Cephalothorax removal systems and methods

Abstract

Cephalothorax removal systems and related methods are described herein. The cephalothorax removal systems and methods are designed to retain neck meat on the abdomen and consistently remove the appendages emanating from the cephalothorax along with the carapace by at least temporarily moving a posterior edge of a sternite on the ventral surface of the cephalothorax away from the abdomen of the shrimp before or while removing the cephalothorax.

Description

[0001] Docket No. 294.000087W001

[0002] CEPHALOTHORAX REMOVAL SYSTEMS AND METHODS

[0003] RELATED APPLICATION

[0004] This application claims the benefit under 35 U.S.C. § 119 of U.S. Provisional Application Serial No. 63 / 698,207 filed 24 September 2024 and titled CEPHALOTHORAX REMOVAL SYSTEMS AND METHODS, which is incorporated herein by reference in its entirety.

[0005] FIELD

[0006] Cephalothorax removal systems and related methods for processing shrimp are described herein.

[0007] BACKGROUND

[0008] The processing of shrimp for human consumption often includes removal of what is referred to colloquially as the “head” of the shrimp. Removal of the head of shrimp typically involves removal of the head and the thorax of the shrimp (fused to form the cephalothorax), with the cephalothorax protected by a shell referred to as the carapace on the dorsal, medial, and lateral surfaces and one or more stemites on the ventral surface. Various anatomical features are attached to or form a part of the cephalothorax, including the rostrum, eyes, whiskers and appendages including the maxillipeds (which are commonly used for feeding and / or water delivery to the gill cavity) and pereiopods.

[0009] SUMMARY

[0010] Cephalothorax removal systems and related methods are described herein. The cephalothorax removal systems and methods are designed to retain neck meat on the abdomen when removing the cephalothorax along with consistently removing appendages emanating from the cephalothorax. Docket No. 294.000087W001

[0011] Although methods of manual and / or automated heading are known, those known methods typically result in relatively high losses of consumable meat which, in turn, results in reduced revenue because shrimp is typically sold by weight.

[0012] In particular, the muscle / meat extending along the ventral surface of the shrimp anterior of the first abdominal segment (referred to herein as the “neck meat” of the shrimp) is often removed along with the cephalothorax in known methods of manual and / or automated heading.

[0013] The cephalothorax removal systems and methods described herein, however, consistently leave the neck meat attached to the first abdominal segment of the shrimp. The retained neck meat provides significant benefits in terms of yield for shrimp sold by weight. In addition to the financial advantages of retaining the neck meat, fewer shrimp are needed to provide the same consumable weight of shrimp, thus also providing environmental advantages in shrimp harvesting and / or farming.

[0014] In addition to neck meat retention, the cephalothorax removal systems and methods described herein also provide processed shrimp in which the pereiopods are consistently removed (while the neck meat is retained). Retention of one or more of the pereiopods is typically not desired but is also not uncommon when using known heading systems and methods.

[0015] The cephalothorax removal systems and methods described herein provide for neck meat retention and more consistent pereiopod removal using a ventral hook configured to capture the posterior edge of the sternite protecting the cephalothorax at the ventral surface junction between the cephalothorax and the abdomen. The ventral hook at least temporarily moves the posterior edge of the sternite on the ventral surface of the posterior end of the cephalothorax away from the abdomen to facilitate separation of the cephalothorax from the abdomen during removal of the cephalothorax in a shrimp heading process. Although not wishing to be bound by theory, movement of the posterior edge of the sternite on the ventral surface of the cephalothorax away from the abdomen prior to or during complete cephalothorax removal is thought to break and / or disrupt connective tissues along the ventral surface of the shrimp, with the broken and / or disrupted connective tissues facilitating separation of the sternite on the ventral surface of the cephalothorax from the neck meat Docket No. 294.000087W001 extending anterior of the abdomen during removal of the entire cephalothorax in a shrimp heading process.

[0016] In a first aspect, one or more embodiments of cephalothorax removal systems as described herein includes: a heading restraint positioned opposite a working surface; a heading restraint actuator configured to move the heading restraint between a stored position and restraint position relative to the working surface, wherein the heading restraint is spaced from the working surface to allow for positioning of a shrimp between the heading restraint and the working surface when the heading restraint is in the stored position, and wherein the heading restraint is closer to the working surface when the heading restraint is in the restraint position than when the heading restraint is in the stored position such that the heading restraint is configured to force a shrimp located between the heading restraint and the working surface against the working surface when the heading restraint is in the restraint position; a spoon; a spoon actuator configured to move the spoon along a spoon path between a ready position and finish position relative to the heading restraint, wherein a working portion of the spoon is proximate a carapace side of the heading restraint when the spoon is in the ready position and wherein the working portion of the spoon is spaced away from the carapace side of the heading restraint when the spoon is in the finish position such that the working portion of the spoon is configured to separate a cephalothorax of a shrimp on the working surface from an abdomen of the shrimp when the spoon moves from the ready position to the finish position; a ventral hook protruding from the working surface, the ventral hook configured to capture a posterior edge of a stemite on a ventral surface of a cephalothorax of a shrimp located on the working surface; a hook actuator configured to move the ventral hook along a hook path, wherein the ventral hook moves in a first direction towards a cephalothorax and away from an abdomen of a shrimp on the working surface when moving along the hook path; and a controller operably connected to the heading restraint actuator, the spoon actuator, and the hook actuator. The controller is configured to: operate the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the hook actuator to move the ventral hook in the first direction along the hook path after operating the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the spoon actuator to move the spoon along the spoon path from the Docket No. 294.000087W001 ready position to the finish position after operating the hook actuator to move the ventral hook in the first direction, and operate the heading restraint actuator to return the heading restraint to the stored position after operating the spoon actuator to move the spoon to the finish position.

[0017] In a second aspect, one or more embodiments of methods of removing a cephalothorax of a shrimp as described herein include: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; capturing a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction and at least temporarily moving the posterior edge of the sternite away from the spoon and the first abdominal segment of the shrimp after moving the spoon towards the working surface and through the dorsal surface of the shrimp; and moving the spoon away from the first abdominal segment after capturing the posterior edge of the sternite while restraining the first abdominal segment on the working surface, wherein moving the spoon away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0018] In a third aspect, one or more embodiments of methods of removing a cephalothorax of a shrimp as described herein include: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving a ventral hook from a waiting position to a separation position after moving the spoon towards the working surface, wherein the ventral hook captures a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction, wherein the ventral hook is spaced from the spoon along the working surface by a separation distance when the ventral hook is in the separation position; and moving the spoon away from the first abdominal segment after moving the ventral hook to the separation position, wherein moving the spoon Docket No. 294.000087W001 away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0019] In a fourth aspect, one or more embodiments of cephalothorax removal systems as described herein include: a heading restraint positioned opposite a working surface; a heading restraint actuator configured to move the heading restraint between a stored position and restraint position relative to the working surface, wherein the heading restraint is spaced from the working surface to allow for positioning of a shrimp between the heading restraint and the working surface when the heading restraint is in the stored position, and wherein the heading restraint is closer to the working surface when the heading restraint is in the restraint position than when the heading restraint is in the stored position such that the heading restraint is configured to force a shrimp located between the heading restraint and the working surface against the working surface when the heading restraint is in the restraint position, and wherein the heading restraint comprises a carapace side facing the carapace of a shrimp when the heading restraint is in the restraint position; a spoon; a spoon actuator configured to move the spoon along a spoon path between a ready position and finish position relative to the heading restraint, wherein a working portion of the spoon is proximate the carapace side of the heading restraint when the spoon is in the ready position and wherein the working portion of the spoon is spaced away from the carapace side of the heading restraint when the spoon is in the finish position such that the working portion of the spoon is configured to separate a cephalothorax of a shrimp on the working surface from an abdomen of the shrimp when the spoon moves from the ready position to the finish position; a ventral hook protruding from the working surface, the ventral hook configured to capture a posterior edge of a stemite on a ventral surface of a cephalothorax of a shrimp located on the working surface; a hook actuator configured to move the ventral hook along a hook path between a waiting position and an eject position distal from the carapace side of the heading restraint, wherein the ventral hook moves towards a cephalothorax and away from an abdomen of a shrimp on the working surface when moving from the waiting position to the eject position; and a controller operably connected to the heading restraint actuator, the spoon actuator, and the hook actuator. The controller is configured to: operate the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the hook actuator to move the ventral Docket No. 294.000087W001 hook from the waiting position to the eject position after operating the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the spoon actuator to move the spoon along the spoon path from the ready position to the finish position after operating the hook actuator to move the ventral hook from the waiting position to the eject position, and operate the heading restraint actuator to return the heading restraint to the stored position after operating the spoon actuator to move the spoon to the finish position.

[0020] In a fifth aspect, one or more embodiments of methods of removing a cephalothorax of a shrimp as described herein include: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving the spoon away from the first abdominal segment while restraining the first abdominal segment on the working surface, and capturing a posterior edge of a stemite on a ventral surface of the cephalothorax proximate the cephalothorax junction and moving the posterior edge of the stemite away from the first abdominal segment of the shrimp while moving the spoon away from the first abdominal segment; wherein moving the spoon and the posterior edge of the stemite away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0021] In a sixth aspect, one or more embodiments of methods of removing a cephalothorax of a shrimp as described herein include: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving the spoon away from the first abdominal segment after moving the ventral hook to the separation position; and moving a ventral hook from a waiting position to an eject position while moving the spoon away from the first abdominal segment, wherein the ventral hook captures a posterior edge of a stemite on a ventral surface of the cephalothorax proximate the Docket No. 294.000087W001 cephalothorax junction; wherein moving the spoon away from the first abdominal segment moving the ventral hook to the eject position separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0022] As used herein, the term “shrimp” should be construed to refer to crustaceans harvested for human consumption that are referred to as either shrimp or prawns in, for example, the sub-orders Pieocyemata (Shrimp) and Dendrobranchiata (Prawns). Further, because the physical characteristics of shrimp capable of being processed using the shrimp processing systems and methods described herein can vary widely, any dimensions discussed herein are provided only as a general guide and further refinement of any such dimensions may be required to optimize operation of the shrimp processing systems and methods described herein based on for example, the size, species, and / or general conditions of shrimp being processed.

[0023] If used herein, relational terms such as above, below, top, bottom, etc. are (unless otherwise specified in this description and / or the claims) used only to facilitate description of the various features of the systems and methods described herein and should not be construed to require any specific orientation of the systems, the shrimp being processed by the systems, and / or the methods described herein.

[0024] If used herein, the term “substantially” has the same meaning as “significantly,” and can be understood to modify the term that follows by at least about 75%, at least about 90%, at least about 95%, or at least about 98%. The term "not substantially" as used herein has the same meaning as “not significantly,” and can be understood to have the inverse meaning of "substantially," i.e., modifying the term that follows by not more than 25%, not more than 10%, not more than 5%, or not more than 2%.

[0025] Numeric values used herein include normal variations in measurements as expected by persons skilled in the art and should be understood to have the same meaning as “approximately” and to cover a typical margin of error, such as ±5 % of the stated value.

[0026] Terms such as “a,” “an,” and “the” are not intended to refer to only a singular entity but include the general class of which a specific example may be used for illustration. Docket No. 294.000087W001

[0027] The terms “a,” “an,” and “the” are used interchangeably with the term “at least one.” The phrases “at least one of’ and “comprises at least one of’ followed by a list refers to any one of the items in the list and any combination of two or more items in the list.

[0028] As used here, the term “or” is generally employed in its usual sense including “and / or” unless the content clearly dictates otherwise. The term “and / or” means one or all of the listed elements or a combination of any two or more of the listed elements.

[0029] The recitations of numerical ranges by endpoints include all numbers subsumed within that range (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, 5, etc. or 10 or less includes 10, 9.4, 7.6, 5, 4.3, 2.9, 1.62, 0.3, etc.). Where a range of values is “up to” or “at least” a particular value, that value is included within the range.

