Patent Publication Number: US-2020281670-A1

Title: Systems and methods for autonomous robotic surgery

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to U.S. Application Ser. No. 62/815,605, filed on Mar. 8, 2019. The disclosure of the prior application is considered part of the disclosure of this application, and is incorporated in its entirety into this application. 
    
    
     TECHNICAL FIELD 
     This document describes devices, systems, and methods related to robotic surgery, such as totally autonomous robotic surgery. 
     BACKGROUND 
     A number of robotic surgery concepts have been developed. For example, non-autonomous robotic surgical systems were developed to advance traditional surgery granting a greater degree of reliability and precision compared to the fallibility and fatigability of human hands. Some of the systems employ a surgeon&#39;s console, a 3-D vision system with articulating instruments allowing six degrees of freedom of motion. Such systems attempt to allow the surgeon to sit and look into this display throughout surgery while remotely manipulating 3-D intraoperative imagery. Those systems are examples of a non-autonomous robotic surgical system. 
     Other non-autonomous image-guided robotic systems are described, for example, in U.S. Pat. Nos. 9,872,733, 9,814,535, 8,992,580, and 9,492,241. Further, some robotic-guided endoscopy are described, for example, in U.S. Pat. No. 9,125,556. Some surgical robotics for orthopedics are which are described, for example, in U.S. Pat. Nos. 8,498,744 and 9,173,716. 
     In another known example, a manually supervised robot system has been developed. One example of a manually supervised smart tissue autonomous robot is described, for example, in Translational Medicine 4 May 2016: Vol. 8, Issue 337, pp. 337ra64. The system consists of a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. The computer program for this manually supervised system generated a plan to complete simple surgical tasks on soft tissue, such as suturing and intestinal anastomosis. 
     Another example of a robotic surgical system designed for simple tasks involves intravenous needle insertion described by Richard J. Harris, which is described, for example, in U.S. Patent Application Publication No. 2012/0190981 A1. This system combines infrared images with ultrasound images to highlight veins within these images based on shape, size, and orientation. According to that writing, the robot is capable of selecting the most suitable vein for needle insertion based on various parameters including, location within the arm, size, orientation, and probability of the selection being a vein. 
     Other robotic technologies were also developed for different applications. For example, a gimbal can include a pivoted support that allows the rotation of an object about a single axis. A set of three gimbals, one mounted on the other with orthogonal pivot axes, may be used to allow an object mounted on the innermost gimbal to remain independent of the rotation of its support. Their applications include rocket engines, imaging, film and video, marine chronometer and several others. Thus far, it is believed that no applications of such technology have been concretely applied to non-autonomous or autonomous surgery, or drone-patient rescue systems. In 2014 Rubenstein et al. published a description of a large-scale robotic self-assembly system that demonstrated programmable self-assembly of complex two-dimensional shapes with a thousand-robot swarm. The authors described autonomous robots designed to operate in large groups for non-surgical applications (e.g., shape building tasks) and to cooperate through local interactions. The authors described a collective algorithm for shape formation that was apparently robust to the variability and error characteristic of large-scale decentralized systems (described, for example, in Science 15 Aug. 2014: Vol. 345, Issue 6198, pp. 795-799). Thus far, it is believed that this assembly system has not been concretely applied to macro non-autonomous or totally autonomous medical robots enabling surgical applications. Others have also attempted to develop Artificial Intelligence robots capable of self-learning, which is described, for example, in U.S. Pat. No. 8,996,429. 
     Advances in image-guided, non-robotic surgery over the past years include angiography-guided endovascular surgery for the treatment of intracerebral vascular pathologies including for example, stent placements, coil embolization, pipeline embolization devices, as described, for example, in P. K. Nelson et. al., American Journal of Neuroradiology January 2011, 32 (1) 34-40, and other strategies. 
     Additional advances in non-robotic surgery also include image-guided surgery wherein the surgeon uses tracking surgical instruments in conjunction with preoperative X-Ray/CT/MM images in order to directly guide the surgeon to the particular anatomical location in 3-dimensional space. A hand-held surgical probe is an essential component of this system providing the surgeon with a map of the designated area. During the surgical procedure, the system tracks the probe position and displays the anatomy beneath it, for example, three orthogonal image slices on a workstation-based 3D imaging system. These images are relayed to computer monitors in the operating room. The tracking is performed on images recorded minutes or hours earlier (not in real-time upon surgical execution), and such images do not compensate for tissue movement during real-time surgery. This can be supplemented by having intraoperative MRIs in the surgical suite to periodically check on the progress of surgery, but because human beings are present in the OR, these procedures are not performed during real-time MM imaging, and therefore images are delayed (again, not in real-time), thereby adding time, adding costs, and losing precision. One example of a commercial application for such a non-robotic surgery is the neuro-navigation system developed by Brain Lab Med Computer system GmbH, which is described, for example, in Stefan Vilsmeier, U.S. Pat. No. 6,351,659 B1 Feb. 26, 2002. 
     Another surgical advance in real-time imaging over the past several decades is surgical endoscopy. Conventional endoscopy solutions in practice generally lack the advantage of image-guided surgery in that they cannot see below the surface of skin skull and bones. However, once the endoscope instrument reaches its desired destination, it can provide 3-dimensional visualization, and it can be manually guided by a surgeon to reach crevices navigating around surgical corridors etc. These conventional endoscope instruments are often wired systems. The inventors here have previously described wireless endoscopic systems in, for example, U.S. Pat. Nos. 9,801,728 and 8,251,891. 
     Others have described medical delivery usages for UAVs (unmanned aerial vehicles), such as drones for delivery of medical supplies in remote places and for emergencies, as described, for example, in U.S. Pat. Nos. 9,051,043, 9,489,852, 9,573,684 and U.S. Pub. No. US 2017/0069214. It is believed that these descriptions of UAVs are not integrated with autonomous robotic surgical systems and/or portable autonomous robotic surgical units. 
     Magnetic wallpaper, such as those described, for example, in U.S. Pub. Nos. US 2009/0263634 and US2009/0110948, has been described by others in applications different from those set forth below. 
     SUMMARY 
     Some embodiments described herein include systems and methods for autonomous robotic surgery which is preferably integrated with autonomous-assisted intraoperative real-time single modality and/or multi-modality fusion imaging/electrophysiological diagnostics. Additionally the robotic surgery concepts can be integrated with autonomous-assisted intraoperative body/limb positioning, and integrated with autonomous-assisted land and unmanned aerial vehicular patient transportation. 
     The technologies described herein include autonomous surgical systems that incorporate and integrate real-time imagery/diagnostics with autonomous smart robotic systems utilizing numerous or infinite degrees of motion, along with smart patient positioning, and intra-hospital, and extra- to intra-hospital autonomous transport systems. 
     Some embodiments described herein include totally autonomous robotic surgical (TARS) systems, which can be configured to execute complex and delicate surgical procedures with precision, including but not limited to tumor removal from the brain, from the spinal cord, and from other body cavities and parts. 
     In some implementations described here, the system can advantageously incorporate and integrate a combination of one, some or all of the several features. For example, the system can include one or more versions of stationery, and ambulatory non-self-configuring, and self-configuring intelligent robots with multiple arms and platforms which can navigate 3-dimensional space with infinite degrees of freedom. In addition or alternatively, the system can include one or more versions of real-time image generation including but not limited to two- or three-dimensional MM, CAT, endoscopy, angiography, ultrasonography, fluoroscopy, Positron Emission Tomography, Single Photon Emission Computed Tomography (SPECT), and real-time electrophysiological diagnostics/monitoring including but not limited to electroencephalography (EEG), Somatosensory evoked potentials (SSEPs), Motor evoked potentials (VEPs), and visual and auditory evoked potentials. These autonomous diagnostic modalities are operative throughout the duration of the entire surgery and function to precisely localize the operative target, and monitor in real-time the performance of the surgical task from start to finish. In addition or alternatively, the system can include a seamless integration of real-time imagery/diagnostics with totally autonomous robotic systems. In addition or alternatively, the system can include one or more versions of intelligent/autonomous operating room tables which can selectively position the patient&#39;s body and or limbs. In addition or alternatively, the system can include one or more versions of self-driving gurneys/carriages coupled to driverless autonomous self-driving land vehicles and/or one or more versions of unmanned aerial vehicles configured to provide transport systems (which can function independently or can be integrated with specifically designed complimentary hospital/clinic infrastructure including physical and electromagnetic rail-guidance systems). In addition or alternatively, the system can include one or more versions of drones engaging in multiple strategies of patient rescue, transportation and delivery to health care facilities. 
     Particular embodiments described herein include a robotic surgical system. The system includes one or more surgical robots, a plurality of arms movably coupled to the one or more surgical robots and configured to navigate three dimensional space, and one or more real-time imaging devices disposed in one or more of the plurality of arms and configured to provide real-time visual monitoring of the one or more surgical robots. 
