The LapaRobot System is a 5 degree of freedom Master-Slave pair of

robot manipulators that allows 2 users at different physical locations

to perform interactive teaching (telementoring) and interactive learning

 in laparoscopic procedures, as well as cooperative telesurgery. In

other words, the LapaRobot System allows less experienced or new

surgeons to be taught and/or guided through laparoscopic procedures via a

 more experienced master surgeon.

The fast tool servo (FTS) is a custom-designed tool holder used to

cut piston pin holes. Piston pin holes have a unique non-circular

geometry, they have an oval hole with a trumpet-shaped profile. This

geometry is difficult to create because the work piece must remain

stationary. The FTS mounts to a lathe and is designed to accept multiple

 sizes of boring bars. It uses a piezoelectric actuator to actuate the

boring bar about a flexure.

The active magnetic bearing spindle system is based on the concept of

 a magnetically levitating shaft that allows the bearing to remain

levitated and centered within its housing even when spinning and/or

carrying a load. Modeling and control is carried out on the radial

bearings with the thrust bearing stabilized by PID and the motor

controlled by a commercial driver.