definiens: refer toCCF, Cedara, NWU, and Allen, collectively . referstoeach ofthem.1.6 means amachine ordevice, which includes mechanicalcomponents, logic circuitry, computing components, software and/or other specializedcomponents, that ( i)operates automatically, semi - automatically, interactively orbyremotecontrol, inwhich desired and/or measured force, torque, position, orientation, velocity, and / orangular velocity information isprocessed byacomputing source and such computing source isused toconlrolthe force, torque, position, orientation, velocity, angular velocity, and/or physicalconfiguration ofthedevice ; or(ii)senses force and/or torque information, provides tactile, forceand / or torque information totheuser, applies aforce and/or torque toamedical instrument, and/or fully orpartially constrains theposition, velocity, orientation, orangular velocity ofamedical instrument . Robotic Devices also include those types ofdevices listed inSection 2.3(b )