, 6:30-8 pm
This talk looks at how Kent Monkman's work plays within and around the genres of art and art history, using the conventions history painting to quietly subvert its historical claims to superiority and autonomy while making powerful statements about the past and future.
Speaker: Dr. Norman Vorano, Queen's University
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Matt Boyd - Solo - 10/Jun/15
Multipitched this twice in one day... Once I stopped halfway up to take pictures of Conor trying Early Bird, then Gerald finished it with me. Then, Colin and I decided it would be 'fun' to big wall it; included a hanging belay on one size 1 nut, and a six-point anchor about 8' off the ground.Alex McCalman - AltLd rpt - Jun/15 with Gerald Donnelly, Colin Walsh
Easy but awkward. We'll protected with an awkward move to mantle a very slightly overhanging block Lady_on_the_Rock - Lead O/S - 07/Apr/15 with Se
Super awkward moves, but well protected. Stuart soloed up while I was building the anchor for some reason.Alex McCalman - Lead O/S - 11/Jun/14 with Stuart Abraham
ma.cecilia - Lead O/S - 08/Jun/13 with Myles Gray
Mutant_Tractor - 2nd O/S - 08/Jun/13 with Cecilia Mariani
chrisicles - Solo - Jun/13
cjcuni - Solo - Jun/13
KCheung - Solo β - Jun/13
aimees - Lead - Jun/13 with Dermotto
Matt Boyd - Lead O/S - Jun/13 with Jonathan Neilly
ldavison440 - Lead - Jun/13 with Stephen Simpson
Hidden - Solo rpt - 09/Jun/12
Done in tweed in the rain with a hemp rope found on the beach, in what was clearly the contemporary style of the first ascentionists. A very futuristic line.
The length of the rope necessitated two stances to be taken, below the crux and the final intimidating headwall. Very much in the modern style.RKernan - AltLd rpt - 07/Jun/12 with John O'Hara
Oh very much so.joh - 07/Jun/12
KCheung - Lead O/S - 07/Jun/12 with Owen Largey
Gamboll - Solo O/S - 06/Jun/12
Hidden - Solo rpt - 05/Jun/12
chrisicles - Lead - Jun/12
Hidden - Lead - Jun/12
RKernan - 2nd - 06/Jun/11 with Sin�ad Oakes
Hidden - Solo O/S - 04/Jun/11
tim91 - 2nd - 04/Jun/11 with Daniel
tprebs - Solo - 04/Jun/11
pagan-pie - Lead O/S - 04/Jun/11 with tim91
DynoSteve - Solo O/S - 04/Jun/11
Sin�ad - Lead O/S - Jun/11 with Ronan Kernan
ThomasO'Hagan - 2nd O/S - Jun/11 with Edd Williamson
gilmour_789 - Solo O/S - May/11
dipper - Lead - 2011
KKilroy - Lead O/S - 2011
D, 4a?RKernan - Solo O/S - 05/Jun/10
Rintygold - Lead O/S - Jun/09
boglebadger - Lead - Jun/08


text:
Stayed here on 11th Oct as a 2 day stopover before Australia.Hotel was in a great location near to all the bars and restaurants on Clark Quay.The check -in was a little slow considering we were the only ones at the desk.Room was nice and modern although the bathroom could do with an uplift.
We were celebrating our 25 th wedding anniversay so was a lovely surprise when on second day there was a bottle of wine and chocolates waiting for us.
Didn't find the concierge very helpful or friendly on the two occasions we asked him for advice (Older short guy).Im sure if it we asked someone else it would have been ok.
Would definatley stay here again as it was a great start to our Hols.
Take plenty of money as Singapore is very expensive as they add all the ++ to everything you buy.


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Abbot of St. Alban's Inn - Adam's Court
A Dictionary of London
Abbot of St. Alban's Inn - Adam's Court Abbot of St. Alban's Inn ... Abbot's Inn. Abbot's Inn The town house of the Abbots of Waltham. ... After the dissolution of the monastery...