     In some implementations, the system can optionally include one or more of the following features. The one or more surgical robots may be configured to be autonomously operated. The one or more surgical robots may be configured to provide autonomous robotic surgery. The one or more surgical robots may include integrated delta robots. The plurality of arms may include C-arms. The one or more surgical robots may include a base being autonomously movable and configured to operatively couple the plurality of arms. The plurality of arms may be coupled in humanoid form and including autonomous elements. The plurality of arms may be configured as a robotic articulated linkage arms array. The plurality of arms may include cylinder arms. The plurality of arms may include truss arms truss-arms. The plurality of arms may include arms movably coupled with an overhead support and movable along a surface of the overhead support above a patient. The plurality of arms may include a first arm assembly including autonomous elements coupled in humanoid form and supported by an autonomous movable base. The plurality of arms may further include a second arm assembly movably coupled with an overhead support and movable along a surface of the overhead support above a patient. The first arm assembly and the second arm assembly may operate to perform different phases of an operative preparation and procedure. The plurality of arms may include a gimbal-telescoping arm (GTA). The system may further include an autonomous limb positioner (ALP) including a robotic arm with a planar kinematic chain with linkages and configured to position an involuntary patient or limbs. The system may further include a plurality of autonomous robotic units (ARUs) and one or more double ball joints (DBJs). Each ARU may include a body and electronics contained in the body and configured to perform desired functionality. Each DBJ may be configured to movably interlock with an end of one ARU and an end of another ARU. The system may further include one or more operating room tables configured to be autonomously movable and selectively position a patient&#39;s body or limbs thereon. The system may further include one or more self-driving gurneys to provide transport for the patient. The system may further include one or more carriages coupled to driverless autonomous self-driving vehicles to provide transport for the patient. The system may further include one or more person rescue drones for transportation and delivery to a health care facility. The one or more person rescue drones may be configured to engage in multiple autonomous movements proximate to a targeted person. The system may further include patient carts can be automatically driven either independently or with a mobile table mover. 
     The devices, system, and techniques described herein may provide one or more of the following advantages. Some embodiments described herein include totally autonomous surgical systems which surpasses, in accuracy and safety, traditional non-autonomous systems that employ image-guided surgery (using, for example, MRI, CAT, or manual endoscopic imagery). For example, the systems described herein can achieve the incorporation and integration of real-time imagery/diagnostics with an autonomous smart robotic system utilizing numerous or infinite degrees of motion, along with smart patient positioning, and intra-hospital, and extra- to intra-hospital autonomous transport systems, thereby providing safe and precise autonomous surgery and patient surgery. 
     Furthermore, some embodiments described herein may incorporate smart learning programs into these systems to further enhance robotic independence. Also, some embodiments may employ driverless smart vehicles including gurneys, hospital beds ambulances and aerial drones for supplies, and aerial drones for patient rescue and transport, to provide benefits in terms of accuracy, safety, and efficiency for healthcare in general, and to surgery in particular. 
     Further, some embodiments of the systems can provide applications for increasing the safety and accuracy of hospital in-patient surgery and clinic out-patient surgery. Moreover, some embodiments of the systems can provide increased safety and accuracy for surgical applications in rural areas and in others locations where there may be a lack of trained human surgeons. In addition, some embodiments of the systems can be particularly beneficial in a military zone, aerospace, and surgical procedures performed during lengthy manned space flights, and on space stations or other colonized locations outside the reach of traditional medical hospitals. 
     The details of one or more implementations are set forth in the accompanying drawings and the description below. Other features and advantages will be apparent from the description and drawings, and from the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  illustrate an example Totally Autonomous Robotic Surgery (TARS) system. 
         FIG. 1B  schematically illustrates a subsystem for integrating MRIs with other electronic devices. 
         FIGS. 2A-B  illustrate perspective views of another example TARS. 
         FIGS. 3A-B  illustrates example robots depicted in  FIGS. 2A-B  performing simultaneous open surgery and closed imaging/radiation and other multiple functions. 
         FIG. 4A-F  illustrate example robots depicted in  FIGS. 2A-B  positioning themselves in multiple configurations. 
         FIGS. 5A-E  illustrate perspective views of another example TARS system. 
         FIGS. 6A-B  illustrate perspective views of another example TARS system. 
         FIG. 7  illustrates an example linking arm of the system of  FIGS. 6A-B , modified to perform simultaneous or sequential electrophysiological diagnostics. 
         FIG. 8  illustrates an alternative truss-arm example for robotic cylinder arms in the embodiment depicted in  FIGS. 5A-E  or the embodiment depicted in  FIGS. 6A-B . 
         FIG. 9  illustrates perspective views of system modularity and patient intake using the embodiment depicted in  FIGS. 6A-B . 
         FIG. 10  illustrates additional perspective views of system modularity and patient intake using an example carriage mover of  FIG. 9 . 
         FIGS. 11A-F  illustrate perspective views of another example TARS system. 
         FIGS. 12A-B  illustrates the system depicted in  FIGS. 11A-F  using dynamic positioning to rotate around a patient&#39;s head. 
         FIGS. 13A-E  illustrates perspective views of another example TARS system employing the system of  FIGS. 4A-F  and the system of  FIGS. 11A-F  for performing different phases of an operative preparation and procedure. 
         FIG. 13F-H  illustrate example mobile bases. 
         FIGS. 13I-K  illustrate an example instrument support rail system for removably holstering and securing surgical instruments. 
         FIG. 14  illustrates a perspective view of another example TARS system including a Gimble-Telescoping arm (GTA). 
         FIGS. 15A-A ,  15 A-B, and  15 B illustrate perspective views of another example TARS system employing the system of  FIG. 14  with the system of  FIGS. 11A-F . 
         FIGS. 16A-C  illustrate perspective views of an example autonomous limb positioner (ALP), which is configured for use with various embodiments of the TARS system described herein. 
         FIGS. 17A-C  illustrate perspective views of another example autonomous limb positioner (ALP) utilizing voxelated sensor/actuator components. 
         FIGS. 18A-C  illustrate perspective views of an example Multi-Functional Compaction Arch (MFCA). 
         FIGS. 19A-E  illustrates the example MFCA of  FIGS. 18A-C  autonomously positioning itself over a patient in a variety of stages. 
         FIGS. 20A-H  illustrate perspective views of an example Unfoldable Endoscopic Screen (UES). 
         FIGS. 21A-F  illustrate perspective views of other configurations of the UES of  FIGS. 20A-H . 
         FIGS. 22A-F  illustrate perspective views of another example Unfoldable Endoscopic Screen (UES). 
         FIGS. 23A-B  illustrate perspective views of another example Unfoldable Endoscopic Screen (UES). 
         FIGS. 24A-D  illustrates perspective views of another example TARS system including a Self-Organizing Modular Robot (SOMR). 
         FIG. 25  illustrates a cross-sectional view of an Autonomous Robotic Unit (ARU) configured for use with the TARS system of  FIGS. 24A-D . 
         FIGS. 26A-B  illustrate perspective views of an example double ball joint (DBJ) configured for used with components of the TARS system of  FIGS. 24A-D . 
         FIGS. 27A-E  illustrate partial cross-sectional views of a horizontal DBJ of  FIGS. 26A-B  and the ARU of  FIG. 25 . 
         FIGS. 28A-B  illustrate perspective and sectional views of an example T-jointed embodiment of an example ARU. 
         FIGS. 29A  and B illustrate perspective views of an example wing-shaped ARUs capable of assisting non-ground locomotion or other propulsive mechanisms. 
         FIGS. 30A-F  illustrate perspective views of examples of ARUs in variously complex re-configurable states (with the DBJs removed from view for illustrative purposes). 
         FIGS. 31A-E  illustrate perspective views of examples of Humanoid ARUs performing a variety of tasks. 
         FIG. 32  illustrates a component diagram of a self-aggregation and learning system for a modular robotic system. 
         FIG. 33  illustrates a flow chart of an example process for an Artificial Intelligent (AI) system for diagnosis and surgical procedures. 
         FIG. 34  illustrates a flow chart of an example process for an AI Robotic-based Diagnosis in accordance with particular embodiments of the TARS system described herein. 
         FIG. 35  illustrates a schematic of an example system for AI/Robotic diagnosis. 
         FIG. 36  illustrates a schematic an example system for an AI/Robotic algorithm. 
         FIG. 37  illustrates a diagram of an example of diagnostic elements with AI and human interaction. 
         FIGS. 38A-B  illustrate diagrams of example AI communication structures over distances. 
         FIG. 39  illustrates perspective views of an example Automated Patient Delivery System (APDS) utilizing a transport carriage, in accordance with particular embodiments of the TARS system described herein. 
         FIG. 40  illustrates a perspective view of an example system of UAVs configured for use in a hospital setting that can aerially deliver patients and or equipment to hospitals for treatment and surgery, in accordance with particular embodiments of the TARS system described herein. 
         FIG. 41  illustrates a cross-sectional view of the system depicted in  FIG. 40 . 
         FIG. 42  illustrates perspective views of an example UAV latching on to the guidance rail of  FIG. 41 . 
         FIG. 43  illustrates perspective views of an example UAV of  FIG. 41  in a process of transferring from its safer travel lanes to the people/equipment lanes below. 
         FIG. 44  illustrates a perspective view of an example UAV operating parallel to existing power with contraptions, for example, for purposes of charging or powering the UAV (wirelessly or wired). 
         FIG. 45  illustrates a perspective view of an example hospital corridor having both UAV and human traffic, in which the UAVs are engaged with multi-purpose guidance rails. 
         FIGS. 46A-B  illustrate perspective views of an example Hybrid Drone Electromagnetic Guidance Rail/Propulsion System integrated into a hospital corridor. 
         FIG. 47  illustrates perspective views of example drone traffic and collision avoidance of the Hybrid Drone Guidance and self-propulsion system. 
         FIG. 48  illustrates perspective views of an example indoor-rail-based drone system as used in a hospital, for example, with wall rails for Accessory conveyance unit (ACU) guidance. 