[0030] The words “preferred” and “preferably” refer to embodiments that may afford certain benefits, under certain circumstances. However, other embodiments may also be preferred, under the same or other circumstances. Furthermore, the recitation of one or more preferred embodiments does not imply that other embodiments are not useful and is not intended to exclude other embodiments from the scope of the disclosure, including the claims.

[0031] The above summary of the invention is not intended to describe each embodiment or every implementation of the systems and methods described herein. Rather, a more complete understanding of the invention will become apparent and appreciated by reference to the following description of illustrative embodiments and claims in view of the accompanying FIGS, of the drawing.

[0032] BRIEF DESCRIPTION OF THE DRAWING

[0033] FIG. 1 depicts a shrimp that may be processed using one or more embodiments of the cephalothorax removal systems and methods as described herein.

[0034] FIG. 2 depicts a shrimp after the cephalothorax has been removed using one or more embodiments of a cephalothorax removal system and method as described herein.

[0035] FIGS. 3-5 depict stages in operation of one illustrative embodiment of a cephalothorax removal system and associated method as described herein. Docket No. 294.000087W001

[0036] FIG. 6 is a perspective view of one illustrative embodiment of a cephalothorax removal system as described herein.

[0037] FIG. 7 is a perspective view of one illustrative embodiment of a heading restraint and spoon that may be used in one or more embodiments of a cephalothorax removal system and method as described herein.

[0038] FIG. 8 is an enlarged side view of the heading restraint and spoon depicted in FIG. 7.

[0039] FIG. 9 is a perspective view of the heading restraint depicted in FIG. 7.

[0040] FIG. 10 is a front view of the heading restraint depicted in FIG. 7.

[0041] FIG. 11 is an enlarged perspective view of the spoon depicted in FIG. 7.

[0042] FIG. 12 is a side view of the spoon depicted in FIGS. 7 and 11.

[0043] FIG. 13 is a perspective view of one illustrative embodiment of a ventral hook that may be used in one or more embodiments of a cephalothorax removal system and method as described herein.

[0044] FIG. 14 is a side view of the ventral hook depicted in FIG. 13.

[0045] FIG. 15 is a top view of the ventral hook depicted in FIGS. 13-14.

[0046] FIG. 16 is an enlarged front view of the ventral hook depicted in FIGS. 13-15.

[0047] FIG. 17A is a top view of one alternative embodiment of a ventral hook that may be used in one or more embodiments of a cephalothorax removal system and method as described herein.

[0048] FIGS. 17B-17E depict additional alternative embodiments of ventral hooks that may be used in one or more embodiments of the cephalothorax removal systems and methods described herein.

[0049] FIG. 18 depicts the heading restraint, spoon, and ventral hook depicted in FIGS. 7-16 on a working surface of one illustrative embodiment of a cephalothorax removal system as described herein.

[0050] FIG. 19 is a perspective view of the cephalothorax removal system of FIG. 6 after movement of the shuttle carrying the heading restraint and spoon out of the home position as seen in FIG. 6 as described herein.

[0051] FIG. 20 depicts the cephalothorax removal system of FIG. 19 after movement of the ventral hook to a waiting position as described herein. Docket No. 294.000087W001

[0052] FIG. 21 depicts the cephalothorax removal system of FIG. 20 after movement of the heading restraint to its restraint position relative to the working surface of the cephalothorax removal system as described herein.

[0053] FIG. 22 depicts the cephalothorax removal system of FIG. 21 after movement of the ventral hook from its waiting position as seen in FIG. 21 to a separation position on the carapace / cephalothorax side of the heading restraint and spoon as described herein.

[0054] FIG. 23 is a schematic diagram depicting capture of a posterior edge of a sternite on the ventral surface of the cephalothorax by a ventral hook along the ventral surface of a shrimp.

[0055] FIG. 24 depicts the cephalothorax removal system of FIG. 22 after movement of the ventral hook from its separation position on the carapace / cephalothorax side of the heading restraint and spoon to a release position on the abdominal side of the heading restraint as described herein.

[0056] FIG. 25 depicts the cephalothorax removal system of FIG. 24 after movement of the spoon from its ready position proximate the heading restraint to a finish position along with opening of the trapdoor to provide a path for disposal of a removed cephalothorax.

[0057] FIG. 26 depicts the cephalothorax removal system of FIG. 25 after movement of the shuttle 60 to advance the heading restraint towards the opening provided by the trapdoor.

[0058] FIG. 27 depicts the lower portion of the cephalothorax removal system of FIG. 25 with reference lines indicating the various positions of the ventral hook as described above in connection with FIGS. 6, 20, 22, and 24.

[0059] FIG. 28 is a schematic diagram depicting one illustrative embodiment of positions of the ventral hook along the ventral hook channel in the illustrative embodiment of the cephalothorax removal depicted in FIGS. 6, 19-22, and 24-26 (with the heading restraint in its restraint position and the spoon in its ready position).

[0060] FIG. 29 is a schematic diagram depicting another illustrative embodiment of positions of the ventral hook along the ventral hook channel in the illustrative embodiment of the cephalothorax removal depicted in FIGS. 6, 19-22, and 24-26 (with the heading restraint in its restraint position and the spoon in its finish position). Docket No. 294.000087W001

[0061] FIG. 30 depicts one illustrative embodiment of a hook actuator apparatus that may be used to move a ventral hook in a cephalothorax removal system as described herein.

[0062] FIG. 31 is a schematic block diagram of components in one illustrative embodiment of a cephalothorax removal system as described herein.

[0063] While the above-identified figures (which may or may not be drawn to scale) set forth embodiments of the invention, other embodiments are also contemplated, as noted in the discussion. In all cases, this disclosure presents the invention by way of representation and not limitation. It should be understood that numerous other modifications and embodiments can be devised by those skilled in the art, which fall within the scope of this invention.

[0064] DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

[0065] In the following description, reference is made to the accompanying figures of the drawing which form a part hereof, and in which are shown, by way of illustration, specific embodiments. It is to be understood that other embodiments may be utilized and changes may be made without departing from the scope of the present invention.

[0066] To assist with discussion of the cephalothorax removal systems and methods described herein, one example of a whole shrimp is depicted in FIG. 1 along with, in FIG. 2, a shrimp after removal of the cephalothorax using the cephalothorax removal systems and methods described herein.

[0067] The whole shrimp 10 depicted in FIG. 1 includes a cephalothorax 12 at an anterior end of the shrimp 10 and an abdomen 14. The abdomen 14 terminates opposite the cephalothorax 12 in a tail / uropod and telson 16 at the posterior end of the shrimp 10.

[0068] Although the depicted shrimp 10 includes an abdomen 14 having six segments (numbered from 1 through 6 in FIGS. 1-2 with the first segment of the abdomen 14 being attached to the posterior end of the cephalothorax 12. Other shrimp that may be processed using cephalothorax removal systems and methods described herein may have more or fewer segments forming the abdomen of the shrimp. Docket No. 294.000087W001

[0069] Each segment of the abdomen 14 includes a shell segment on the dorsal side of the abdomen. The abdomen 14 also includes appendages 15 in the form of pleopods (sometimes referred to as swimmerets) attached to the ventral surface of the abdomen 14.

[0070] The cephalothorax 12 includes a carapace 12-1 extending over the dorsal surface and along the medial and lateral surfaces of the cephalothorax 12 along with one or more sternites on the ventral surface of the cephalothorax 12. The carapace 12-1 and the one or more sternites protect the viscera contained in the volume defined by the cephalothorax 12 and the one or more sternites. The cephalothorax 12 also carries various features such as antennae, rostrum, etc. Appendages 13 are also attached to the ventral surface of the cephalothorax 12 forward of the abdomen 14, typically to the one or more sternites on the ventral surface of the cephalothorax 12. Those appendages 13 include, for example, the pereiopods (sometimes referred to as “walking legs”) and the chela. Removal of the carapace 12-1 and sternites of the cephalothorax 12 from the shrimp 10 using the cephalothorax removal systems and methods described herein results in removal of all of the appendages 13 (including the pereiopods) attached to the ventral surface of the cephalothorax 12. For shrimp processed using the cephalothorax removal systems and methods described herein, references to the “sternite” refer to the sternite at the posterior end of the cephalothorax 12 in shrimp that include more than one sternite on the ventral surface of the cephalothorax 12.

[0071] The cephalothorax 12 is attached to the first segment (segment 1) of the abdomen 14 of the shrimp 10 at a cephalothorax junction 17 located between cephalothorax 12 and the abdomen 14, more particularly, between the posterior end of the cephalothorax 12 and the anterior end of the first segment of the abdomen 14. With reference to FIG. 2, the neck meat 18 retained on the abdomen of the shrimp is attached to and extends in an anterior direction away from the meat of the first segment of the abdomen 14 on the ventral surface of the shrimp 10.

[0072] The cephalothorax removal systems and methods described herein may be used in one or more of the shrimp processing systems described in one or more of US Patent 12,029,222 titled SHRIMP PROCESSING SYTEM, PROCESSING APPARATUS AND METHODS; US Patent Application Publication US 2023 / 0138989 titled SHRIMP PROCESSING APPARATUS AND METHODS; and US Patent 11,980,199 titled SHRIMP PROCESSING Docket No. 294.000087W001

[0073] APPARATUS AND METHODS. As discussed herein, the shrimp processing system / apparatus discussed in the above-identified documents include heading apparatus / systems that may be, in some ways similar to the cephalothorax removal systems described herein, except that the heading apparatus / systems described in those documents do not include features of the cephalothorax removal systems and methods described herein selected to retain neck meat and / or ensure consistent removal of the pereiopods of shrimp. In one or more embodiments of the cephalothorax removal systems and methods described herein, the cephalothorax of the shrimp be removed in a manner that also results in removal of a significant portion of the mud vein, but removal of the mud vein during cephalothorax removal is not required.

[0074] The cephalothorax removal systems and methods described herein process each shrimp individually while the shrimp is restrained on a working surface. In one or more embodiments, the shrimp may be restrained by a clamp holding the junction between the shrimp abdomen and tail in position on the working surface. In one or more alternative embodiments, the shrimp may be restrained by a clamp acting solely on its abdomen.

[0075] FIGS. 3-5 are simplified diagrams depicting one illustrative embodiment of a cephalothorax removal process as described herein. As depicted in FIG. 3, a shrimp 10 is positioned on a working surface 20. The shrimp 10 is positioned such that it extends along a processing axis 21 away from a clamp 19. More specifically, the shrimp 10 is restrained by clamp 19 proximate its tail, such that the abdomen 14 and cephalothorax 12 of the shrimp extend away from the clamp 19 on the working surface 20.

[0076] A heading restraint 30 is positioned opposite the working surface 20. The heading restraint as depicted in FIG. 3 is located in its stored position such that the shrimp 10 can be positioned between the heading restraint 30 and the working surface 20. A spoon 40 is also depicted in FIG. 3 with the spoon 40 being in its ready position in which the spoon 40 is located proximate a carapace / cephalothorax side of the heading restraint 30 (where the carapace / cephalothorax side of the heading restraint 30 is the side of the heading restraint facing the cephalothorax 12 at the anterior end of the shrimp 10).

[0077] The heading restraint 30 is depicted in its restraint position in FIG. 4, with the restraint position being closer to the working surface 20 than when the heading restraint 30 is in its Docket No. 294.000087W001 stored position as seen in FIG. 3. When moved to its restraint position, the heading restraint 30 is configured to force the shrimp 10 (located between the heading restraint 30 and the working surface 20) against the working surface 20. The spoon 40 remains in its ready position proximate the carapace / cephalothorax side of the heading restraint 30 in FIG. 4. In the illustrative embodiment depicted in FIGS. 3-4, the heading restraint 30 and spoon 40 are advanced through at least a portion of the cephalothorax junction 17 between the cephalothorax 12 and the abdomen 14 of the shrimp 10.