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Lincoln's Inn Fields: Nos. 39 to 43 (Royal College of Surgeons)
Survey of London: Volume 3, St Giles-in-The-Fields, Pt I: Lincoln's Inn Fields
Lincoln's Inn Fields Nos. 39 to 43 (Royal College of Surgeons) VII.Nos. 39 to 43 LINCOLN'S INN FIELDS (ROYAL COLLEGE OF SURGEONS). Ground ... from the said post of the said rayles towards Lincolnes Inne...
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Inquisitions: 1599
Abstracts of Inquisitiones Post Mortem For the City of London: Part 3
Thomas, Richard Crayford, William Abbott, Richard Gosson and Elias Parry, ... Eliz. [1599], before Jeremiah Bettenham, of Gray's Inn in co. Middlesex, ... Blinckerne, Richard Craiford, William Abbott...
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Paradise Row, south side: Nos. 2-4 Swan Walk
Survey of London: Volume 2, Chelsea, Pt I
of this little street is derived from the Old Swan Inn which stood at its south end ... The inn is mentioned by Pepys (1666), and became famous as the goal ... It was converted into a brewery later on, and...
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General Index: A
Calendar of State Papers Domestic: Edward, Mary and Elizabeth, 1547-80
General Index A GENERAL INDEX. A. A Henry Abbeylands Abbott's Isle, Manor of Abbott, Robert Abbott, William Abduction Abels, John Aberdeen ... of Alehouses, Inns, Taverns,...
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City of London, Bridge Ward, The First Precinct in New Fish Street
Four Shillings in the Pound Aid 1693/4 the City of London, the City of Westminster, Middlesex
William 6.00 30.00 0.60 50.00 Harriott, Roger 8.00 40.00 0.00 0.00 Abbott ... assessed: inn ?. Comment: "Kingshead" [?inn]. Frith, John 9.00 45.00 2.40
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Volume A 82: March 1645
Calendar, Committee For the Advance of Money: Part 1, 1642-45
of Lincoln's Inn to be brought up in custody, being 50 l. behind ... The assessments of John Southing and Mr. Abbott, of Denham, co. Bucks, ... which are in the house of Bierley, in Gray's Inn...
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Parishes: Easton
A History of the County of Hampshire: Volume 3
cottages, and the obtrusive newly built inn 'The Cricketer's Arms.' ... to the quaint Chestnut Horse Inn with its tiled lichen-covered roof and hanging ... 4 The Chestnut Horse Inn, Easton It...
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General Index: A
Calendar of State Papers Domestic: Charles I, 1633-4
between Abbot, or Abbott, Edward, clergyman merchant, petition of Francis Abbot, ... to petition to chaplain death of funeral Abbot or Abbott, John Sir Maurice ... inn, Stilton, Hunts Angell,...
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Brightford Hundred
A History of the County of Sussex: Volume 6 Part 1, Bramber Rape (Southern Part)
6 as was Sedgewick in Nuthurst between 1332 and 1538. 7 Broadwater and Sompting Abbotts ... century neither Broadwater nor Sompting Abbotts was liable for the common ... some presentments were made for Broadwater...
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text:
UNIVERSITY PARK, Pa. -
True freshman quarterback Christian Hackenberg spoke to the media on a
conference call this week leading up to Penn State's week four contest against
Kent State. Take a look at a Q&A
with Hackenberg on his first three weeks as a collegiate player.
Q: When you got to Penn State in June, what types of things did you do to start the leadership process of being a quarterback?
Hackenberg: "I just really worked hard in the weight room. I tried to prove myself there. When we went outside and started throwing, I just tried to prove myself there, as well. I just tried to work as hard as I could in any situation that I was given."
Q: What is the most important thing your dad taught you about playing quarterback?
Hackenberg: "The most important thing was probably the leadership aspect (of the position). He taught me all the fundamentals. He was my quarterback coach, and I can't thank him enough. But it was probably just the leadership aspect. You've got to be the guy that everyone looks to. He instilled that in me, even when we were playing little league football."
Q: Coach O'Brien said earlier in the week that he gave you a 'B' thus far. Do you agree with his evaluation and how would you evaluate your play?