         FIG. 49  illustrates perspective views of an alternative embodiment of ACUs with rail guidance and bypass capacities. 
         FIG. 50  illustrates perspective views of example rail branching and rejoining for the rail guidance depicted in  FIG. 49 . 
         FIG. 51  illustrates perspective views of an example of an ACU entering a hospital room, and traversing an example U-shaped rail to access individual patient or doctor necessities on both sides of the room. 
         FIG. 52  illustrates additional perspective views of the example ACU of  FIG. 51 . 
         FIG. 53  illustrates perspective views of an example of a UAV positioned along the room&#39;s rail of  FIG. 51  and then reorienting itself to interact with that area. 
         FIG. 54  illustrates perspective views of an example mechanism for first and second ACUs using a room bypass track. 
         FIG. 55  illustrates additional perspective views of the second ACU of  FIG. 54  following the opposing non-bypass route and entering the patient room. 
         FIG. 56  illustrates perspective views of an example ACU in a process of altering rail-clasper orientation in preparation of alternating tracks. 
         FIG. 57  illustrates perspective views of an example of an ACU-to-ACU handoff of cargo. 
         FIG. 58  illustrates perspective views of the enlarged details of an ACU in clasping engagement with cargo. 
         FIGS. 59A-B  illustrate perspective views of example magnetic wallpaper (for indoor/outdoor usage) for guiding ACUs and other drone devices along a path. 
         FIG. 60  illustrates a perspective view of another example aerial drone carrier with rail guidance for use, for example, in a hospital or medical environment. 
         FIG. 61  illustrates another perspective view of the aerial drone carrier of  FIG. 60 . 
         FIGS. 62A-B  illustrate perspective views of an example portable drone carrier embodiment for use, for example, in a hospital or medical environment. 
         FIGS. 63A-C  illustrate perspective views of example child satellite drones of  FIGS. 62A-B . 
         FIG. 64  illustrates perspective views of an example aerial drone carrier with foldable wings. 
         FIGS. 65A-C  illustrate perspective views of an alternative example for a foldable wing of an aerial drone carrier. 
         FIGS. 66A-C  illustrate perspective views of first and second drone vehicle embodiments with “nestled” wings, which can be compacted to above or below the vehicle body. 
         FIGS. 67A-D  illustrate perspective views of an example drone aircraft embodiment with deformable wings for use, for example, in medical delivery applications. 
         FIG. 68  illustrates perspective views of an example small vehicle drone with an expandable low-cost glider for use, for example, in medical delivery applications. 
         FIGS. 69A-C  illustrate perspective views of an example pole/wire guided drone embodiment for use, for example, in medical delivery applications. 
         FIG. 70  illustrates a perspective view of an example land ambulette vehicle, which may optionally be connected in tandem style (e.g., train), for use, for example, in medical delivery applications. 
         FIGS. 71A-D  illustrate perspective views of an example Hybrid flight/train vehicle that can be assisted by tubular propulsion for use, for example, in medical delivery applications. 
         FIGS. 72A-B  illustrate perspective views of an example combined land-air vehicle (drone) embodiment for use, for example, in medical delivery applications. 
         FIG. 73  illustrates perspective views of an example winged drone embodiment with extendable arms for engaging in person rescue and transport. 
         FIG. 74  illustrates additional perspective views of the example of the winged drone embodiment with extendable arms of  FIG. 73 . 
         FIG. 75  illustrates additional perspective views of the example of the winged drone embodiment with extendable arms of  FIG. 73 . 
         FIG. 76  illustrates perspective views of an example winged drone embodiment with back/seat support for engaging in person rescue and transport. 
         FIG. 77  illustrates perspective views of an example winged drone embodiment using a robotic flexible buoy for engaging in patient rescue and transport. 
         FIGS. 78A-C  illustrate perspective views of an alternative robotic flexible buoy with back support mechanisms. 
         FIGS. 79A-C  illustrate perspective views of an example standing personal conveyer drone for use, for example, in medical delivery applications. 
         FIGS. 80A-C  illustrate perspective views of an example electromechanical gimbal drone embodiment that can be used for steering/navigation and contact/strap with passenger, for example, in medical delivery applications. 
         FIG. 81  illustrates perspective views of an example assisted/catapult vertical drone launch, which may include multiple stages that are returnable. 
         FIG. 82  illustrates perspective views of an example vertical or horizontal launcher with fixed stages acting as a catapult to a projectile. 
         FIGS. 83A-B  illustrate an example robotic system for controlling and placing an instrument. 
         FIG. 84  is a block diagram of computing devices that may be used to implement the systems and methods described in this document, as either a client or as a server or plurality of servers. 
     
    
    
     DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS 
     In general, the technologies described herein relate to robotic surgical systems and methods, and in some implementations, totally autonomous robotic surgery integrated with autonomous-assisted intraoperative real-time single modality and/or multi-modality fusion imaging/electrophysiological diagnostics, integrated with autonomous-assisted intraoperative body/limb positioning, and/or integrated with autonomous-assisted land or unmanned aerial vehicular transport systems (e.g., delivery drone systems) for patient delivery and rescue, equipment and supply delivery, etc. 
     Some embodiments of totally autonomous robotic surgery systems utilize artificial intelligence (AI). For example, the system can employ one or more of: Delta Robots, Mobile Robotic Doctors, Ceiling-Canopy mounted Robotic Accordioned Arms and Gimble-Telescoping arms, Robotic articulated linkage-arms arrays, non-compactable and compactable multi-functional interaction arches, autonomous limb positioners, autonomous electrophysiological diagnostics, autonomous unfoldable screens, Self-Organizing Modular Robots with self-organizing autonomous robotic units, automated gurneys/carts/undercarriage movers, automated vehicular land patient delivery systems and unmanned aerial vehicular delivery systems integrated with hospital guidance rails/granulated magnetic wall paper, and accompanying infrastructure. Further, some embodiments of the systems include patient rescue and delivery-drone systems employing various launching and rescue strategies. 
     Referring to  FIGS. 1-31 , example autonomous robotic surgery systems are described. Some example systems include multiple integrated delta robots (IDRs). The IDRs can include multiple C-arms. Other example systems include other types of arms, such gimbal-type arms, telescoping arms, etc. 
       FIG. 1A  schematically illustrate an example operation of a Totally Autonomous Robotic Surgery (TARS) system  100 . The system  100  includes one or more surgical robots  102  and one or more image scan devices  104  combined with the surgical robots  102  in a surgical environment. In this example, the surgical robots  102  are configured as parallel robots that use multiple computer-controlled serial chains to support an end effector arranged at the end and designed to interact with a patient or other objects in the environment. The surgical robots  102  can attach and automatically operate one or more surgical instruments, such as graspers, clamps, occluders, needle drivers, retractors, distractors, positioners, stereotactic devices, mechanical cutters (e.g., scalpels, lancets, drill bits, rasps, trocars, Ligasure, Harmonic scalpel, surgical scissors, rongeurs etc.), dilators, specula, suction tips, tubes, sealing devices (e.g., surgical staplers), irrigation and injection needles, tips and tubes, powered devices (e.g., drills, cranial drills and dermatomes), scopes and probes (e.g., fiber optic endoscopes and tactile probes), carriers and appliers, ultrasound tissue disruptors, cryotomes and cutting laser guides, measurement devices (e.g., rulers and calipers), and other suitable devices. 
     In some implementations, the surgical robots  102  include delta robots that include multiple arms (e.g., three arms) connected to universal joints at the base and configured to maintain the orientation of the end effector based on parallelograms in the arms. In other implementations, the surgical robots  102  can include other types of robots with multiple arms. 
     The image scan devices  104  are configured to scan images of a patient. For example, the image scan devices  104  include C-arm mobile machines. C-arms can be fluoroscopy machines (also referred to as image intensifiers), which may use an X-ray machine with an image intensifier. C-arms can be used to view live images to enable image-guide surgery. C-arms can be used either as a fixed piece of equipment in a dedicated screening room or as mobile equipment for use in an operating theatre. A mobile fluoroscopy unit can include two units, the X-ray generator and image detector (image intensifier) on a moveable C-arm, and a separate workstation unit used to store and manipulate the images. The patient is positioned between the two arms, for example on a radiolucent bed. Fixed systems may have a C-arm mounted to a ceiling gantry, with a separate control area. Most systems arranged as C-arms can have the image intensifier positioned above or below the patient (with the x-ray tube below or above respectively), although some static in room systems may have fixed orientations. In other implementations, smaller mobile C-arms can be available, primarily used to image extremities, for example for minor hand surgery. 
     In the illustrated example, the image scan devices  104  include two C-arms, such as a rostral C-arm  104 A and a caudal C-arm  104 B. Further, two surgical robots  102 A and  102 B are provided which are operatively coupled to the rostral and caudal C-arms  104 A and  104 B, respectively. For example, the C-arms  104  can provide two additional dimensions of control, such as the vertical axis along the bed and the cylindrical position surrounding the bed. 
     The C-arms  104  can be used for a multiplicity of designated functions including positioning and/or any designated implantable and programmable imaging modality. Each C arm can have separate integrated imaging modalities including but not limited to two- or three-dimensional MRI, CAT, EMG, endoscopy, angiography, ultrasonography, fluoroscopy, Positron Emission Tomography, Single Photon Emission Computed Tomography (SPECT). Each robot  102  (e.g., delta robot) can have different designated surgical functions, such as cutting, cautery, sewing, clipping etc. and/or stereotactic radiation/radio-surgical/ultrasonographic functions and many other modalities such as electrophysiological diagnostics including but not limited to Somatosensory Evoked Potential (SSEPs), Motor evoked potentials (MEPs), Visual and/or Auditory evoke potentials. Any number of C-arms and/or surgical robots can be utilized sequentially or simultaneously. 