[0078] With reference to FIG. 5, the heading restraint 30 remains in its restraint position as seen in FIG. 4, while the spoon 40 has been moved to its finish position spaced away from the carapace / cephalothorax side of the heading restraint 30. Moving the spoon 40 from its ready position as seen in FIG. 4 to its finish position as seen in FIG. 5 separates the cephalothorax 12 of the shrimp 10 from the abdomen 14. Although not required, removal of the cephalothorax 12 from the abdomen 14 of the shrimp 10 may also result in removal of at least a portion of the mud vein from the abdomen 14 of the shrimp 10.

[0079] Although the spoon 40 may follow a curved path when moving from its ready position proximate the carapace / cephalothorax side of the heading restraint 30, the spoon 40 in one or more cephalothorax removal systems and methods described herein may follow any path (e.g., curved, straight, combinations of curved and straight, etc.) when moving from its ready position to its finish position spaced away from the carapace / cephalothorax side of the heading restraint.

[0080] Described in a different manner, the cephalothorax removal process as depicted in FIGS. 3-5 may be described as a process in which the abdomen 14 of the shrimp 10 is restrained in a fixed position on a working surface 20 while moving a spoon 40 into the shrimp 10 proximate the cephalothorax junction 17 between the cephalothorax 12 and the first abdominal segment in the abdomen 14 of the shrimp 10. In one or more embodiments, moving the spoon 40 may also include moving a heading restraint(e.g., heading restraint 30) through the cephalothorax junction 17 towards the working surface 20. The method further includes moving the spoon 40 away from the abdomen 14 while restraining the abdomen 14 of the shrimp 10 in the fixed position on the working surface 20. Docket No. 294.000087W001

[0081] Although the heading restraint 30 is used to restrain the abdomen 14 of the shrimp 10 in the illustrative embodiment, in one or more alternative cephalothorax removal systems and methods, the abdomen 14 may be restrained on the working surface 20 by a heading restraint that acts on the abdomen 14 but does not extend into the cephalothorax junction 17.

[0082] One illustrative embodiment of a cephalothorax removal system that may be used in one or more embodiments of cephalothorax removal systems and methods described herein is depicted in FIG. 6. The depicted cephalothorax removal system includes a heading restraint 30 along with heading restraint actuator 32 as well as a spoon (obscured in FIG. 6 by the heading restraint 30) and a spoon actuator 42. The heading restraint 30, heading restraint actuator 32, spoon, and spoon actuator 42 are mounted on a shuttle 60 and located above a working surface 20 on which shrimp to be processed are located.

[0083] In the depicted illustrative embodiment, shrimp are moved into and out of position relative to the cephalothorax removal system along the working surface 20 in a direction indicated by arrow 21-1 aligned with the processing axis 21. The shuttle 60, carrying both the heading restraint 30 and the spoon along with their respective actuators 32 and 42, moves along a shuttle axis aligned with the processing axis 21 to properly position the heading restraint 30 and spoon relative to the location of a shrimp on working surface 20. The shuttle 60 moves along one or more slides 62.

[0084] The illustrative embodiment of a cephalothorax removal system as depicted in FIG. 6 also includes a ventral hook 50 protruding from the working surface 20. The ventral hook 50 is configured to move along a hook path which, in the depicted embodiment, is defined by a channel 22 provided in working surface 20. The depicted system also includes a hook actuator (not shown) located within housing 52-1, with the hook actuator being operatively connected to the ventral hook 50 to move the ventral hook 50 along the hook path defined by channel 22.

[0085] In one or more embodiments, shrimp may be delivered to the working surface 20 in the direction of arrow 21-1 along processing axis 21, with the shrimp being delivered tail-first onto the working surface 20, with at least a portion of the shrimp being located above the channel 22 in which ventral hook 50 moves as described herein. The depicted cephalothorax system also includes a waste trap covered by trapdoor 24 which opens to receive a cephalothorax removed from shrimp as described herein. The open trapdoor 24 can be seen Docket No. 294.000087W001 in, e.g., FIG. 26 where the depicted illustrative embodiment of trapdoor 24 rotates about axis 24-1.

[0086] Tail-first shrimp delivery systems may be found in, e.g., any one of US Patent 12,029,222 titled SHRIMP PROCESSING SYTEM, PROCESSING APPARATUS AND METHODS; US Patent Application Publication US 2023 / 0138989 titled SHRIMP PROCESSING APPARATUS AND METHODS; and US Patent 11,980,199 titled SHRIMP PROCESSING APPARATUS AND METHODS. It should, however, be understood that any suitable apparatus and / or method of delivering a shrimp to the working surface 20 in a location that results in proper positioning of the shrimp relative to the cephalothorax removal system may be used.

[0087] Although FIG. 6 (along with FIGS. 19-22 and 24-26) depict one illustrative processing direction defined by arrow 21-1, other embodiments of the cephalothorax removal systems and methods described herein may deliver shrimp to a selected location on the working surface 20 by any suitable process, technique, etc. so long as the shrimp are properly oriented with respect to the heading restrain, spoon, and ventral hook. Alternative examples could include, but are not limited to, moving shrimp along the processing axis 21 in the opposite direction (noting the need for proper orientation), placing the shrimp in the selected location (e.g., manually, using a pick-and-place apparatus, etc.).

[0088] One illustrative embodiment of the combination of a heading restraint 30 and spoon 40 used in one or more embodiments of the cephalothorax removal systems described herein is depicted in isolation in FIGS. 7-8. The heading restraint 30 includes a lower edge 33 that, in use, is spaced from the working surface (see, e.g., working surface 20 in FIG. 6). In the depicted embodiment, spacing between the lower edge 33 of the heading restraint 30 and the working surface is achieved by standoffs 34-1 and 34-2 located on opposite sides of the lower edge 33. In one or more embodiments, the standoffs 34-1 and 34-2 may contact the working surface 20 to accurately position the lower edge 33 of heading restraint 30 relative to the working surface 20 such that the spacing between the lower edge 33 and working surface 20 is consistent and repeatable.

[0089] The spoon 40 depicted in FIGS. 7-8 is, in the depicted illustrative embodiment, closely spaced against the carapace / cephalothorax side of the heading restraint 30. The depicted Docket No. 294.000087W001 embodiment of spoon 40 also includes a lower edge 43 also spaced from the working surface 20 and also spaced even further from the working surface 20 than the lower edge 33 of the heading restraint 30.

[0090] FIGS. 9-10 are enlarged views of the heading restraint 30 depicted in FIGS. 7-8 in isolation (i.e., the spoon 40 is not depicted in FIGS. 9-10). As depicted in FIGS. 9-10, the illustrative embodiment of heading restraint 30 also includes an optional restraint notch 35 terminating along lower edge 33 of the heading restraint 30. The opening at the bottom end of the optional restraint notch 35 separates the lower edge 33 of heading restraint 30 into two sections 33-1 and 33-2. In one or more embodiments, the optional restraint notch 35 provides clearance for a mud vein of a shrimp during the cephalothorax removal process such that the mud vein is not severed by the heading restraint 30 when the heading restraint is moved into its restraint position proximate a working surface as described herein.

[0091] Although the depicted embodiment of heading restraint 30 includes an optional restraint notch 35, other embodiments of heading restraints used in the cephalothorax removal systems described herein may not include an optional restraint notch, in which case the lower edge 33 continues unbroken across the width of the heading restraint 30 between standoffs 34-1 and 34-2.

[0092] FIGS. 11-12 our enlarged views of the spoon 40 depicted in FIG. 7-8 in isolation (i.e., the heading restraint 30 is not depicted in FIGS. 11-12). As depicted in FIGS. 11-12, the illustrative embodiment of spoon 40 also includes an optional spoon notch 45 terminating along the lower edge 43 of the spoon 40. The opening at the bottom of the optional spoon notch 45 separates the lower edge 43 of spoon 40 into two sections 43-1 and 43-2.

[0093] Although the depicted embodiment of spoon 40 includes an optional spoon notch 45, other embodiments of spoons used in the cephalothorax removal systems described herein may not include an optional spoon notch, in which case the lower edge 43 of the spoon 40 continues unbroken across the width of the spoon 40.

[0094] One illustrative embodiment of a ventral hook 50 that may be used in one or more embodiments of the cephalothorax removal systems described herein is depicted in FIGS. 13- Docket No. 294.000087W001

[0095] To facilitate understanding of the geometry of the depicted illustrative embodiment of ventral hook 50, the axes of a Cartesian coordinate system are depicted in each of FIGS. 13- 16. As discussed herein, the cephalothorax removal systems and methods described herein provide for neck meat retention and pereiopod removal using a ventral hook (e.g., ventral hook 50) that is configured to capture the posterior edge of the sternite on the ventral surface of the cephalothorax of a shrimp proximate the cephalothorax junction between the posterior end of the cephalothorax and the first segment of the abdomen. The captured posterior edge of the sternite on the ventral surface of the cephalothorax is, in one or more embodiments, at least temporarily moved away from the first segment of the abdomen to facilitate separation of the cephalothorax from the abdomen while retaining neck meat during removal of the cephalothorax in a shrimp heading process. That movement is, as also discussed herein, thought to disrupt and / or break connective tissues along the ventral edge of the cephalothorax.

[0096] The depicted illustrative embodiment of ventral hook 50 includes a pair of hook elements 54-1 and 54-2 supported above a base 53-1 by a post 53-2 connecting the hook elements 54-1 and 54-2 to the base 53-1. The hook elements 54-1 and 54-2 are spaced apart from each other by a slot 56. Slot 56 may, in one or more embodiments, be aligned vertically with, e.g., an optional restraint notch in a heading restraint and / or an optional spoon notch in a spoon of a cephalothorax removal system as described herein.

[0097] Each of the hook elements 54-1 and 54-2 includes a hook edge 58-1 and 58-2, respectively and a lower edge 59-1 and 59-2. A hook element face 57-1 and 57-2 is provided between the hook edges 58-1 and 58-2 and the lower edges 59-1 and 59-2 on each of the hook elements 54-1 and 54-2. In the depicted embodiment, the hook element faces 57-1 and 57-2 are optionally angled such that the hook edges 58-1 and 58-2 are located forward of the lower edges 59-1 and 59-2 when moving along the processing axis 21 in a direction away from the base 53 (i.e., moving to the left in FIG. 14).

[0098] With reference to the working surface 20 depicted in, e.g., FIG. 6, the hook edges 58-1 and 58-2 of the ventral hook 50 may be described as being located distal from the working surface 20. The hook element faces 57-1 and 57-2 may also be described as extending towards the working surface 20 from the hook edges 58-1 and 58-2, with the hook edges 58-1 and 58-2 leading the hook element faces 57-1 and 57-2 as the ventral hook 50 moves from the Docket No. 294.000087W001 waiting position to the separation position in cephalothorax removal systems and methods as described herein.

[0099] In one or more embodiments of the cephalothorax removal systems described herein in which the hook edges lead the hook element faces of ventral hooks, the hook element faces 57-1 and 57-2 are oriented at an angle that may facilitate capture of the posterior edge of the sternite on the ventral surface of the cephalothorax proximate the cephalothorax junction of a shrimp and also possibly urge the posterior edge of the sternite towards the working surface as the ventral hook is moved to its separation position from the waiting position as described herein.

