A new robotic platform for natural orifice surgery is described. The robot is designed to carry multiple tool tips in a single end-effector arm. Design and experimental validation are presented. Although the design is still being improved, results suggest that the new robotic tool will enable dexterous abdominal surgery with improved force transmission capability.

This article presents a non linear multifunction filter design; this design, with minor changes performs as a Media, Median Minimum or Maximum Filter. The analog design block system is based on an ideal macromodel, consisting of VCCS elements, resistances and diodes. The analysis, control variables and limitations are presented. Simulated results in SPICE are presented. Key-Words: Non linear fi...

We introduce multifunction algebras Bτ i where τ is a set of 0 or 1-ary terms used to bound recursion lengths. We show that if for all ` ∈ τ we have ` ∈ O(|x|) then Bτ i = FP p i−1(wit, τ̇), those multifunctions computable in polynomial time with at most O(p(`(x))) queries to a Σpi−1 witness oracle for ` ∈ τ and p a polynomial. We use our algebras to obtain independence results in bounded arithm...