     In some implementations, the surgical robots  102  (e.g., delta robots) can automatically move along the C-arms  104  while the C-arms can be positioned in different locations with respect to the bed or the patient thereon. The surgical robots  102  can be programmed to autonomously determine its positions and postures and control the end effector (e.g., surgical instruments attached thereto) as necessary to perform desired operations. The C-arms  104  can employ one or more various image technologies to obtain live images as the C-arms are at different locations with respect to the patient. The C-arms can transmit such image data to the surgical robots  102  in real time. The surgical robots  102  can receive the image data in real time and automatically determine any necessary operations based at least in part on the image data, and autonomously perform such operations with respect to the patient. The C-arms  104  can continuously feed live image data to the surgical robots  102 . With such constant image feedback, the surgical robots  102  can automatically adjust their movement along the C-arms, their postures/positions/orientations (including the position and orientation of the end effector mounting one or more surgical instruments), and/or their performance of surgical and other operations without manual intervention. 
     Referring still to  FIG. 1A , in an example operation, rostral and caudal C-arms  104  coupled with respective surgical robots  102  are in a contracted starting position (Operation [ 1 ]). The patient is illustrated on an operating room table. In this scenario, the C-arms have freedom along the bed/patient axis. The surgical robots have further freedom along a spherical coordinate system centered on its relative origin which is in turn bounded in this case to the semi-cylindrical coordinates of the c-arms. 
     The c-arms can be repositioned by moving to desired position (Operation [ 2 ]). The c-arms can be further repositioned and the surgical robots can be in action (Operation [ 3 ]). Both robot top-planes can be repositioned in the c-arms. The rostrally located robot has tool-end contracted. The caudal robot has the tool end in an opening position. 
     The rostral surgical robot operates to position the opened and elongated tool-end for action on patient (Operation [ 4 ]). The instrument attached to the robot (e.g., delta tool/sensor/imager) can interact with the patient. In the meantime, the caudal surgical robot operates to compact in preparation for positioning over patient (Operation [ 5 ]). 
     The system  100  further includes one or more controllers  108  provided in desired locations and configured to permit for the system  100  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  108  can run one or more software programs that are executed to cause the system  100  (or the components thereof) to perform various autonomous operations. In the illustrated example, the controllers  108  are provided in the C-arms. Other components in the system can include the controllers  108  in other implementations. 
     By way of example, the system  100  (as well as other embodiments of the systems described herein) can be used to perform surgery autonomously with real time images (e.g. MRI) as opposed to non-autonomous surgery performed by human practitioners (e.g., surgeons) in conjunction with intra-operative MM. During the performance of intra-operative MRI, human practitioners should temporarily exit the operating room, hence there is a lag time between performing the MRI, obtaining the necessary imaging, and the execution of the surgical task during which there can be anatomical and fluid shifts rendering the imagery imprecise. The system  100  (as well as other embodiments of the system described herein) can provide robotic surgery that enables surgical operations with real time visual and/or physiological input (e.g. Pet/CT scan, MRI, etc.). For example, the illustrated C-arms can represent a construct of imagery which is constantly conveyed electronically computer to the end-effector robotic arms which are programmed algorithmically to perform particular surgeries based on visio-physiologic constant and real-time feedback. The C-Arms and the robot(s) function as a combined autonomous unit. For example the unit can be programmed to excise a tumor. The C-arms housing imagery units (e.g., MRI, CT, angiography etc.) can relay the constant real time information to the end effective organ of robot, which will incise, excise, coagulate, and execute other various operations from beginning to end based on an internalized preprogrammed algorithm written by a surgical team. In addition, the delta robots can swing about angularly around the C-arm with infinite degrees of motion, preprogrammed based on imagery and program written for them. 
       FIG. 1B  is a block diagram  110  for illustrating an example TARS system  100  configured to integrate magnetic instrumentation (e.g., MRIs) with other electronic device (e.g., other surgical tools) so that the magnetic instrumentation can be used together with other electronic devices with reduced or no interruption. In the diagram, “Logical NOT” indicates reversal of an input value (e.g., yes=no and vice versa). In one embodiment of this scheme, electronic devices are disabled while magnetic equipment (e.g., MRI) is operational and vice versa, thereby reducing the likelihood of an error due to magnetic effects on magnetically sensitive tools. In another embodiment of this scheme, electronic or magnetically-sensitive devices are all-together reduced, eliminated or minimized. For example, magnetically impervious metals, or pneumatic systems, can be used to assume automated roles. In addition or alternatively, surface waves, acoustics or ultra-acoustics or line of site lasers can be used for communication. 
     Referring to  FIGS. 2-4 , an exemplary embodiment of the TARS system  100  is further described. As described above, the system  100  can include one or more surgical robots  102  which can be movably coupled to respective movable image scan devices  104 .  FIG. 2A  schematically illustrates that two surgical robots  102  perform simultaneous operations and interactions with a patient on a bed.  FIG. 2B  schematically illustrates the surgical robots  102  are in retracted positions from the patient. For example, the surgical robots  102  can be in retracted positions for preparation of interaction with a patient prior to operation or between operations. 
     In some implementations, the image scan devices  104  (e.g., C-arms) can be rigid in shape (e.g., configured in a single shape), such as a semi-circle as illustrated in  FIGS. 2A-B . In other implementations, the image scan devices can be flexible in shape so that, for example, they can be altered from a semi-circle geometry to another shape. 
     The surgical robots  102  can include any type of modular element or elements not illustrated here. For example, elements or actions that may be conceived to be undertaken by the arch themselves can be the repositioning of patient limbs/anatomy such as the limb positioner shown in  FIGS. 16 and 17  below. 
     The elements in the system  100 , including the surgical robots  102  combined with the image scan devices  104 , can be used to hold and/or position various instruments, such as imaging devices, sensors, surgical instruments, displays, respiration or suction tubing, to place draping, insert IV&#39;s and inject angiography dye and perform endovascular procedures, or to house non-robotic surgical instruments for use by surgical staff. The elements in the system  100  can also be used as automatic driving (steering/moving) elements for the patient-cart/gurney (e.g., those illustrated in  FIGS. 9-10 ). In addition, they can steer themselves to deliver items or itself to a sterilization compartment. 
       FIGS. 3A-B  schematically illustrate the surgical robots  102  of  FIGS. 2A-B  performing multiple operations simultaneously, such as simultaneous open surgery and closed imaging/radiation. For example, two surgical robots  102 A and  102 B perform simultaneous actions including open surgery with an open incision illustrated beneath the extended action tool of the rostral surgical robot  102 A and a closed surgical, radiation or imaging function of the caudal surgical robot  102 B. The surgical robots  102  include surgical instrument ends  114  that attach instruments  112  for desired functionality. Illustrated are ample incision accomplished by robotically placed instruments  112 , surgical instrument ends  114 , and c-arms  104  (horizontal positioning arches). 
       FIGS. 4A-F  schematically illustrate an example of the surgical robot  102  of  FIGS. 2A-B  in different positions. In some implementations, the surgical robot  102  is configured as a delta robot. As described herein, the surgical robot  102  can automatically change its positions (e.g., postures, orientations, etc.) in a plurality of configurations. 
     The surgical robot  102  can include parallel kinematic linkages  120 . Adjacent linkages  120  can be pivotally connected and hinge relative to one another to permit for the surgical robot  102  to be in different configurations. The dimensions, geometry, and topology of the surgical robot  102  (and the linkages  120  thereof) can be optimized for it to be used as a precision instrument. For example, the arms (the linkages  120 ) of the surgical robot  102  can be controlled to cooperate with each other. In some implementations, the surgical robot  102  can be controlled in a closed control loop. An example of such a closed control loop is described in Basso,  Designing Control Loops for Linear and Switching Power Supplies: A Tutorial Guide . Artech House. ISBN 978-1608075577, 2012, the disclosure of which is incorporated herein by reference. Other control schemes can be used for automatic operation of the surgical robot  102 . In some implementations, the arms of the surgical robot  102  can perform multiple functions, such as dual functions as a sensor and positioner, an example of which is described in  Machine Devices and Components Illustrated Sourcebook  1 st  ( first )  edition  by Robert Parmley, McGraw-Hill Professional (2004), the disclosure of which is incorporated herein by reference. In addition, the arms of the surgical robot  102  can dually function as a sensor and positioner using a highly sensitive soft-sensor using an array of varying length, yet with miniscule spring-constant for organ or gross anatomy. 
     Referring to  FIG. 4A , the surgical robot  102  is in a first elongation configuration and normal to a component (e.g., the image scan device  104 ) to which the surgical robot  102  is coupled. The surgical robot  102  includes a top end  122  coupled (e.g., jointed) to a component, such as the image scan device  104  (e.g., a C-arm). The surgical robot  102  includes a bottom end  124  opposite to the top end  122  and configured as an effector end that attaches a surgical instrument. The linkages  120  are provided between the top end  122  and the bottom end  124 . For example, the linkages  120  include lower linkages  120 A and upper linkages  120 B pivotally connected to the lower linkages  120 A. The lower linkages  120 A can be operatively coupled to provide the bottom end  124 . The upper linkages  120 B can be operatively coupled to provide the top end  122 . In other example, the linkages  120  can have more than two levels (upper and lower) of linkages pivotally connected to one another. In some implementations, the linkages  120  can include one or more sensors and/or tools. For example, the linkages  120  can embed one or more sensors and/or tools therewithin, or mount such sensors and/or tools at the exterior (e.g., at their respective tips, or at the common tip (e.g., the bottom end  124 )). 