[0100] In one or more embodiments of ventral hooks as described herein, the ventral hook 50 includes a pair of hook elements 54-1 and 54-2 separated from each other as depicted in, e.g., FIGS. 13-16 in a direction transverse to the processing axis 21 (which can also be referred to as a hook axis extending between the waiting and separation positions as discussed herein). In one or more embodiments, each hook element 54-1 / 54-2 includes a hook edge 58-1 / 58-2 distal from the working surface 20 and a hook element face 57-1 / 57-2 extending towards the working surface 20 from the hook edge 58-1 / 58-2, with the hook edges of each hook element having an inner end and an outer end. The inner ends of the hook edges 58-1 and 58-2 of the hook elements 54-1 and 54-2 are located (on opposite sides of the slot 56) closer to each other than the outer ends of the hook edges 58-1 and 58-2 of the hook elements 54-1 and 54-2. In such embodiments, the outer ends of the hook edges 58-1 and 58-2 of hook elements 54-1 and 54-2 can be described as leading the inner ends of the hook edges 58-1 and 58-2 of the hook elements 54-1 and 54-2 as the ventral hook 50 moves from the waiting position to the separation position as described herein (i.e., to the left along the processing / hook axis 21 as depicted in FIG. 14).

[0101] The hook element faces 57-1 and 57-2 of the depicted illustrative embodiment of hook elements 54-1 and 54-2 are also optionally cupped / concave such that the hook element faces 57-1 and 57-2 are curved or nonlinear when moving between the hook edges 58-1 and 58-2 and lower edges 59-1 and 59-2 as depicted in, e.g., FIG. 14. Providing hook element faces 57- 1 and 57-2 that are cupped / concave may facilitate capture of the posterior edge of the sternite on the ventral surface of the cephalothorax of a shrimp as described herein. Docket No. 294.000087W001

[0102] In addition to being angled such that the hook edges 58-1 and 58-2 are located forward of the lower edges 59-1 and 59-2 and / or cupped / concave, the hook element faces 57-1 and 57- 2 of the depicted illustrative embodiment of hook elements 54-1 and 54-2 may optionally be oriented such that the outer edges 55-1 and 55-2 of each of the hook elements 54-1 and 54-2 lead the remainders of each of the hook elements 54-1 and 54-2 when the ventral hook 50 is moved to the left along processing axis 21 in, e.g., the view depicted in FIG. 15. As a result, the hook elements 54-1 and 54-2 can be described as forming a cupped or concave structure in the view as seen in FIG. 15. In the depicted embodiment, the outer edges 55-1 and 55-2 of hook element faces 57-1 and 57-2 of the hook elements 54-1 and 54-2 can be described as extending from the outer ends of the hook edges 58-1 and 58-2 towards the working surface 20.

[0103] The depicted illustrative embodiment of ventral hook 50 also includes a ramped surface 51 opposite the hook element faces 57-1 and 57-2 (as well as the hook edges 58-1 and 58-2 along with lower edges 59-1 and 59-2). Ramped surface 51 may facilitate movement of the ventral hook 50 along the ventral surface of a shrimp without capturing anatomical features found on the ventral surface of the shrimp as the ventral hook 50 is moved to the right in FIG. 14 (or, conversely, as a shrimp is moved to the left over the ventral hook 50 in the view depicted in FIG. 14).

[0104] Although the depicted illustrative embodiment of ventral hook 50 includes a pair of hook elements 54-1 and 54-2 along with a slot 56 positioned between the hook elements 54-1 and 54-2, one or more alternative embodiments of ventral hooks that may be used in one or more embodiments of cephalothorax removal systems as described herein may include only a single hook element or, alternatively, three or more hook elements.

[0105] With reference to FIGS. 17A-17E, alternative illustrative embodiments of ventral hooks that may be used in one or more embodiments of cephalothorax removal systems described herein are depicted along with Cartesian coordinate system axes corresponding to those depicted in FIGS. 13-16. The illustrative embodiments are only a few examples of the myriad varieties of ventral hooks that could be used in one or more embodiments of the cephalothorax removal systems and methods described herein. Docket No. 294.000087W001

[0106] With reference to FIG. 17A, the depicted illustrative embodiment of ventral hook 150 includes a base 153-1 and a post 153-2 supporting a single hook element 154 above the base 153-1. Ventral hook 150 also includes a ramped surface 151 opposite the hook edge 158 of the hook element 154 to, as described herein, facilitate movement of the ventral hook 150 and the ventral surface of a shrimp relative to each other without capturing anatomical features found on the ventral surface of the shrimp as discussed above in connection with ventral hook 50.

[0107] The depicted alternative embodiment of ventral hook 150 may also include a hook edge 158 and hook element face (not shown) that are cupped or concave when viewed in the X-Y plane as seen in FIG. 17A (similar to the cupped / concave hook element faces of ventral hook 50 as depicted in FIG. 15). Although a cupped / concave hook element 154 may facilitate capture of the ventral edge of a cephalothorax of a shrimp, one or more alternative embodiments of ventral hooks that may be used in one or more embodiments of cephalothorax removal systems described herein may be relatively straight or even convex when moving across the face of the hook element 154 from outer edge 155-1 to outer edge 155-2.

[0108] FIG. 17B depicts another illustrative embodiment of a ventral hook 250 including a pair of hook elements 254-1 and 254-2 with each of the hook elements 254-1 and 254-2 moving in separate channels 222-1 and 222-2 in working surface 220. Each of the hook elements 254-1 and 254-2 includes hook element faces 257-1 and 257-2 extending downward toward the working surface 220 from hook edges 258-1 and 258-2. The hook element faces 257-1 and 257-2 are angled such that, together, the hook element faces form a cupped or concave shape as described above in connection with ventral hook 50.

[0109] FIG. 17C depicts another illustrative embodiment of a ventral hook 350 including a pair of hook elements 354-1 and 354-2, each of which includes a hook edge 358-1 and 358-2 along with a hook element faces 357-1 and 357-2. Unlike the hook element faces 257-1 and 257-2 of the embodiment depicted in FIG. 17B, the hook element faces 357-1 and 357-2 are not angled towards each other.

[0110] FIG. 17D depicts another illustrative embodiment of a ventral hook 450 including three hook elements 454-1, 454-2 and 454-3 (collectively referred to as hook elements 454). Docket No. 294.000087W001

[0111] Each of the hook elements 454 includes a hook edge 458-1, 458-2, or 458-3 along with hook element faces 457-1, 457-2, or 457-3 extending downward away from the hook edges 458-1, 458-2, or 458-3.

[0112] FIG. 17E depicts another illustrative embodiment of a ventral hook 550 including a single hook element 554 having a hook edge 558 and a hook element face 557 extending downward from the hook edge 558. Ventral hook 550 is only one example of a ventral hook that includes only a single hook element and is also an example of a ventral hook element that has a convex hook element face 557.

[0113] FIG. 18 depicts the heading restraint 40, spoon 30, and ventral hook 50 along with the working surface 20 of FIG. 6 with the heading restraint 30 in its restraint position relative to the working surface 20 and the spoon 40 in its ready position relative to the heading restraint 30.

[0114] As discussed herein, the lower edge of the heading restraint (which, in the depicted embodiment, constitutes lower edge sections 33-1 and 33-2 on opposite sides of optional restraint notch 35) is spaced above the working surface 20. The lower edge of the spoon 40 (which, in the depicted embodiment, constitutes lower edge sections 43-1 and 43-2 on opposite sides of optional spoon notch 45) is positioned above the lower edge of the heading restraint 30. This arrangement is, however, optional and the lower edge of the spoon 40 may, in one or more embodiments, be located at or even below the lower edge of the heading restraint 30.

[0115] As also discussed herein, the spacing between the lower edge of heading restraint 30 and working surface 20 may be controlled by standoffs 34-1 and 34-2 on heading restraint 30 although it should be noted that standoffs 34-1 and 34-2 are optional and may not be found in all embodiments of heading restraints used in the cephalothorax removal systems described herein. In one or more alternative embodiments, for example, standoffs may be provided on the spoon 40 rather than or in addition to the heading restraint 30. In still other embodiments, the working surface 20 may include raised features on opposite sides of the working surface 20 to ensure proper spacing between the lower edges of the heading restraint 30 and the spoon 40 (provided that those raised features do not interfere with proper positioning and / or movement of shrimp into and / or out of position on the working surface 20). Docket No. 294.000087W001

[0116] The spacing between the lower edge of heading restraint 30 and the working surface 20 is preferably sufficient to allow movement of the ventral hook 50 underneath the lower edge of the heading restraint 30. The lower edge of the spoon 40 is also preferably spaced above the working surface 20 by a sufficient distance to allow passage of the ventral hook 50, particularly in embodiments in which the lower edge of the spoon 40 is located closer to the working surface 20 and the lower edge of the heading restraint 30.

[0117] As described herein, movement of the ventral hook 50 underneath the heading restraint 30 when in its restraint position (as well as the spoon 40 when in its ready position relative to the heading restraint 30) allows for movement of the ventral hook 50 to capture the ventral edge of the carapace / cephalothorax of a shrimp restrained in the cephalothorax removal systems described herein.

[0118] In addition to providing room for passage of the ventral hook 50, spacing the lower edges of the heading restraint 30 and spoon 40 above the working surface 20 also provides space to facilitate retention of neck meat on the abdomen when removing the cephalothorax of a shrimp as discussed above, e.g., in connection with FIG. 2.

[0119] FIGS. 6, 19-22, and 24-26 depict one illustrative sequence of operations for the illustrative embodiment of a cephalothorax removal system. Beginning with FIG. 6, the cephalothorax removal system is configured to receive a shrimp on the working surface 20. In that configuration, the shuttle 60 is in a home position while, in FIG. 19, the shuttle is moved along the processing axis 21 to position the heading restraint 30 (in its stored position spaced from the working surface 20) and spoon (not shown) in a proper location based on the size of the shrimp to be delivered onto the working surface 20. This operation is, of course, optional but may be useful to most accurately position the heading restraint 30 and associated spoon based on the location of the junction between the cephalothorax and abdomen of the shrimp to be processed.

[0120] In FIG. 20, the cephalothorax removal system is configured such that the ventral hook 50 is in a waiting position located between the upstream end 22-1 and the downstream end 22-2 of channel 22. The depicted waiting position is located closer to the upstream end 22-1 of the channel 22 as compared to the home position seen in FIGS. 6 and 19. The waiting position may, in one or more embodiments, be selected based on the size of a shrimp being Docket No. 294.000087W001 delivered to the working surface 20 along processing axis 21. Alternatively, the waiting position may be selected based on general / average characteristics of a batch of shrimp being processed by the cephalothorax removal system. It may be preferred that, when in the waiting position, the ventral hook 50 is located underneath the abdomen of a shrimp moved into a processing position on working surface 20 in a location that is closer to the first abdominal segment of the shrimp than the tail of the shrimp.

[0121] In FIG. 21, the cephalothorax removal system is configured such that the heading restraint 30 is moved from its stored position as seen in FIGS. 19-20 to its restraint position relative to the working surface 20 using heading restraint actuator 32. In the restraint position, the heading restraint 30 is closer to the working surface 20 than when the heading restraint 30 is in the stored position. The heading restraint 30 is, when in the restraint position, configured to force a shrimp located between the heading restraint 30 and the working surface 20 against the working surface 20. The spoon (not shown) remains in its ready position relative to the heading restraint 30 (see, e.g., FIGS. 3-5 and 7-8) and, as a result, the spoon is also moved towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp as seen in, e.g., FIG. 4.

[0122] As also depicted in FIG. 21 the ventral hook 50, in its waiting position, is located on an abdominal side of the heading restraint 30, where the abdominal side of the heading restraint 30 is the side facing the abdomen 14 of a shrimp 10 as seen in, e.g., FIGS. 3-5.

