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A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanism cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force / torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.

In a method and MRI apparatus for the minimization of streak artifacts in modular k-space scanning in magnetic resonance imaging, an odd integer k-space scanning module number Nφ=2n+1 is defined that defines the number of incrementally rotated repeated modules of the k-space scanning process, a slice selection gradient selects any slice in the range of the object to be examined, and data for all Nφ angle-oriented k-space scanning modules in the selected slice acquired such that each k-space scanning module has an azmuthal distance ofΔ⁢⁢φ2=360⁢°2⁢⁢Nφfrom both adjacent projections, with the direction of the scanning of the adjacent k-space scanning modules alternating.

A solid electrolytic capacitor including an anode body, a dielectric layer arranged on the anode body, a conductive polymer layer arranged on the dielectric layer, and a cathode layer including a carbon layer arranged on the conductive polymer layer and a silver layer arranged on the carbon layer. The conductive polymer layer includes ridges and valleys formed in a surface that faces toward the cathode layer. The silver layer includes a first silver layer, which is arranged on the carbon layer, covers the ridges and valleys, and mainly contains spherical silver particles, and a second silver layer, which is arranged on the first silver layer and mainly contains silver flakes.

An insulating end cap for a cylindrical electrolysis cell the type comprising at least two tubular electrodes with a cylindrical membrane arranged co-axially between them, comprises a first annular section with first and second axial ends, having at its first axial end a circular seating or one end of an outer cylindrical electrode and at its second end a circular aperture, of smaller diameter than the circular seating and co-axial therewith, to accommodate one end of the membrane. A second annular section of the end cap is detachably secured to the first and has a central circular aperture of smaller diameter than the central aperture of the first section and co-axial therewith, to accommodate one end of the inner cylindrical electrode. The two part construction of the end cap facilitates the assembly of the cell, and reduces the likelihood of breakage of the fragile ceramic membrane.