     Referring to  FIG. 4B , the surgical robot  102  is in an angled and length-compacted configuration relative to the component that couples the surgical robot  102 . For example, the upper linkages  120 B are pivoted relative to the lower linkages  120 A and collapsed toward the lower linkages  120 A so that the surgical robot  102  is in a compact profile. 
     Referring to  FIG. 4C , the surgical robot  102  is in an angle and outstretched configuration. For example, the lower linkages  120 A are pivoted relative to the upper linkages  120 B and moved away from the upper linkages  120 B so that the surgical robot  102  is in a stretched position. 
     Referring to  FIG. 4D , the surgical robot  102  is in a slightly compacted configuration where it is normal to the plane of the top end  122 . Referring to  FIG. 4E , the surgical robot  102  is in a slightly elongated configuration where the lower linkages  102 A are stretched out relative to the upper linkages  102 B. Referring to  FIG. 4F , the surgical robot  102  is in a further elongated configuration where the lower linkages  102 A are further stretched out relative to the upper linkages  120 B. 
     The delta robots described herein can be in various configurations. In some implementations, a delta robot can include a parallel robot having multiple kinematic chains connecting the base with the end-effector. Such a robot may use parallelograms which restrict the movement of the end platform to translation movements in the X, Y or Z dimensions (three degrees of movement). Actuation of input links will move the triangular platform along the X, Y or Z direction. Actuation can be done with linear or rotational actuators, with or without direct drive. The moving parts of the delta robot may often have a small inertia. A few examples of delta robots are described, for example, in U.S. Pat. No. 4,976,582, the disclosure of which is incorporated herein by reference. The delta robot in this patent has four degrees of movement, three translations and one rotation and thus can manipulate small objects at a very high speed. Other example delta robots are miniaturized with piezoelectric actuators to 0.43 grams, as described, for example, in The milliDelta: A high-bandwidth, high-precision, millimeter-scale Delta robot, McClintock, et. al., Science Robotics 17 Jan. 2018: Vol. 3, Issue 14, eaar3018, the disclosure of which is incorporated herein by reference. 
       FIGS. 5A-E  schematically illustrate another example operation of a TARS system  200 . In this example, the TARS system  200  is configured as a Mobile Robotic Doctor (MRD) system that assumes different positions and engages in a variety of tasks. The system  200  can operate as an autonomous or semi-autonomous robot. In the illustrated example, the system  200  is configured in humanoid form and include a central root or base  202  and multiple (e.g., two) arms  204  extending from the base  202 . The central base  202  is configured to automatically move on the ground. For example, the base  202  can stay at a rest location (e.g., a corner in the room) and automatically move toward a patient (or a bed supporting the patient). In some implementations, the arm  204  can include a plurality of autonomous elements  210  that are operatively coupled and pivotable to provide multiple degrees of freedom in operation. In the illustrated example, each arm  204  includes the autonomous elements  210  that are linearly jointed and pivotable so that the arm  204  can be in numerous configurations for different operations. 
     The autonomous element  210  can be configured in various shapes, such as cylindrical shape as illustrated. The autonomous element  210  can be configured as a self-organizing module as described with reference to  FIGS. 24-31 . 
     Each arm  204  has a distal end  220  configured to attach one or more instruments  230 . Examples of the instrument  230  can include various surgical instruments, image scan devices (e.g., Mill, CAT, EMG, endoscopy, angiography, ultrasonography, fluoroscopy, Positron Emission Tomography, Single Photon Emission Computed Tomography (SPECT)), surgical robots (e.g., delta robots), and other suitable instruments that are controllable with the system  200 . 
     The multiple arms  204  can cooperate and communicate with each other in a closed loop control scheme. For example, a first arm  204 A mounts an image scan device (e.g., MM) at its distal end  220 , and a second arm  204 B mounts a surgical robot (e.g., a delta robot) at its distal end  220 . The first arm  204 A can obtain live images using the image scan device, and transmit image data to the second arm  204 B in real time. The second arm  204 B can constantly receive the image data and perform desired operations with the surgical robot based on the image data feedback. 
     Although the system  200  is primarily described with two arms rooted from a central root, it is understood that the system  200  can be configured or reconfigured topologically/geometrically to be any conceivable form with generic segments, such as generalized as tall cylinders. 
     By way of example, the system  200  provides a delta robotic effector surgical end organ that is attached to a multi jointed robot enabling additional degrees of freedom in 3-dimensional space. The mobile arms may be cylindrical but can assume any desired shape. The joint movement is preprogrammed with respect to its multiple degrees of freedom including flexion, extension and rotation. This embodiment can be configured to be mobile with a planar mobilization component. This embodiment also has real-time feedback of imagery. Single or multiple imaging capabilities can be stored with the cylinders (e.g. MM, CT, etc.) relayed to the end organ delta robots which perform the preprogrammed surgery. 
     Referring to  FIG. 5A , the system  200  is configured to be in a standing position and provide one arm  204  fitted with a precision delta robot manipulator hand. The base  202  is equipped with a planar mobilization component. Referring to  FIG. 5B , the system  200  approaches the patient on an operating table. Referring to  FIG. 5C , the system  200  is about to operate on the patient. Referring to  FIG. 5D , the system  200  performs medical diagnosis and/or procedure identical or similar to procedures performed by the system  100  above. For example, one arm  204  is equipped with the delta hand manipulator whose function are similar or identical to those of the system  100 . The other arm  204  can perform any of numerous imaging functions, for example real time imaging as those in the system  100  or other simultaneous surgical diagnostic procedures.  FIG. 5E  illustrates an enlarged posterior view of the system  200 . In some implementations, the arms of the system  200  can be configured as generic reconfigurable arms that include cylindrical jointed elements. The base  202  of the system  200  can include a planar mobilization component allowing autonomous programmable movement. 
     The system  200  further includes one or more controllers  208  provided in desired locations and configured to permit for the system  200  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  208  can run one or more software programs that are executed to cause the system  200  (or the components thereof) to perform various autonomous operations. In the illustrated example, the controller  208  is provided in the arm  204 . The controllers  208  can be arranged in other components in the system. 
     Referring to  FIGS. 6-9 , yet another example TARS system  300  is illustrated.  FIGS. 6A-B  schematically illustrate an example operation of the TARS system  300 . The system  300  is configured as a robotic articulated linkage arms array (RALAA) system. The system  300  can be in a static state ( FIG. 6A ) or in an action/transition state ( FIG. 6B ). 
     The system  300  includes a plurality of arm assemblies  302  arranged in series. In the illustrated example, the system  300  include a series of 8 arm assemblies in a static linear array adjacent to a patient on an operating bed/rest platform. Each arm assembly  302  can include a plurality of linkages that are linearly coupled and pivotable to different configurations. 
     The system  300  can also include one or more guidance rails  304  configured to support the arm assemblies  302  and/or one or more arches  306 . The arch  306  on the guidance rails  304  can assist arm stability, can aid in mobilizing heavier accessories, can contain other equipment such as imaging, delta-robot etc. and can act as guidance for other secondary or supplementary equipment. 
     The system  300  operates to interact with a patient. The arms  302  of the system  300  can be movable or stationary for different purposes. The arms  302  can be configured to be used for autonomous information gathering. The system  300  can include additional components which can be included in or attached to the arch  306  and the arms  302 . 
     In some implementations, each arm  302  include a plurality of linkages which are automated. Alternatively, the linkages of the arm  302  can be semi-automated (“cooperative”) such that the linkages can operate with limited human input or supervision. Alternatively, the linkages of the arm  302  can be predominantly controlled by human operators. 
     The system  300  can be operated in multiple modes. For example, the system  300  can be operated in a fully automated mode by employing, for example, artificial intelligent (AI), and/or cloud/knowledge base that is on-premise, remote, or a combination thereof. The system  300  can further be operated in a partially automatic mode where the system  300  is controlled with manual supervision. The system  300  can further be operated in an automatic and cooperative mode where the system  300  works with non-technical human staff without an operator controlling the arms. The system  300  can further be operated in a partially automatic and cooperative mode where the system  300  works with staff, and arms are overseen by a human operator. 
     The system  300  can be configured as a modular system such that an alternative array of linkages can work in conjunction with secondary arch. Further, the patient platform and the robotic system can be separated and rejoined for optimal resource efficiency. 
     The system  300  further includes one or more controllers  308  provided in desired locations and configured to permit for the system  300  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  308  can run one or more software programs that are executed to cause the system  300  (or the components thereof) to perform various autonomous operations. In the illustrated example, the controller  308  is provided in the arch assembly or rails. Alternatively, the controller  308  can be arranged in other components in the system. 
     In some implementations, the arch and respective arms can be configured to perform different operations and functions simultaneously or sequentially. For example, the arch and the arms can be configured to simultaneously or sequentially perform different types of image scans (e.g., MRI, CAT, EMG, endoscopy, angiography, ultrasonography, fluoroscopy, Positron Emission Tomography, Single Photon Emission Computed Tomography (SPECT)). 