[0123] In FIG. 22, the cephalothorax removal system is configured such that the ventral hook 50 is moved in a first direction from its waiting position to a separation position (towards the upstream end 22-1 of the channel 22) while the heading restraint 30 remains in its restraint position (and the spoon (not shown) remains in its ready position relative to the heading restraint 30). In one or more embodiments, the waiting position of the ventral hook 50 may be adjusted or selected based on the size of the shrimp being processed in the cephalothorax removal systems described herein. In systems including a heading restraint as depicted in FIG. 22, the distance between the heading restraint 30 and the ventral hook 50 on the carapace / cephalothorax side of the heading restraint 30 may be adjusted or selected based on the size of the shrimp being processed. Docket No. 294.000087W001

[0124] Movement of the ventral hook 50 in the first direction from its waiting position to its separation position after and / or while restraining a shrimp in a fixed position on the working surface 20 (by, e.g., moving the spoon and heading restraint 30 through a dorsal surface of a shrimp) preferably results in capture of a posterior edge of the sternite on the ventral surface of the cephalothorax proximate the cephalothorax junction and at least temporarily moving the posterior edge of the sternite on the ventral surface of the cephalothorax away from the spoon and heading restraint 30. Movement of the ventral edge of the cephalothorax away from the spoon and heading restraint may also preferably result in moving the posterior edge of the sternite on the ventral surface of the cephalothorax away from the first abdominal segment of the abdomen of the shrimp.

[0125] FIG. 23 is a schematic diagram depicting capture of a posterior edge of a sternite on the ventral surface of a cephalothorax by a ventral hook moving along the ventral surface of a shrimp. As depicted in FIG. 23, the cephalothorax 12 includes a sternite 12-2 facing working surface 20 that terminates in a posterior edge 12-3 along the cephalothorax junction 17 located between the cephalothorax 12 and the abdomen 14, more specifically between the cephalothorax 12 and the first abdominal segment of the abdomen 14. As depicted in FIG. 23, the ventral hook 50 passes along the ventral surface 14-2 of the abdomen 14 facing working surface 20 as it captures the posterior edge 12-3 of the sternite 12-2 on the ventral surface of the cephalothorax 12 .

[0126] As also discussed herein, the cupped or angle shape of the hook face 57 of the ventral hook 50 may also urge the posterior edge 12-3 of the sternite 12-2 towards the working surface 20 to facilitate capture of the posterior edge 12-3 of the sternite 12-2.

[0127] Capture of the posterior edge 12-3 of the sternite 12-2 on the ventral surface of the cephalothorax 12 and movement of the posterior edge 12-3 of the sternite 12-2 away from the spoon, heading restraint, and first abdominal segment of the shrimp may result in, as discussed herein, disruption and / or breakage of connective tissues such that subsequent separation / removal of the cephalothorax results in retention of neck meat extending anterior of the first abdominal segment of the shrimp as well as more consistent removal of pereiopods attached to the cephalothorax. Docket No. 294.000087W001

[0128] With reference to FIGS. 21-23, movement of the ventral hook 50 in a first direction from its waiting position as seen in FIG. 21 to its separation position as seen in FIG. 22 involves capture of the posterior edge 12-3 of the sternite 12-2 on the ventral surface of the cephalothorax 12 as depicted in FIG. 23 as the ventral hook 50 moves. It should be understood that FIG. 23 depicts capture of the ventral edge 12-3 of the cephalothorax 12 as the ventral hook 50 is moving, i.e., FIG. 23 does not depict ventral hook in any specific separation position.

[0129] FIG. 24 depicts the cephalothorax removal system after the ventral hook 50 is moved in a second direction away from its separation position as depicted in FIG. 23 and back towards its home position as seen in FIG. 6 and / or its waiting position as seen in FIGS. 20 and 21. Moving the ventral hook in a second direction away from its separation position and back towards its home and / or waiting positions may, in one or more embodiments, release the ventral edge of the cephalothorax from the ventral hook 50.

[0130] In one or more embodiments in which the ventral hook 50 is moved in a second direction away from its separation and back towards its home and / or waiting positions, the ventral hook 50 may be moved to a release position between the separation position and the waiting position before the spoon is moved from its ready position relative to the heading restraint 30 to its finish position to remove the cephalothorax of a shrimp as depicted in, e.g., FIG. 5. Doing so may, as discussed herein, release the ventral edge of the cephalothorax from the ventral hook 50. As depicted in FIG. 24, it may be preferred that the ventral hook 50, when in the release position, be positioned such that it is aligned with the heading restraint on the abdominal side of the heading restraint 30. In one or more alternative embodiments, the ventral hook 50 may be moved back to its waiting position after being moved to its separation position, in which case the release position and the waiting position may be the same.

[0131] FIG. 25 depicts the cephalothorax removal system after operating the spoon actuator 42 to move the spoon 40 from its ready position relative to the heading restraint 30 to its finish position after operating the hook actuator to move the ventral hook 50 to its separation position. In the depicted embodiment, the spoon actuator 42 is used to move the spoon from its ready position to its finish position after operating the hook actuator to move the ventral hook 50 to its release position or its waiting position as discussed in connection with FIG. 24. Docket No. 294.000087W001

[0132] Movement of the spoon 40 from its ready position relative to the heading restraint 30 to its finish position is also depicted in FIGS. 4-5 above.

[0133] Movement of the spoon 30 to its finish position results in removal / separation of the cephalothorax of shrimp from the abdomen. FIG. 25 also depicts the trapdoor 24 in its open position as discussed above with the opening in the working surface providing passage for the removed cephalothorax off of the working surface 20.

[0134] FIG. 26 depicts the cephalothorax removal system after advancement of the shuttle 60 carrying the heading restraint 30 and spoon 40 in the upstream direction to facilitate further removal of debris remaining on the working surface 20 after the spoon 40 is moved to its finish position. Also depicted in FIG. 26 is movement of the ventral hook 50 back to its home position proximate the downstream end 22-2 of the channel 22. Movement of the ventral hook 50 back to its home position involves moving the ventral hook 50 past the waiting position (in the systems in which the waiting position is different from the home position and is located between the home position and the heading restraint in its restraint position as described herein).

[0135] Following movement of the shuttle 60 to the position seen in FIG. 26, the spoon 40 can be moved back to its ready position proximate the heading restraint 30 as seen in, e.g., FIG. 19, the heading restraint actuator 32 is operated to move the heading restraint 30 to its stored position as seen in, e.g., FIG. 19, and the shuttle 60 is moved back to its home position as also seen in FIG. 19.

[0136] FIG. 27 depicts the lower portion of the cephalothorax removal system depicted in FIGS. 6, 19-22, and 24-26 including the working surface 20 with the channel 22 defining the hook path of ventral hook 50 on the working surface 20. Also depicted in FIG. 27 are the upstream end 22-1 and downstream end 22-2 of channel 22. The hook actuator (not shown) is located within hook actuator housing 52-1 beneath the working surface 20.

[0137] FIG. 27 also includes reference lines depicting various illustrative embodiments of positions of the ventral hook 50 along the working surface 20 / channel 22. In particular, reference line H indicates one embodiment of the home position of the ventral hook 50 on the working surface 20 as discussed herein. Reference line Vindicates one embodiment of the waiting position of the ventral hook 50 on the working surface 20 as described herein. Docket No. 294.000087W001

[0138] Reference line R indicates one embodiment of the release position of the ventral hook 50 on the working surface 20 as described herein and reference line S indicates one embodiment of the separation position of the ventral hook on the working surface 20 as described herein. As discussed herein, one or more positions of the ventral hook 50 may be adjusted and / or selected based on the size of the shrimp being processed.

[0139] FIG. 28 is a schematic diagram depicting one illustrative embodiment of positions of the ventral hook 50 along the ventral hook channel in the illustrative embodiment of the cephalothorax removal depicted in FIGS. 6, 19-22, and 24-26 (with the heading restraint 30 in its restraint position and the spoon 40 in its ready position). FIG. 28 includes arrows indicative of various positions of the ventral hook 50 as described herein with respect to FIGS. 6, 19-22, and 24-26. In particular, arrow H indicates one embodiment of the home position of the ventral hook 50 as discussed herein. Arrow IF indicates one embodiment of the waiting position of the ventral hook 50 as described herein. Arrow R indicates one embodiment of the release position of the ventral hook 50 as described herein, and arrow S indicates one embodiment of the separation position of the ventral hook as described herein. As also discussed herein, one or more positions of the ventral hook 50 may be adjusted and / or selected based on the size of the shrimp being processed.

[0140] Although one or more embodiments of the cephalothorax removal systems and methods described herein include specific and distinct home, waiting, separation, and release positions between which the ventral hook is moved when processing shrimp, it should be understood that in one or more embodiments of the cephalothorax removal systems and methods as described herein, the home and waiting positions may be the same, that is, a default waiting position may serve as the home position.

[0141] In addition, one or more embodiments of the cephalothorax removal systems and methods described herein, the release position may not be used or provided, that is, the ventral hook may be moved to the separation position and the spoon may be moved from its ready position to its finish position while the ventral hook remains in the separation position.

[0142] In still other embodiments, the ventral hook may be moved to the waiting position after being moved to the separation position and before the spoon is moved from its ready Docket No. 294.000087W001 position to its finish position such that the ventral hook moves between the separation and waiting positions only.

[0143] In essence, one simplified form of one or more embodiments of the cephalothorax removal systems and methods described herein may involve movement of the ventral hook between only waiting and separation positions.

[0144] FIG. 29 is a schematic diagram depicting another illustrative embodiment of positions of the ventral hook along the ventral hook channel in the illustrative embodiment of the cephalothorax removal depicted in FIGS. 6, 19-22, and 24-26 (with the heading restraint in its restraint position and the spoon in its finish position). In FIG. 29, arrow H indicates one embodiment of the home position of the ventral hook 50 as discussed herein. Arrow W indicates one embodiment of the waiting position of the ventral hook 50 as described herein. Arrow S indicates one embodiment of the separation position of the ventral hook as described above. In the embodiment of the cephalothorax removal system and method depicted in FIG. 29, the ventral hook 50 is located closer to the heading restraint 30 when in its separation position as indicated by arrow S as compared to the embodiment depicted in FIG. 28.

[0145] In another difference, the ventral hook 50 is moved from its separation position (arrow S) to an eject position indicated by arrow A distal from the carapace / cephalothorax side of the heading restraint 30 while the spoon 40 is moving to its finish position as depicted in FIG. 29 from its ready position proximate the heading restraint 30 (seen in, e.g., FIG. 28). In one or more embodiments, movement of the ventral hook 50 from the separation to the eject position while the spoon is moving to its finish position may assist in removal of the cephalothorax from a shrimp.

[0146] In one or more embodiments, moving the ventral hook 50 from its separation position (arrow S) to an eject position indicated by arrow E distal from the carapace / cephalothorax side of the heading restraint 30 while the spoon 40 is moving to its finish position as depicted in FIG. 29 may involve moving a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction away from the first abdominal segment of the shrimp while also moving the spoon 40 away from the first abdominal segment. Moving the posterior edge of the sternite away from the first abdominal segment while Docket No. 294.000087W001 moving the spoon to its finish position may facilitate retention of neck meat on the ventral side of shrimp as described herein.

[0147] In still another variation in the cephalothorax removal systems and methods described herein, the ventral hook 50 could be moved from its waiting position (arrow W) directly to the eject position indicated by arrow E distal from the carapace / cephalothorax side of the heading restraint 30 while the spoon 40 is moving to its finish position as depicted in FIG. 29 from its ready position proximate the heading restraint 30 (seen in, e.g., FIG. 28).

[0148] In this variation, the ventral hook is not moved to a separation position from a waiting position before moving the eject position. Movement of the ventral hook 50 from the waiting position to the eject position while the spoon is moving to its finish position may also assist in removal of the cephalothorax from a shrimp. In one or more embodiments, moving the ventral hook 50 from the waiting position to the eject position while the spoon is moving to its finish position may move a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction away from the first abdominal segment of the shrimp while the spoon 40 moves away from the first abdominal segment. Moving the posterior edge of the sternite away from the first abdominal segment while moving the spoon away from first abdominal segment may facilitate retention of neck meat on the ventral side of shrimp as described herein.