Hackenberg: "I would agree with whatever he had to say. I feel like I did some good things, but I also did some things where I could have executed better that could have affected the outcome of the game (Saturday). I'm just trying to improve on that every week, not make that mistake every week and continue building on it."
Q: When you were learning the offense, how important was if for you to take things one day at a time and focus on things that way?
Hackenberg: "You just have to take it one day at a time. Really, you just need to get focused on the basics of the offense. Then once you get the basic understanding of it, then you can start going into more complex details of protections and things like that."
Q: Do you take the mindset on the field that you are sort of the extension of the head coach/offensive coordinator on the field? And what kind of relationship do you have with Coach O'Brien?
Hackenberg: "You are the extension (of the head coach) on the field. You can sort of see things that he can't sometimes. It's your job to get the team into the situation where we can succeed as a group and as an offense. He and I have a great relationship. We are just continuing to build that each week."
Q: How much different are things right now heading into week four of the season compared to heading into week one?
Hackenberg: "There is definitely not as much anxiety. I have experienced pretty much everything that I could at this point at this level. Really, it just comes down to preparation and continuing to get better each week."
Q: What are film sessions with Coach O'Brien like and what is one thing you are really looking to improve on?
Hackenberg: "It's actually fun. I look forward to going in and learning what I can do better to help the team. That's ultimately the goal for all of us. It's not just the quarterback position. It's not just the offensive line or the wide receivers and tight ends or the defense. We are all just trying to better ourselves in order for the overall success of the team. One of those things is probably understanding to check the ball down and not take as many sacks. That's something I feel like I have slowly gotten better with. But you have to continue getting better. I had a couple bad ones this weekend, so you have to just continue to keep building on that."
Q: Coach O'Brien talks about the importance of having a silent alarm in your head when a quarterback is in the pocket. Is there any way you can develop that other than just learning it from game experience?
Hackenberg: "I really feel like it's just experience and doing it at this level is something that I'm going to have to develop. I developed it in high school. But then again, high school is two steps slower. It's a totally different game. Ultimately, every day at practice (you) just work on it. Even during 7-on-7 drills, you just try to get the ball out and you understand that the ball has to come out in a certain time period."
Q: How beneficial is it for you to have a veteran group of players around you and guys like Allen Robinson who is one of the best receivers out there?
Hackenberg: "I think that is huge. Allen is a big asset. I feel like the offensive line is a big asset. They are all seasoned guys. They have all played through tough Big Ten schedules. Having those guys out there and understanding they have your back and that they support you 100 percent and you support them with the same type of attitude."
Follow GoPSUsports.com's Tony Mancuso on Twitter @GoPSUTony
Kent State Week Q&A - QB Christian Hackenberg
UNIVERSITY PARK, Pa. -
True freshman quarterback Christian Hackenberg spoke to the media on a
conference call this week leading up to Penn State's week four contest against
Kent State. Take a look at a Q&A
with Hackenberg on his first three weeks as a collegiate player.
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Beyond the Black Rainbow (2010)
Who needs plots and sense when you can enjoy something like this
Rarely does a film come along that will really blow me away. I don't necessarily always watch films to just experience a good story unfold. Hell, sometimes I don't even care if it has a beginning or an ending that makes sense. So long as it satisfies what I really love about movies. And that's the mood and atmosphere, a fitting soundtrack, the visuals and cinematography, cool filters and editing, strange and interesting characters, and the kind of dialogue that I would happily listen to on a loop to accompany dark electro ambient music.
If plots, answers and explanations are your thing, then best avoid this. Otherwise, welcome to something cool, exquisite and wonderfully weird. However, going in, I didn't quite know what to expect. Like most people, I read the synopsis and felt intrigued. I knew it would be interesting, just not How interesting for my tastes. I remember 30mins into the movie, I had to pause and read that synopsis again as I had too many questions I wanted answers to. I didn't quite find the answers I was looking for. Then towards the end, I had no idea what drove the main character to do some of the things he did. But I didn't bloody care. I was already sold from the opening credits anyway. I was thoroughly enjoying myself. I was in my movie-heaven- happy-place.