       FIG. 7  schematically illustrates an example of the arm  302  of  FIGS. 6A-B . In some implementations, the arm  302  can be configured to perform simultaneous or sequential electrophysiological diagnostics, for example. 
     The arm  302  has a distal end configured to attach one or more various instruments. For example, the arm  302  can mount an automated diagnostic element, such as a flexible neurological electroencephalogram (EEG) cap  312  configured to be autonomously applied to the top of patient&#39;s head conforming to the dimensions and contours of the top patient&#39;s skull. An example soft robotic technology, which can be used to implement the arm  302 , is described in S. Bauer, et. al.,  A soft future: From robots and sensor skin to energy harvesters , Advanced Materials, Volume 26, Issue 1:149-162, Jan. 8, 2014, the disclosure of which is incorporated herein by reference in its entirety. 
     Referring to  FIG. 7 , an example process is illustrated for operating the arm  302 . In Scene 1, the automatic linkage arm  302  can be autonomously moved to direct its distal neurological diagnostic (EEG) apparatus  312  towards the top of a patient&#39;s head. In Scene 2, the end-tool  312  (EEG apparatus) begins to dynamically deform to conform to the patient&#39;s head/skull geometry. In Scene 3, the end-tool  312  is in its final skull conformation state after further deforming to optimally contact head regions to perform an electrophysiological diagnostic exam, e.g. EEG. 
     In other examples, the arm  302  can mount other instruments, such as Somatosensory Evoked potentials (SSEPs) or Motor Evoked Potentials (MEPs), visual or auditory evoked potentials, with electrode application for each diagnostic performed by other linkage arms cooperating simultaneously or sequentially. 
     It is also understood that the diagnostic application described in  FIG. 7  is not limited to the RALLA system  300 , and based upon the teachings herein, it can be adapted to all the other embodiments of the system illustrated herein. 
     Referring to  FIGS. 8-9 , example operations with the system  300  are illustrated.  FIG. 9  illustrates perspective views of system modularity and patient intake using the system  300  of  FIGS. 6A-B . As described below, patient carts can be automatically driven either independently or with a mobile table mover.  FIG. 9  illustrates additional perspective views of system modularity and patient intake using an example carriage mover of  FIG. 8 . 
     The system  300  can be used with one or more patient carts  330 . The patient carts  330  can be automatically driven either independently or with a mobile table mover  340 . 
     In  FIGS. 8-9 , a sequential scenario (Scenes 1-12) is illustrated to demonstrate an example operation of the system  300  with the cart  330 , thereby providing a logistically efficient system for assessing, operating on, and transferring patients and equipment. 
     In Scene 1, a singular ambulatory patient is illustrated who stands by the patient cart  330  (table, gurney, etc.) and the system  300  (robotics assembly) that are remotely located. In Scene 2, the patient positions himself in a sitting position on the cart  330 . In Scene 3, the patient positions himself in the supine position on the cart  330 . In Scene 4, the mobile table mover  340  (under-carriage mover) operates to engage with the cart  330  to move the cart  330  with the patient. For example, the table mover  340  can move under the cart  330  (e.g., move into a space underneath the cart  330 ) to support the cart  330  for movement. The automated table mover  340  can be positioned to automatically transport/steer the cart with the patient. 
     In Scene 5, the under-carriage mover  340  has transported the cart  330  with the patient to the system  300 . The system  300  has rearranged its individual arms  302  into an outstretched upright starting position so as not to yet interact with the patient. The cart  330  has been moved to procedure-arms, and information can be gathered automatically. 
     In Scene 6, the system  300  can perform various procedures on the patient. In some implementations, voice activated components can be incorporated with various functions with respect to the system  300 , the cart  330 , the mover  340 , and other suitable components. Such different functions may be allowed/authorized based on authority level (i.e. doctor, nurse, patient etc.). Examples of such functions include a) triage: linguistic interaction (discussion with patient), blood pressure, b) further diagnostics: sensory (temperature), tactile (palpation), imaging (ultrasound, CT/X-ray/MRI/echo/sonar), electronic (EEG/ECG), auditory analysis (auscultation), respiratory analysis, etc., c) procedures: administering of physical adjustment, medication, topicals, invasive probing, etc., and d) stereotactic procedures, minimally invasive surgical procedures, respiration, full surgical procedures, outpatient procedures, various monitoring, etc. 
     In Scene 7, the system  300  has completed its medical interaction with the patient. It can now avail itself for further activities such as sterilization/self-sterilization, equipment-maintenance, equipment-modification, medical interactions with another patient or perform another hospital/medical oriented task. 
     In Scene 8, the cart  330  with the patient is moved by the undercarriage-mover  340  to either a planned or impromptu routed destination or simply away from the system  330 . Conversely, in a non-illustrated embodiment, the system  300  can itself be moved, and from the cart  330  to its next destination. The undercarriage mover  340  has moved the cart  330  with patient and is clear of the system  300 , allowing it to avail itself for other usage. 
     In Scenes 9a-b, the undercarriage mover  340  repositions itself from the cart  330  to another hospital object  332  (e.g., another cart/gurney/table). In Scene 9a, the undercarriage mover  340  is repositioning itself from the patient table  330  to another patient table  332 . In Scene 9b, the undercarriage mover  340  is in the repositioning progress. 
     In Scene 10, the undercarriage mover  340  is engaged with the next object  332  (empty gurney). For example, the undercarriage mover  340  can secure itself to a different hospital object, such as another patient table in the illustrated example. In Scene 11, the undercarriage mover  340  transports the new patient table  332 . In Scene 12, the new patient table  332  has been moved by the undercarriage mover  340  to a new desired location, such as adjacent the system  300 . The new patient table  332  can contain or not contain a patient. 
     In some implementations, the objects being moved by the mover  340  can be delivered to an area of the hospital that AI or a human operator would determine can make the best use of it, such as an OR, cleaning facility or patient/emergency intake area. For example, the carts and the table movers carrying the carts can be real-time positionally tracked for route optimization (both automatically or operator assisted) and quality assurance. Once the cart is at its destination, the mobile table mover can join to a different cart for handling or moving. 
       FIGS. 10A-B  illustrates another example arm  350  which can be used for robotic arms, such as the arm  204 ,  302 . The arm  350  provides an alternative structure to the arm  204 ,  302  and is configured as a truss-arm structure. The arm  340  includes a plurality of robotic linkages that employ truss-geometry to improve stability and distribution of mechanical load/stresses. The truss-arm adjoining end can be elevated and depressed (electronically) and its housing arm can be rotated in-plane and translated along an axis, thereby providing emulated cylindrical coordinates. An example of stress and stability of truss structures can be found in M. Nwe Nwe,  Topology Optimization of Truss Structures Considering Stress and Stability Constraints , Structures Congress 2019, April 2019, Orlando, Fla., the disclosure of which is incorporated herein by reference. 
     For example, the arm  350  includes an arch translational pole  352  secured to a base  354  (e.g., an arch). Arm linkages  356  may be pivotally coupled in series, and the assembly of the arm linkages  356  can have an adjoining end  358  that is pivotally coupled to the arch translational pole  354 . Further, the assembly of the arm linkages  356  has an operational end  360  configured to mount an instrument (e.g. tool). As illustrated in  FIG. 10B , the base  354  can rotate along arch rotation directions  362 . Further, the arch translational pole  352  can be configured to move the arm linkages  356  therealong (e.g., elevating or lowering the arm linkage assembly along a longitudinal axis of the pole, or directions  364 ). 
     Referring to  FIGS. 11-13 , yet another example TARS system  400  is illustrated.  FIGS. 11A-F  schematically illustrate an example operation of the system  400  that may be in different positions. The system  400  is configured as a Robotic Accordion Arm (RAA) system. The system  400  includes an arm assembly  410  that can be movably coupled with an overhead support  420 , such a ceiling, a canopy, or other suitable structure for supporting the arm assembly  410 . For example, the arm assembly  410  can move along the surface of the overhead support  420  above a patient lying on a bed, so as to be positioned at different locations with respect to the patient. As illustrated in  FIGS. 11A-F , the arm assembly  410  can be repositioned (programmatically or automatically) from an area above the patient by hanging on the overhead support  420  (e.g., ceiling or canopy). The arm assembly  410  can be autonomously repositioned on the overhead support  420 . Alternatively or in addition, the arm assembly  410  can be programmed for automatic movement along the overhead support  420 . Alternatively or in addition, the arm assembly  410  can be manually repositioned on the overhead support  420 . 
     The arm assembly  410  has a distal end (e.g., tool end) configured to attach an instrument  430 , such as one or more imaging devices, sensors, surgical instruments, etc. In the illustrated example, the arm assembly  410  mounts an imaging device at the distal end. In other examples, the distal end can hold other instruments, such as instruments that perform a variety of actions including radiation therapy or other interactions as described herein. 
     The arm assembly  410  is configured to receive a variety of inputs for operation. For example, the arm assembly  410  can receive an input for participating in an automatic surgery. In addition or alternatively, the arm assembly  410  can receive an input for cooperating with a human staff to position the arm assembly  410  to a desired anatomical region. In addition or alternatively, the arm assembly  410  can be configured to enable the arm assembly  410  to be manually repositioned. The arm assembly  410  can be configured to receive various types of human commands, such as physical inputs, verbal inputs, etc. 