[0149] As in the systems and methods described in connection with FIG. 28, the home and waiting positions of may be the same in the systems and methods described in connection with FIG. 29. When combined with cephalothorax removal systems and methods in which the ventral hook moves from the waiting position to the eject position (with no distinct separation position), another simplified form of one or more embodiments of the cephalothorax removal systems and methods described herein may involve movement of the ventral hook between only waiting and eject positions.

[0150] FIG. 30 depicts selected components of the lower portion of the cephalothorax removal system depicted in FIG. 27. In particular, the housing 52-1 is removed to expose components of one illustrative embodiment of a hook actuator including a shuttle 52-2 on which the ventral hook 50 is mounted. The shuttle 52-2 is mounted on a threaded shaft 52-3 such that rotation of the threaded shaft 52-3 causes shuttle 52-2 to move ventral hook 50 Docket No. 294.000087W001 along the processing axis 21. The hook actuator also includes a motor and gear assembly 52-4 operably connected to the threaded shaft 52-3 to rotate the shaft 52-3 to move the ventral hook 50 along the processing axis 21.

[0151] The illustrative embodiment of hook actuator depicted in FIG. 30 represents only one example of the variety of actuators that could be used to move the ventral hook 50 as discussed herein. Although a shuttle 52-2 is mounted on a threaded rod 52-3 in the depicted illustrative embodiment, many other mechanisms could be used to move the ventral hook 50 as described herein including, but not limited to, a belt and drive gear, rack and pinion, etc. Further, any suitable apparatus capable of providing the motion needed to move the ventral hook 50 between its various positions may be used in place of the motor and gear assembly 52-4 depicted in FIG. 30 including, but not limited to, double acting pistons, single acting pistons, spring mechanisms, hydraulic actuators, alternative motors, magnetic drives, etc.

[0152] With reference to FIG. 31, one illustrative embodiment of a cephalothorax removal system as described herein is depicted in a schematic block diagram. The depicted system includes a heading restraint actuator 132 operably connected to a heading restraint 130, a spoon actuator 142 operably connected to a spoon 140, and a hook actuator 152 operably connected to a ventral hook. Each of the restraint actuator 132, spoon actuator 142, and hook actuator 152 are operably connected to a controller 100 used to operate the actuators to carry out the cephalothorax removal methods and processes described herein.

[0153] Controllers used in one or more embodiments of the cephalothorax removal systems described herein may be provided in any suitable form and may, for example, include memory and a controller. The controller may, for example, be in the form of one or more microprocessors, Field-Programmable Gate Arrays (FPGA), Digital Signal Processors (DSP), microcontrollers, Application Specific Integrated Circuit (ASIC) state machines, etc. The controllers may include one or more of any suitable input devices configured to allow a user to operate the apparatus (e.g., keyboards, touchscreens, mice, trackballs, etc.), as well as display devices configured to convey information to a user (e.g., monitors (which may or may not be touchscreens), indicator lights, etc.).

[0154] ILLUSTRATIVE ASPECTS Docket No. 294.000087W001

[0155] Following are some illustrative aspects of the cephalothorax removal systems and methods described herein.

[0156] Aspect l is a cephalothorax removal system comprising: a heading restraint positioned opposite a working surface; a heading restraint actuator configured to move the heading restraint between a stored position and restraint position relative to the working surface, wherein the heading restraint is spaced from the working surface to allow for positioning of a shrimp between the heading restraint and the working surface when the heading restraint is in the stored position, and wherein the heading restraint is closer to the working surface when the heading restraint is in the restraint position than when the heading restraint is in the stored position such that the heading restraint is configured to force a shrimp located between the heading restraint and the working surface against the working surface when the heading restraint is in the restraint position; a spoon; a spoon actuator configured to move the spoon along a spoon path between a ready position and finish position relative to the heading restraint, wherein a working portion of the spoon is proximate a carapace side of the heading restraint when the spoon is in the ready position and wherein the working portion of the spoon is spaced away from the carapace side of the heading restraint when the spoon is in the finish position such that the working portion of the spoon is configured to separate a cephalothorax of a shrimp on the working surface from an abdomen of the shrimp when the spoon moves from the ready position to the finish position; a ventral hook protruding from the working surface, the ventral hook configured to capture a posterior edge of a sternite on a ventral surface of a cephalothorax of a shrimp located on the working surface; a hook actuator configured to move the ventral hook along a hook path, wherein the ventral hook moves in a first direction towards a cephalothorax and away from an abdomen of a shrimp on the working surface when moving along the hook path; and a controller operably connected to the heading restraint actuator, the spoon actuator, and the hook actuator. The controller is configured to: operate the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the hook actuator to move the ventral hook in the first direction along the hook path after operating the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the spoon actuator to move the spoon along the spoon path from the ready position to the finish position Docket No. 294.000087W001 after operating the hook actuator to move the ventral hook in the first direction, and operate the heading restraint actuator to return the heading restraint to the stored position after operating the spoon actuator to move the spoon to the finish position.

[0157] Aspect 2 is a system according to Aspect 1, wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook moves in the first direction from a waiting position to a separation position while the heading restraint is in its restraint position, and optionally wherein a hook edge of the ventral hook is on the carapace side of the heading restraint when the ventral hook is in the separation position.

[0158] Aspect 3 is a system according to any one of Aspects 1-2, wherein the controller is configured to operate the hook actuator to move the ventral hook along the hook path in a second direction that is opposite the first direction after operating the spoon actuator to return the spoon to the ready position from the finish position, wherein optionally the hook actuator moves the ventral hook in the second direction from the separation position to or past the waiting position.

[0159] Aspect 4 is a system according to any one of Aspects 1-3, wherein the controller is configured to operate the hook actuator to move the ventral hook to a release position between the separation position and the waiting position after operating the hook actuator to move the ventral hook to the separation position and before operating the spoon actuator to move the spoon from the ready position to the finish position; and, optionally, wherein the ventral hook is aligned with the heading restraint when the ventral hook is in the release position and the heading restraint is in the restraint position.

[0160] Aspect 5 is a system according to any one of Aspects 1-3, wherein the controller is configured to operate the hook actuator to move the ventral hook from the separation position to an eject position distal from the carapace side of the heading restraint while operating the spoon actuator to move the spoon along the spoon path from the ready position to the finish position.

[0161] Aspect 6 is a system according to any one of Aspects 1-5, wherein the controller is configured to operate the hook actuator to move the ventral hook to a hook home position after operating the spoon actuator to move the spoon from the ready position to the finish Docket No. 294.000087W001 position, wherein the waiting position is located between the hook home position and the separation position.

[0162] Aspect 7 is a system according to any one of Aspects 1-6, wherein the heading restraint comprises a lower edge spaced from the working surface such that the ventral hook passes between the lower edge of the heading restraint and the working surface when the ventral hook moves from the waiting position to the separation position.

[0163] Aspect 8 is a system according to any one of Aspects 1-7, wherein the ventral hook moves along a straight path when moving between the waiting position and the separation position.

[0164] Aspect 9 is a system according to any one of Aspects 1-8, wherein the ventral hook comprises a pair of hook elements separated from each other in a direction transverse to a hook axis extending between the waiting position and the separation position, and wherein, optionally, each hook element of the pair of hook elements comprises a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of each hook element comprises an inner end and an outer end, wherein the inner ends of the hook edges of the pair of hook elements are located closer to each other than the outer ends of the hook edges of the pair of hook elements, and wherein, optionally, the outer ends of the hook edges of the pair of hook elements lead the inner ends of the hook edges of the pair of hook elements as the ventral hook moves from the waiting position to the separation position.

[0165] Aspect 10 is a system according to any one of Aspects 1-9, wherein the ventral hook comprises a hook element comprising a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of the ventral hook leads the hook element face as the ventral hook moves from the waiting position to the separation position.

[0166] Aspect 11 is a system according to any one of Aspects 1-10, wherein the controller is configured to: receive information regarding a size of a shrimp to be processed; and select the waiting position of the ventral hook based on the size of the shrimp to be processed.

[0167] Aspect 12 is a system according to any one of Aspects 1-11, wherein the controller is configured to: receive information regarding a size of a shrimp to be processed; and Docket No. 294.000087W001 select the separation position of the ventral hook based on the size of the shrimp to be processed.

[0168] Aspect 13 is a method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; capturing a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction and at least temporarily moving the posterior edge of the sternite away from the spoon and the first abdominal segment of the shrimp after moving the spoon towards the working surface and through the dorsal surface of the shrimp; and moving the spoon away from the first abdominal segment after capturing the posterior edge of the sternite while restraining the first abdominal segment on the working surface, wherein moving the spoon away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0169] Aspect 14 is a method according to Aspect 13, the method comprising releasing the posterior edge of the sternite after moving the posterior edge of the sternite away from the spoon and before moving the spoon away from the first abdominal segment.

[0170] Aspect 15 is a method according to any one of Aspects 13-14, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

[0171] Aspect 16 is a method according to any one of Aspects 13-15, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

[0172] Aspect 17 is a method according to Aspect 16, wherein the heading restraint comprises a heading restraint edge spaced from the working surface spaced from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the heading restrain edge and the working surface. Docket No. 294.000087W001

[0173] Aspect 18 is a method according to any one of Aspects 13-17, wherein moving the posterior edge of the stemite away from the spoon comprises moving the posterior edge of the cephalothorax over a separation distance, and wherein the separation distance is selected based at least in part on a size of the shrimp.

[0174] Aspect 19 is a method according to any one of Aspects 13-18, wherein capturing the posterior edge of the sternite proximate the cephalothorax junction comprises moving a ventral hook away from the spoon and the first abdominal segment of the shrimp, wherein the ventral hook captures the posterior edge of the sternite, and optionally wherein the ventral hook protrudes from the working surface.

[0175] Aspect 20 is a method according to Aspect 19, wherein the method comprises moving the ventral hook towards the spoon and the first abdominal segment after moving the ventral hook away from the spoon and the first abdominal segment and before moving the spoon away from the first abdominal segment.

[0176] Aspect 21 is a method according to Aspect 20, wherein moving the ventral hook towards the spoon and the first abdominal segment after moving the ventral hook away from the spoon and the first abdominal segment releases the posterior edge of the sternite from the ventral hook.

[0177] Aspect 22 is a method according to any one of Aspects 19-21, wherein the ventral hook passes the spoon before the ventral hook moves away from the spoon and the first abdominal segment of the shrimp.

[0178] Aspect 23 is a method according to any one of Aspects 19-22, wherein the method comprises locating the ventral hook in a waiting position before restraining the shrimp in the fixed position on the working surface.

[0179] Aspect 24 is a method according to Aspect 23, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

[0180] Aspect 25 is a method according to any one of Aspects 19-24, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint, and wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and further wherein the ventral hook passes between the heading restraint and Docket No. 294.000087W001 the working surface before the ventral hook moves away from the spoon and the first abdominal segment of the shrimp.

[0181] Aspect 26 is a method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving a ventral hook from a waiting position to a separation position after moving the spoon towards the working surface, wherein the ventral hook captures a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction, wherein the ventral hook is spaced from the spoon along the working surface by a separation distance when the ventral hook is in the separation position; and moving the spoon away from the first abdominal segment after moving the ventral hook to the separation position, wherein moving the spoon away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0182] Aspect 27 is a method according to Aspect 26, wherein the method comprises moving the ventral hook back towards the waiting position after moving the ventral hook to the separation position.

[0183] Aspect 28 is a method according to Aspect 27, wherein the method comprises moving the ventral hook back towards the waiting position after moving the ventral hook to the separation position and before moving the spoon away from the first abdominal segment.

[0184] Aspect 29 is a method according to any one of Aspects 27-28, wherein moving the ventral hook back towards the waiting position releases the posterior edge of the sternite from the ventral hook.