The music and sounds in this movie are also of considerable excellence that I just have to address. I haven't been so enthralled and enamored by a musical score since a select few films like Suspiria, Pi and Requiem for a Dream. In fact, the musical score is a substantial ingredient for these kind of films. But this, like the three other films mentioned, excel in every possible way.
Then you have the editing and overall visual look. As a photographer in real life, this film was akin to a wet dream of sorts. I was in cinematography wonderland. Almost every scene and shot is a remarkably structured picture in its own right. You can open a gallery exhibiting pictures from this movie alone and be sure of its success.
It's also a movie based in the '80's. And it certainly feels like that era. The dark retro vibe in this movie is omnipresent.
Then you have one of the strangest creepiest characters to have the pleasure of watching. Such... quaint charisma. A psycho or a troubled soul? Maybe both. Either way, it's an excellent performance.
It's films like this that really make me love the experience of cinema. This is what I look for when I don't concern myself with beginnings and endings and consistent plots. Movies, unlike books, have the power of treating us to visual treats, and this does the job splendidly. Although, I must point out that it was experienced on a large projector screen in HD quality with a booming sound system. I don't expect everyone will enjoy it in the same circumstances, which may very well diminish the overall experience - a fact that saddens me. But for anyone with access to those means or something similar, and taking into account that this is your type of movie, then prepare to be spellbound. However, it's really not for everyone.
As for me, I can't wait to watch it again.
Life's Too Short (2011)
A little gem big on laughs
First off, I don't understand why some people are criticising this as being in the same style as The Office and Extras, rehashing old jokes and concepts. So what? Both shows were funny and this is even funnier. What's more, this show is missing the pathos the previous shows had, which reserved some space for us to empathise with some of the characters, and in doing so, slowed the shows down a bit at times. Not a bad thing, by any means, but in Life's Too Short we're offered one great comedy scene after another, with a lovable character who's more than happy to make us laugh at his expense and pulling no punches with the material he's given to work with.
The fact that the show guest stars other various celebrities 'playing themselves' (as in Extras), is an aspect that's always welcome to watch. But what's more important of this type of show, is not just the exceptional writing and cringe worthy situations the characters find themselves in, but the facial expressions and comic timing of every character. And when that's done right, as it is here, then I wouldn't mind seeing this kind of comedy rehashed over and over - for some jokes just never get old.
Fast Five (2011)
Fans will be pleased, while others will enjoy the over-the-top action
This should be categorised as super science fiction, but I'll let that slide.. Just stuff your brain in your pocket for this one and enjoy the ride.
The action is way over the top unbelievable, as is the preposterous story line, as well as every sentence of dialogue. It's also a little too long for its own good. But overall, you won't really care. This is the 5th instalment of a franchise where you know what to expect - a lot of car action as well as plenty of gun-toting, foot chasing and one-on-one brawling; on which it delivers, overwhelmingly so, to the point that your head will be spinning by the end of it all.
Slipstream (2007)
prepare yourself for this one
i really wanted to like this movie even knowing that it would be a little complex and abstract. but after about 15 to 20mins i switched it off. it's not that i thought it was a bad movie, but complex and abstract were taken to a whole new level here. and i'm very into my artsy independent movies, but this was too much if you're looking to follow something that makes any kind of sense, at least for the first 20mins... but after reading other reviews on here, that doesn't seem to change much. this is definitely a movie to watch when you're in the right frame of mind and have a general idea of what you're getting into for the next hour and a half.
Afro Samurai (2007)
sounded cool but... no, didn't win me over
looking at the cover and synopsis of this, i thought I'd be in for a treat. i was greatly disappointed however. watching this made me realize just how much advanced Samurai Jack is, in every aspect. this has its fair share of blood and gore, but the silent macho persona of the main character is becoming a very tired medium to watch, the voice overs are so poor to the extent that i preferred to switch the sound off to mute, and the animation, even though it looked dark and pretty in some cases, for the most part it looked like a dated '80's cartoon. and if i wanted to watch a relatively average '80's style animated series, i have a good fair share to pick from. i really wanted to like this. i was excited even that i found something like this from a local rental store. but now I'm eager to take it back..
kids will probably dig it though, no doubt. i don't think i was this critical with my cartoons back in the day.