     Referring to  FIGS. 11A-F , the arm assembly  410  can be arranged at the edge of the ceiling canopy  420  above the patient on an operating room table ( FIG. 11A ). The arm assembly  410  can reposition to desired coordinates above the patient ( FIG. 11B ). The arm assembly  410  can extend to a desired position on the patient ( FIG. 11C ). The arm assembly  410  and/or the instrument  430  (e.g., image device) can reposition to different areas over the patient ( FIGS. 11D-F ). The arm assembly  410  and/or the instrument  430  can adjust their positions as appropriate. The operations of the arm assembly  410  and/or the instrument  430  can be performed autonomously, automatically as programmed or commanded, and/or manually. 
     The system  400  further includes one or more controllers  438  provided in desired locations and configured to permit for the system  400  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  438  can run one or more software programs that are executed to cause the system  400  (or the components thereof) to perform various autonomous operations. In the illustrated example, the controller  438  is provided with the instrument attached. Alternatively, the controller can be arranged in other components in the system. 
       FIGS. 12A-B  illustrate that the arm assembly  410  of  FIGS. 11A-F  dynamically reposition rotate around the patient&#39;s head. For example, the arm assembly  410  descends from the ceiling canopy and positions itself over the patient&#39;s head ( FIG. 12A ). The instrument at the distal end of the arm assembly  410  can be an imager, therapeutic radiation/ultrasound, robotic tools, and/or other suitable tools. The arm assembly  410  can be further extended and outstretched, and move (e.g., clockwise) around the patient&#39;s head ( FIG. 12B ). 
       FIGS. 13A-E  schematically illustrate example operations of a combined system  450  employing the system  200  (MRD system) of  FIGS. 5A-E  and the system  400  (RAA system) of  FIG. 11A-F , which provide cooperative and synergistic operations. The systems  200 ,  400  can perform different phases of an operative preparation and procedure. For example, as illustrated in  FIG. 13A , the arm assembly  410  of the RAA system  400  descends from the ceiling canopy  420  above the patient as the MRD system  200  moves towards the patient. The MRD system  200  can be equipped with an instrument  230  (e.g., integrated delta robot as shown in the system  100 ). 
     In  FIG. 13B , the arm assembly  410  is contracted (nestled) to an overhead position, and the MRD system  200  with the delta robot  230  is in a resting position. In  FIG. 13C , the arm assembly  410  is in an extended position positioning itself above the patient&#39;s torso. In  FIG. 13D , the arm assembly  410  performs a desired operation (e.g., imagery or other assigned programmed functions) on the patient&#39;s head while the MRD system  200  is operating with the delta robot  230  on the patient&#39;s forearm. In  FIG. 13E , three simultaneous procedures are being performed by the RAA system  400  and by the two arms of the MRD system  200 . One arm is operating with the delta robot  230 , and the other arm is using its cylindrical linked arm for imagery/surgery etc., thereby enhancing the efficiency and accuracy of the procedure. 
     In other examples, the combined system can include any combination of various systems, such as one or more of the systems described herein (e.g., the system  100 ,  200 ,  300 ,  400 ,  500 ,  900 , etc.) and other suitable surgical systems. The combined system can provide cooperative and synergistic autonomous robotic surgery on the same or different body parts on a single patient, either sequentially or simultaneously. 
     Referring to  FIGS. 13F-H , various examples of a mobile base are illustrated which can be used to transport various components, devices, and systems that need to be moved, such as one or more of the systems described herein (e.g., the system  100 ,  200 ,  300 ,  400 ,  500 ,  900 , etc.) and other suitable surgical systems. For example, the mobile base can be used to implement the base  202  of the system  200 , the patient gurneys, carts or tables  330 ,  332 , the table mover  340 , or other suitable devices, components, or systems. 
     In  FIG. 13F , an example mobile base  470  includes a body  472  with multiple legs  474  extending from the body  472 , and wheels  476  movably mounted at the distal ends of the legs  474 . The legs  474  are provided to stabilize the body  472  at rest and while moving. In some implementations, the body  472  is configured to telescope to adjust a vertical length. The wheels  476  can be configured to provide self-balancing and mobility of the mobile base  470  and other structures (e.g., instruments, arms, etc.) connected to the mobile base  470 . Further the mobile base  470  includes sensors and/or electronics  478  configured to provide active counterweight and/or stabilization of the mobile base  470  and such other structures connected to the mobile base. 
     In  FIG. 13G , another example mobile base  480  includes a body  482  and a single wheel  484  movably mounted at the distal end of the body  482 . In some implementations, the body  482  is configured to telescope to adjust a vertical length. The wheel  484  is be configured to provide self-balancing and mobility of the mobile base  480  and other structures (e.g., instruments, arms, etc.) connected to the mobile base  480 . For example, the wheel  484  can be a spherical ball. Further the mobile base  480  includes sensors and/or electronics  488  configured to provide active counterweight and/or stabilization of the mobile base and such other structures connected to the mobile base. 
     In  FIG. 13H , yet another example mobile base  490  includes a body  492  with multiple wheels  494  movably attached around the body  492  at its distal end. For example, the mobile base  490  includes a skirt  496  that further supports the wheels  494  along with the body  492 . In some implementations, the body  492  is configured to telescope to adjust a vertical length. The wheels  494  can be configured to provide self-balancing and mobility of the mobile base and other structures (e.g., instruments, arms, etc.) connected to the mobile base. Further the mobile base  490  includes sensors and/or electronics  498  configured to provide active counterweight and/or stabilization of the mobile base and such other structures connected to the mobile base. 
     Referring to  FIGS. 13I-K , an example instrument support rail system  3000  is illustrated which is configured to removably holster and secure surgical instruments. Instruments held at the rail system  300  can be accessible by practitioners and robots for whom the instruments can be interchanged. In some implementations, the instrument support rail system  3000  includes a longitudinal rail body  3002  which, for example, can be arranged adjacent a patient table  3004  for surgical operation. The rail body  3002  can include a plurality of instrument recesses  3006  each configured to receive and support at least a part of an instrument, such as a modular endoscope  3008  in the illustrated example. 
     The support rail system  3000  can further include a controllable instrument fastener  3010  configured to selectively engage and release an instrument. The instrument fastener  3010  can include a body  3012  and a plurality of gripping blocks  3014  movably coupled to the body  3012 . The body  3012  can be configured to be inserted into the recesses  3006 . The gripping blocks  3014  can be arranged to engage an instrument at or around a center of the body  3012 . The gripping blocks  3014  can be controlled to move radially outwards relative to the body to open the center of the body to receive an instrument, and radially inwards to hold the instrument. An instrument held at the instrument fastener  3010  can be held until it is removed and conveyed to another manipulator. 
     Referring to  FIGS. 14-15 , yet another example TARS system  500  is illustrated.  FIG. 14  is a schematic perspective view of a TARS system  500 , which is configured as a Gimbal-Telescoping Arm (GTA) system. The system  500  is configured to provide a gimbal orientation, and includes a base  502  and two rotators  504  and  506 . A first rotator  504  is coupled to the base  502  and rotatable along a first axis  514  with respect to the base  502 . A second rotator  506  is coupled to the first rotator  504  and rotatable along a second axis  516  with respect to the first rotator  504 . The base  502  can be movably mounted to a supporting structure, such as a ceiling, canopy, or other suitable structures, as illustrated in  FIG. 15 . The base  502  can displace with respect to such a supporting structure, for example along x-y-z axes  512 . 
     In some implementations, the second rotator  506  includes an adjustable arm  526 . For example, the arm  526  is configured to telescope to extend and retract its length. The arm  526  has a distal end (tool end)  528  configured to mount various instruments. The arm  526  can be configured to be straight. The arm  526  can be in other configurations, such as curved configurations. When the base  502  is mounted to a ceiling, the tool end  528  can be extended from the ceiling. 
     The base  520  is configured to be a guidance box that assists in rectilinearly positioning the system  500  along ceiling guidance rails ( FIG. 15 ). The combination of these three positioning elements (the base  502  and the first and second rotators  504  and  506 ) can permit the system  500  to move along arbitrary spatial coordinates. The telescoping arm  526  is employed to reach the patient body and can have a tool affixed to it in order to provide a variety of functions identical to those mentioned for all the other embodiments. 
     The system  500  further includes one or more controllers  508  provided in desired locations and configured to permit for the system  500  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  508  can run one or more software programs that are executed to cause the system  500  (or the components thereof) to perform various autonomous operations. In the illustrated example, the controller  508  is provided in the base  502 . Alternatively, the controller  508  can be arranged in other components in the system. 
     Referring  FIGS. 15A  ( 15 A-A and  15 A-B), the system  500  can be supported by a supporting structure  540 , such as a ceiling canopy.  FIG. 15A  further illustrates the system  400  that is supported by the supporting structure  540 , so that the GTA system  500  can be used together with the RAA system  400 , thereby providing synergistic cooperation between the two systems. They can each perform a variety of functions, however there may be end tools more suitable to one embodiment than the other. Functions for either can include imaging, radiation, surgery, clamping/holding, device placement etc. 
     As illustrated in Scene 1, the system  500  is positioned on a guidance rail system  542  of the supporting structure  540  (e.g., a ceiling canopy). Further, the system  500  is positioned in close proximity from the RAA system  400  that is descending. The RAA system  400  is extending its arm hovering over the patient. In Scene 2, the RAA system  400  further moves rostrally, and the GTA system  500  orients its telescopic arm towards the patient. In Scene 3, the GTA system  500  further extends its telescopic arm to perform a function. 