[0185] Aspect 30 is a method according to any one of Aspects 26-29, wherein the ventral hook passes between the spoon and the working surface as the ventral hook moves from the waiting position to the separation position.

[0186] Aspect 31 is a method according to any one of Aspects 26-30, wherein the spoon is located between the waiting position and the separation position after moving the spoon Docket No. 294.000087W001 towards the working surface and before moving the spoon away from the first abdominal segment.

[0187] Aspect 32 is a method according to any one of Aspects 26-31, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

[0188] Aspect 33 is a method according to any one of Aspects 26-32, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

[0189] Aspect 34 is a method according to any one of Aspects 26-33, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

[0190] Aspect 35 is a method according to Aspect 34, wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook moves from the waiting position to the separation position.

[0191] Aspect 36 is a method according to any one of Aspects 26-35, wherein the separation distance between the spoon and the ventral hook when the ventral hook is in the separation position is selected based at least in part on a size of the shrimp.

[0192] Aspect 41 is a cephalothorax removal system comprising: a heading restraint positioned opposite a working surface; a heading restraint actuator configured to move the heading restraint between a stored position and restraint position relative to the working surface, wherein the heading restraint is spaced from the working surface to allow for positioning of a shrimp between the heading restraint and the working surface when the heading restraint is in the stored position, and wherein the heading restraint is closer to the working surface when the heading restraint is in the restraint position than when the heading restraint is in the stored position such that the heading restraint is configured to force a shrimp located between the heading restraint and the working surface against the working surface when the heading restraint is in the restraint position, and wherein the heading restraint comprises a carapace side facing the carapace of a shrimp when the heading restraint is in the restraint position; a spoon; a spoon actuator configured to move the spoon along a spoon path between a ready position and finish position relative to the heading restraint, wherein a Docket No. 294.000087W001 working portion of the spoon is proximate the carapace side of the heading restraint when the spoon is in the ready position and wherein the working portion of the spoon is spaced away from the carapace side of the heading restraint when the spoon is in the finish position such that the working portion of the spoon is configured to separate a cephalothorax of a shrimp on the working surface from an abdomen of the shrimp when the spoon moves from the ready position to the finish position; a ventral hook protruding from the working surface, the ventral hook configured to capture a posterior edge of a stemite on a ventral surface of a cephalothorax of a shrimp located on the working surface; a hook actuator configured to move the ventral hook along a hook path between a waiting position and an eject position distal from the carapace side of the heading restraint, wherein the ventral hook moves towards a cephalothorax and away from an abdomen of a shrimp on the working surface when moving from the waiting position to the eject position; and a controller operably connected to the heading restraint actuator, the spoon actuator, and the hook actuator. The controller is configured to: operate the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the hook actuator to move the ventral hook from the waiting position to the eject position after operating the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the spoon actuator to move the spoon along the spoon path from the ready position to the finish position after operating the hook actuator to move the ventral hook from the waiting position to the eject position, and operate the heading restraint actuator to return the heading restraint to the stored position after operating the spoon actuator to move the spoon to the finish position.

[0193] Aspect 42 is a system according to Aspect 41, wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook is moving from the waiting position to the eject position.

[0194] Aspect 43 is a system according to any one of Aspects 41-42, wherein the controller is configured to operate the hook actuator to move the ventral hook from the eject position to or past the waiting position after or while operating the spoon actuator to return the spoon to the ready position from the finish position.

[0195] Aspect 44 is a system according to any one of Aspects 41-43, wherein the controller is configured to operate the hook actuator to move the ventral hook to or past the waiting Docket No. 294.000087W001 position after operating the spoon actuator to move the spoon from the ready position to the finish position.

[0196] Aspect 45 is a system according to any one of Aspects 41-44, wherein the heading restraint comprises a lower edge spaced from the working surface such that the ventral hook passes between the lower edge of the heading restraint and the working surface when the ventral hook moves from the waiting position to the eject position.

[0197] Aspect 46 is a system according to any one of Aspects 41-45, wherein the ventral hook moves along a straight path when moving between the waiting position and the separation position.

[0198] Aspect 47 is a system according to any one of Aspects 41-46, wherein the ventral hook comprises a pair of hook elements separated from each other in a direction transverse to a hook axis extending between the waiting position and the separation position, and wherein, optionally, each hook element of the pair of hook elements comprises a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of each hook element comprises an inner end and an outer end, wherein the inner ends of the hook edges of the pair of hook elements are located closer to each other than the outer ends of the hook edges of the pair of hook elements, and wherein, optionally, the outer ends of the hook edges of the pair of hook elements lead the inner ends of the hook edges of the pair of hook elements as the ventral hook moves from the waiting position to the eject position.

[0199] Aspect 48 is a system according to any one of Aspects 41-47, wherein the ventral hook comprises a hook element comprising a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of the ventral hook leads the hook element face as the ventral hook moves from the waiting position to the eject position.

[0200] Aspect 49 is a system according to any one of Aspects 41-48, wherein the controller is configured to: receive information regarding a size of a shrimp to be processed; and select the waiting position of the ventral hook based on the size of the shrimp to be processed.

[0201] Aspect 50 is a method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp Docket No. 294.000087W001 comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving the spoon away from the first abdominal segment while restraining the first abdominal segment on the working surface, and capturing a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction and moving the posterior edge of the sternite away from the first abdominal segment of the shrimp while moving the spoon away from the first abdominal segment; wherein moving the spoon and the posterior edge of the sternite away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0202] Aspect 51 is a method according to Aspect 50, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

[0203] Aspect 52 is a method according to any one of Aspects 50-51, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

[0204] Aspect 53 is a method according to Aspect 52, wherein the heading restraint comprises a heading restraint edge spaced from the working surface spaced from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the heading restrain edge and the working surface.

[0205] Aspect 54 is a method according to any one of Aspects 50-53, wherein capturing the posterior edge of the sternite proximate the cephalothorax junction comprises moving a ventral hook away from the first abdominal segment of the shrimp, wherein the ventral hook captures the posterior edge of the sternite.

[0206] Aspect 55 is a method according to Aspect 54, wherein the ventral hook protrudes from the working surface.

[0207] Aspect 56 is a method according to any one of Aspects 54-55, wherein the method comprises locating the ventral hook in a waiting position before restraining the shrimp in the fixed position on the working surface. Docket No. 294.000087W001

[0208] Aspect 57 is a method according to Aspect 56, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

[0209] Aspect 58 is a method according to any one of Aspects 54-57, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint, and wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and further wherein the ventral hook passes between the heading restraint and the working surface before the ventral hook moves away from the first abdominal segment of the shrimp.

[0210] Aspect 59 is a method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving the spoon away from the first abdominal segment after moving the ventral hook to the separation position; and moving a ventral hook from a waiting position to an eject position while moving the spoon away from the first abdominal segment, wherein the ventral hook captures a posterior edge of a stemite on a ventral surface of the cephalothorax proximate the cephalothorax junction; wherein moving the spoon away from the first abdominal segment moving the ventral hook to the eject position separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

[0211] Aspect 60 is a method according to Aspect 59, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

[0212] Aspect 61 is a method according to any one of Aspects 59-60, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

[0213] Aspect 62 is a method according to any one of Aspects 59-61, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint. Docket No. 294.000087W001

[0214] Aspect 63 is a method according to Aspect 62, wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook moves from the waiting position to the eject position. All references and publications cited herein are expressly incorporated herein by reference in their entirety into this disclosure, except to the extent they may directly contradict this disclosure. Although specific illustrative embodiments have been described herein, it will be appreciated by those of ordinary skill in the art that a variety of alternate and / or equivalent implementations can be substituted for the specific embodiments shown and described without departing from the scope of the present disclosure. It should be understood that this disclosure is not intended to be unduly limited by the illustrative embodiments and examples set forth herein and that such examples and embodiments are presented by way of example only with the scope of the disclosure intended to be limited only by the claims.

Claims

Docket No. 294.000087W001WHAT IS CLAIMED IS:

1. A cephalothorax removal system comprising: a heading restraint positioned opposite a working surface; a heading restraint actuator configured to move the heading restraint between a stored position and restraint position relative to the working surface, wherein the heading restraint is spaced from the working surface to allow for positioning of a shrimp between the heading restraint and the working surface when the heading restraint is in the stored position, and wherein the heading restraint is closer to the working surface when the heading restraint is in the restraint position than when the heading restraint is in the stored position such that the heading restraint is configured to force a shrimp located between the heading restraint and the working surface against the working surface when the heading restraint is in the restraint position; a spoon; a spoon actuator configured to move the spoon along a spoon path between a ready position and finish position relative to the heading restraint, wherein a working portion of the spoon is proximate a carapace side of the heading restraint when the spoon is in the ready position and wherein the working portion of the spoon is spaced away from the carapace side of the heading restraint when the spoon is in the finish position such that the working portion of the spoon is configured to separate a cephalothorax of a shrimp on the working surface from an abdomen of the shrimp when the spoon moves from the ready position to the finish position; a ventral hook protruding from the working surface, the ventral hook configured to capture a posterior edge of a stemite on a ventral surface of a cephalothorax of a shrimp located on the working surface; a hook actuator configured to move the ventral hook along a hook path, wherein the ventral hook moves in a first direction towards a cephalothorax and away from an abdomen of a shrimp on the working surface when moving along the hook path; and a controller operably connected to the heading restraint actuator, the spoon actuator, and the hook actuator, the controller configured to:Docket No. 294.000087W001 operate the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the hook actuator to move the ventral hook in the first direction along the hook path after operating the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the spoon actuator to move the spoon along the spoon path from the ready position to the finish position after operating the hook actuator to move the ventral hook in the first direction, and operate the heading restraint actuator to return the heading restraint to the stored position after operating the spoon actuator to move the spoon to the finish position.

2. A system according to claim 1, wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook moves in the first direction from a waiting position to a separation position while the heading restraint is in its restraint position, and optionally wherein a hook edge of the ventral hook is on the carapace side of the heading restraint when the ventral hook is in the separation position.

3. A system according to any one of the preceding claims, wherein the controller is configured to operate the hook actuator to move the ventral hook along the hook path in a second direction that is opposite the first direction after operating the spoon actuator to return the spoon to the ready position from the finish position, wherein optionally the hook actuator moves the ventral hook in the second direction from the separation position to or past the waiting position.

4. A system according to any one of the preceding claims, wherein the controller is configured to operate the hook actuator to move the ventral hook to a release position between the separation position and the waiting position after operating the hook actuator to move the ventral hook to the separation position and before operating the spoon actuator to move the spoon from the ready position to the finish position; and, optionally, wherein the ventral hookDocket No. 294.000087W001 is aligned with the heading restraint when the ventral hook is in the release position and the heading restraint is in the restraint position.

5. A system according to any one of claims 1 to 3, wherein the controller is configured to operate the hook actuator to move the ventral hook from the separation position to an eject position distal from the carapace side of the heading restraint while operating the spoon actuator to move the spoon along the spoon path from the ready position to the finish position.

6. A system according to any one of the preceding claims, wherein the controller is configured to operate the hook actuator to move the ventral hook to a hook home position after operating the spoon actuator to move the spoon from the ready position to the finish position, wherein the waiting position is located between the hook home position and the separation position.

7. A system according to any one of the preceding claims, wherein the heading restraint comprises a lower edge spaced from the working surface such that the ventral hook passes between the lower edge of the heading restraint and the working surface when the ventral hook moves from the waiting position to the separation position.

8. A system according to any one of the preceding claims, wherein the ventral hook moves along a straight path when moving between the waiting position and the separation position.

9. A system according to any one of the preceding claims, wherein the ventral hook comprises a pair of hook elements separated from each other in a direction transverse to a hook axis extending between the waiting position and the separation position, and wherein, optionally, each hook element of the pair of hook elements comprises a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of each hook element comprises an inner end and an outer end, wherein the inner ends of the hook edges of the pair of hook elements are located closerDocket No. 294.000087W001 to each other than the outer ends of the hook edges of the pair of hook elements, and wherein, optionally, the outer ends of the hook edges of the pair of hook elements lead the inner ends of the hook edges of the pair of hook elements as the ventral hook moves from the waiting position to the separation position.

10. A system according to any one of the preceding claims, wherein the ventral hook comprises a hook element comprising a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of the ventral hook leads the hook element face as the ventral hook moves from the waiting position to the separation position.

11. A system according to any one of the preceding claims, wherein the controller is configured to: receive information regarding a size of a shrimp to be processed; and select the waiting position of the ventral hook based on the size of the shrimp to be processed.

12. A system according to any one of the preceding claims, wherein the controller is configured to: receive information regarding a size of a shrimp to be processed; and select the separation position of the ventral hook based on the size of the shrimp to be processed.

13. A method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface;Docket No. 294.000087W001 capturing a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction and at least temporarily moving the posterior edge of the sternite away from the spoon and the first abdominal segment of the shrimp after moving the spoon towards the working surface and through the dorsal surface of the shrimp; and moving the spoon away from the first abdominal segment after capturing the posterior edge of the sternite while restraining the first abdominal segment on the working surface, wherein moving the spoon away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

14. A method according to claim 13, the method comprising releasing the posterior edge of the sternite after moving the posterior edge of the sternite away from the spoon and before moving the spoon away from the first abdominal segment.

15. A method according to any one of claims 13-14, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

16. A method according to any one of claims 13-15, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

17. A method according to claim 16, wherein the heading restraint comprises a heading restraint edge spaced from the working surface spaced from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the heading restrain edge and the working surface.

18. A method according to any one of claims 13-17, wherein moving the posterior edge of the sternite away from the spoon comprises moving the posterior edge of the cephalothorax over a separation distance, and wherein the separation distance is selected based at least in part on a size of the shrimp.Docket No. 294.000087W00119. A method according to any one of claims 13-18, wherein capturing the posterior edge of the sternite proximate the cephalothorax junction comprises moving a ventral hook away from the spoon and the first abdominal segment of the shrimp, wherein the ventral hook captures the posterior edge of the sternite, and optionally wherein the ventral hook protrudes from the working surface.

20. A method according to claim 19, wherein the method comprises moving the ventral hook towards the spoon and the first abdominal segment after moving the ventral hook away from the spoon and the first abdominal segment and before moving the spoon away from the first abdominal segment.

21. A method according to claim 20, wherein moving the ventral hook towards the spoon and the first abdominal segment after moving the ventral hook away from the spoon and the first abdominal segment releases the posterior edge of the sternite from the ventral hook.

22. A method according to any one of claims 19-21, wherein the ventral hook passes the spoon before the ventral hook moves away from the spoon and the first abdominal segment of the shrimp.

23. A method according to any one of claims 19-22, wherein the method comprises locating the ventral hook in a waiting position before restraining the shrimp in the fixed position on the working surface.

24. A method according to claim 23, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

25. A method according to any one of claims 19-24, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint, and wherein the heading restraint is spaced from the working surface and the ventral surface of theDocket No. 294.000087W001 shrimp, and further wherein the ventral hook passes between the heading restraint and the working surface before the ventral hook moves away from the spoon and the first abdominal segment of the shrimp.

26. A method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving a ventral hook from a waiting position to a separation position after moving the spoon towards the working surface, wherein the ventral hook captures a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction, wherein the ventral hook is spaced from the spoon along the working surface by a separation distance when the ventral hook is in the separation position; and moving the spoon away from the first abdominal segment after moving the ventral hook to the separation position, wherein moving the spoon away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

27. A method according to claim 26, wherein the method comprises moving the ventral hook back towards the waiting position after moving the ventral hook to the separation position.

28. A method according to claim 27, wherein the method comprises moving the ventral hook back towards the waiting position after moving the ventral hook to the separation position and before moving the spoon away from the first abdominal segment.Docket No. 294.000087W00129. A method according to any one of claims 27-28, wherein moving the ventral hook back towards the waiting position releases the posterior edge of the sternite from the ventral hook.

30. A method according to any one of claims 26-29, wherein the ventral hook passes between the spoon and the working surface as the ventral hook moves from the waiting position to the separation position.

31. A method according to any one of claims 26-30, wherein the spoon is located between the waiting position and the separation position after moving the spoon towards the working surface and before moving the spoon away from the first abdominal segment.

32. A method according to any one of claims 26-31 , wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

33. A method according to any one of claims 26-32, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

34. A method according to any one of claims 26-33, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

35. A method according to claim 34, wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook moves from the waiting position to the separation position.Docket No. 294.000087W00136. A method according to any one of claims 26-35, wherein the separation distance between the spoon and the ventral hook when the ventral hook is in the separation position is selected based at least in part on a size of the shrimp.

37. A cephalothorax removal system comprising: a heading restraint positioned opposite a working surface; a heading restraint actuator configured to move the heading restraint between a stored position and restraint position relative to the working surface, wherein the heading restraint is spaced from the working surface to allow for positioning of a shrimp between the heading restraint and the working surface when the heading restraint is in the stored position, and wherein the heading restraint is closer to the working surface when the heading restraint is in the restraint position than when the heading restraint is in the stored position such that the heading restraint is configured to force a shrimp located between the heading restraint and the working surface against the working surface when the heading restraint is in the restraint position, and wherein the heading restraint comprises a carapace side facing the carapace of a shrimp when the heading restraint is in the restraint position; a spoon; a spoon actuator configured to move the spoon along a spoon path between a ready position and finish position relative to the heading restraint, wherein a working portion of the spoon is proximate the carapace side of the heading restraint when the spoon is in the ready position and wherein the working portion of the spoon is spaced away from the carapace side of the heading restraint when the spoon is in the finish position such that the working portion of the spoon is configured to separate a cephalothorax of a shrimp on the working surface from an abdomen of the shrimp when the spoon moves from the ready position to the finish position; a ventral hook protruding from the working surface, the ventral hook configured to capture a posterior edge of a stemite on a ventral surface of a cephalothorax of a shrimp located on the working surface; a hook actuator configured to move the ventral hook along a hook path between a waiting position and an eject position distal from the carapace side of the heading restraint,Docket No. 294.000087W001 wherein the ventral hook moves towards a cephalothorax and away from an abdomen of a shrimp on the working surface when moving from the waiting position to the eject position; and a controller operably connected to the heading restraint actuator, the spoon actuator, and the hook actuator, the controller configured to: operate the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the hook actuator to move the ventral hook from the waiting position to the eject position after operating the heading restraint actuator to move the heading restraint from the stored position to the restraint position, operate the spoon actuator to move the spoon along the spoon path from the ready position to the finish position after operating the hook actuator to move the ventral hook from the waiting position to the eject position, and operate the heading restraint actuator to return the heading restraint to the stored position after operating the spoon actuator to move the spoon to the finish position.

38. A system according to claim 37, wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook is moving from the waiting position to the eject position.

39. A system according to any one of claims 37-38, wherein the controller is configured to operate the hook actuator to move the ventral hook from the eject position to or past the waiting position after or while operating the spoon actuator to return the spoon to the ready position from the finish position.

40. A system according to any one of claims 37-39, wherein the controller is configured to operate the hook actuator to move the ventral hook to or past the waiting position after operating the spoon actuator to move the spoon from the ready position to the finish position.Docket No. 294.000087W00141. A system according to any one of claims 37-40, wherein the heading restraint comprises a lower edge spaced from the working surface such that the ventral hook passes between the lower edge of the heading restraint and the working surface when the ventral hook moves from the waiting position to the eject position.

42. A system according to any one of claims 37-41, wherein the ventral hook moves along a straight path when moving between the waiting position and the separation position.

43. A system according to any one of claims 37-42, wherein the ventral hook comprises a pair of hook elements separated from each other in a direction transverse to a hook axis extending between the waiting position and the separation position, and wherein, optionally, each hook element of the pair of hook elements comprises a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of each hook element comprises an inner end and an outer end, wherein the inner ends of the hook edges of the pair of hook elements are located closer to each other than the outer ends of the hook edges of the pair of hook elements, and wherein, optionally, the outer ends of the hook edges of the pair of hook elements lead the inner ends of the hook edges of the pair of hook elements as the ventral hook moves from the waiting position to the eject position.

44. A system according to any one of claims 37-43, wherein the ventral hook comprises a hook element comprising a hook edge distal from the working surface and a hook element face extending towards the working surface from the hook edge, wherein the hook edge of the ventral hook leads the hook element face as the ventral hook moves from the waiting position to the eject position.

45. A system according to any one of claims 37-44, wherein the controller is configured to: receive information regarding a size of a shrimp to be processed; andDocket No. 294.000087W001 select the waiting position of the ventral hook based on the size of the shrimp to be processed.

46. A method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp; moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving the spoon away from the first abdominal segment while restraining the first abdominal segment on the working surface, and capturing a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction and moving the posterior edge of the sternite away from the first abdominal segment of the shrimp while moving the spoon away from the first abdominal segment; wherein moving the spoon and the posterior edge of the sternite away from the first abdominal segment separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

47. A method according to claim 46, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

48. A method according to any one of claims 46-47, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

49. A method according to claim 48, wherein the heading restraint comprises a heading restraint edge spaced from the working surface spaced from the working surface and theDocket No. 294.000087W001 ventral surface of the shrimp such that a portion of the shrimp is located between the heading restrain edge and the working surface.

50. A method according to any one of claims 46-49, wherein capturing the posterior edge of the sternite proximate the cephalothorax junction comprises moving a ventral hook away from the first abdominal segment of the shrimp, wherein the ventral hook captures the posterior edge of the sternite.

51. A method according to claim 50, wherein the ventral hook protrudes from the working surface.

52. A method according to any one of claims 50-51, wherein the method comprises locating the ventral hook in a waiting position before restraining the shrimp in the fixed position on the working surface.

53. A method according to claim 52, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

54. A method according to any one of claims 50-53, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint, and wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and further wherein the ventral hook passes between the heading restraint and the working surface before the ventral hook moves away from the first abdominal segment of the shrimp.

55. A method of removing a cephalothorax of a shrimp, the method comprising: restraining a shrimp in a fixed position on a working surface, the shrimp comprising a cephalothorax junction located between a cephalothorax and a first abdominal segment of the shrimp;Docket No. 294.000087W001 moving a spoon towards the working surface and through a dorsal surface of the shrimp proximate the cephalothorax junction of the shrimp while restraining the shrimp in the fixed position on the working surface; moving the spoon away from the first abdominal segment after moving the ventral hook to the separation position; and moving a ventral hook from a waiting position to an eject position while moving the spoon away from the first abdominal segment, wherein the ventral hook captures a posterior edge of a sternite on a ventral surface of the cephalothorax proximate the cephalothorax junction; wherein moving the spoon away from the first abdominal segment moving the ventral hook to the eject position separates the cephalothorax of the shrimp from the first abdominal segment of the shrimp.

56. A method according to claim 55, wherein the method comprises selecting the waiting position based at least in part on the size of the shrimp.

57. A method according to any one of claims 55-56, wherein moving the spoon towards the working surface comprises moving a lower edge of the spoon to a ready position spaced apart from the working surface and the ventral surface of the shrimp such that a portion of the shrimp is located between the lower edge and the working surface.

58. A method according to any one of claims 55-57, wherein restraining the shrimp comprises forcing the shrimp against the working surface using a heading restraint.

59. A method according to claim 58, wherein the heading restraint is spaced from the working surface and the ventral surface of the shrimp, and wherein the ventral hook passes between the heading restraint and the working surface when the ventral hook moves from the waiting position to the eject position.

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