       FIG. 15B  is a schematic over-head view of the system of  FIG. 15A . The ceiling structure is illustrated to be transparent for illustrative purposes here. As described herein, the supporting structure  540  can include a guidance rail system  542  configured to movably support the GTA system  500  and/or the RAA system  400 . For example, the guidance rail system  540  provides rails to define cells in a gridded configuration, and the systems  400 ,  500  can move from one cell to another to change their locations. 
     Some example mechanisms are configured to actuate the motion of a GTA or instrument within the support rail rectangular (or based on non-rectangular coordinates such as polar, spherical, etc.) grid structure. In the most simple manner, small wheels of diameter close to matching the grid-rail thickness can be fit onto orthogonal sides of the GTA (e.g., a set of wheels that are actuated to accomplish motion in the X-direction and a set of wheels at an angle to that set (90 deg/orthogonal in the rectangular coordinate system) in the Y-direction. The force necessary to rotate these wheels can either arise from a stored-power within the GTA, or delivered by a wired or wireless connection to an external source through either the grid-rails or from another source that can either be mobile or fixed nearby—most simply vertically situated above the GTA (or instrument “farm”), however can be envisaged as a mobile battery unit that itself can be occasionally or permanently connected via wire or wirelessly transmitted power to a more reliable power source. In the same manner, in a rectangular grid system, other easily manufactured components can be affixed to the GTA and grid in order for them to both mate and deliver propulsion. One example can be a pneumatic tube system that can precisely control an internal mass by positive or negative pressures, this mass being coupled either mechanically or if safe, magnetically to the GTA. In a similarly derived manner, the requirements for pressure based locomotion can be replaced by an electric/magnetic motor system that controls the position of the mass that is coupled to the GTA. These “third rails” (i.e. power supple, the pneumatic tube or linear induction track) would be integrated with each grid line. 
       FIGS. 16A-C  schematically illustrate an example autonomous limb positioner (ALP)  600 , which may be used on its own or with various embodiments of TARS systems. For example, the autonomous limb positioner (ALP) can work synergistically with any of the TARS systems described herein (e.g., the system  100 ,  200 ,  300 ,  400 ,  500 ,  900 , etc.). 
     The APL  600  is configured to position an involuntary patient or limbs in an assisted and automated manner. For example, the APL  600  can be used for an anesthetized patient  602 . In some implementations, the APL  600  is configured as a robotic arm  610 . The robotic arm  610  can include a planar kinematic chain  612  with a serial and/or parallel linkage. Alternatively, the robotic arm  610  can include a non-planner kinetic chain. The chain  612  can be movably coupled to a mobile or stationary base, such as a hospital bed  614 . 
     The robotic arm  610  can support and control the position (and/or orientation) of a patient (or the patient&#39;s limb), or place it at rest. For example, the robotic arm  610  includes a limb support arch  620 , which, for example, may be used to support the patient&#39;s wrist or forearm and adjust its position and angle, as illustrated in  FIG. 16C . 
     The APL  600  can include one or more multi-functional arches  630  surrounding the forehead and various extremities of the patient (e.g., the forehead, ankles, wrists, etc.). The arches  630  can include one or more stationary or non-stationary components configured to perform various functions, such as imaging, miscellaneous treatments, etc., which can be applied to a patient at any time (triage, treatment, assessment, surgery, outpatient, etc.). 
       FIGS. 17A-C  schematically illustrate another example autonomous limb positioner (ALP)  650 , which may be used on its own or in conjunction with various embodiments of TARS system. For example, the autonomous limb positioner (ALP)  650  can work synergistically with any of the TARS systems described herein (e.g., the system  100 ,  200 ,  300 ,  400 ,  500 ,  900 , etc.). 
     The ALP  650  includes a plurality of voxelated sensor/actuator components  660  that provide a subject rest surface  662 . For example, the rest surface  662  for a subject can be partitioned with the sensor/actuator components  660  (for example, voxelated into cubic sensor/actuator components) that can autonomously sense the skeletal configuration of the subject supported on the rest surface. The components  660  can be adjusted electronically (simultaneously, in concert, or in succession) to raise or lower parts (e.g., limbs, extremities, head/neck/trunk sections, etc.) of the subject to a programmed position. The ALP  650  can be used to position a subject and further provide safeguards to reduce the probability of further injury. 
     In  FIG. 17A , a patient is supported on a resting surface  662  of the ALP  650  that includes a plurality of voxelated sensor/actuator components  660 . The components  660  can be programmed to automatically move themselves to provide desired positions of a subject whose posture and condition are detected on the resting surface  662 . In  FIG. 17B , the components  660  are automatically operated to raise or angle limbs in a manner that reduces the probability of further injury.  FIG. 17C  illustrates a different operation of the components  660  against a subject. 
     The system  650  further includes one or more controllers  658  provided in desired locations and configured to permit for the system  650  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  658  can run one or more software programs that are executed to cause the system  650  (or the components thereof) to perform various autonomous operations. 
     Referring to  FIGS. 18-19 , an example arch  700  is illustrated, which can be used for the C-arms and other arches described herein. 
       FIGS. 18A-C  schematically illustrate a Multi-Functional Compaction Arch (MFCA)  700  in different stages of positioning. The arch  700  includes a plurality of actuation/manipulation components  702  that are coupled to be foldable. The components  702  can include transducers for various functions. The components  702  can be folded in stack to provide a compactable arch. The arch  700  can be attached to a stationary or mobile structure at one end (e.g., an end  704 ) so that the arch  700  can be folded and expanded with respect to the structure. Each of the components  702  can include one or more transducers and controllers that are programmed to perform various functions, such as non-invasive or invasive imaging, surgical operations, and assessments. 
     In  FIG. 18A , the MFCA  700  is in or close to a compacted mode. In  FIG. 18B , the MFCA  700  is expanded and partially opening. In  FIG. 18C , the MFCA  700  is further opening. 
     The components  702  can be connected in a serial configuration. Adjacent components  702  can be pivotally coupled at a hinge portion  706 . The hinge portion  706  can be configured in various manners, such as using various types (mechanical, electrical, etc.) of hinges, joints or other suitable mechanisms. 
       FIGS. 19A-E  illustrate the MFCA  700  autonomously positions itself over a patient in a variety of stages. The advantages of the MFCA  700  is that it can easily be stowed while not in use, or be used as a mobile unit (e.g. emergency medical service, light surgery, diagnostics), making it ideal for a geometrically constrictive scenario such as a transport carriage. The MFCA  700  can further be configured to autonomously interact with a patient, permitting for a practitioner to remotely work from such autonomous operation (e.g., remote actions/imaging/surgery/diagnostics). Articulating elements are not depicted in  FIGS. 19A-E , but various components described herein can be used with the MFCA  700 . 
     In  FIG. 19A , the MFCA  700  is positioned relatively caudally with respect to the patient. In  FIG. 19B , the MFCA  700  opens and begins to position itself over the patient. In  FIG. 19  C, the MFCA  700  extends further around the patient. In  FIG. 19D , the MFCA  700  is completely positioned over the patient. In  FIG. 19E  (an end-face view of the MFCA), The MFCA  700  is completely positioned over the patient. In some implementations, the arch  700  is movably connected to a ledge  710  provided to or adjacent the patient cart or table. 
     The system  700  further includes one or more controllers  708  provided in desired locations and configured to permit for the system  700  (or the components thereof) to autonomously perform desired surgical procedures. Such controllers  708  can run one or more software programs that are executed to cause the system  700  (or the components thereof) to perform various autonomous operations. 
     Referring to  FIGS. 20-22 , exemplary embodiments of screens are illustrated.  FIG. 20A-H  illustrate an example embodiment of a screen  800 , which can be used as a video or image monitor. The screen  800  can be connected to an endoscope or other suitable viewing systems which may be used with any TARS systems described herein. In this example, the screen  800  is configured as an Unfoldable Endoscopic Screen (UES) system. 
     The screen  800  includes a plurality of screen surfaces that can be unfolded to provide a larger screen surface. The screen  800  can include a casing  802  and a plurality of segments  804  which can be expanded from the casing for viewing, and retracted into the casing for compact storage and transportation. The housing  802  can include multiple sub-casings, each configured to slidably support one or more segments  804 . 
     In the illustrated example, the screen  800  includes two sub-casings  802 A and  802 B, and four segments  804 , which provide six-fold screen areas. In  FIGS. 20A-C , the screen  800  is in a compacted configuration (a perspective view in  FIG. 20A , a side view in  FIG. 20B , and a top view in  FIG. 20C ). A first (movable) sub-casing  802 A is a back portion of the screen that can be raised relative to a front (fixed) sub-casing  802 B that is fixed. The screen  800  includes an upper-left segment  804 A that can extend from the first sub-casing  802 A leftwards, and an upper-right segment  804 B that can extend from the first sub-casing  802 A rightwards. The screen  800  further includes a lower-right segment  804 C that can extend from the second sub-casing  802 B rightwards, and a lower-left segment  804 D that can extend from the second sub-casing  802 B leftwards. 
     In  FIG. 20D , the movable sub-casing  802 A is being extended upwards. In  FIG. 20E , the movable sub-casing  802 A is fully extended. In  FIG. 20F , the upper left and right segments  804 A and  804 B are extended to provide upper screen sections. As illustrated in  FIGS. 20G and 20F  (a rear view of  FIG. 20G ), the exteriors of the upper left and right segments  804 A and  804 B and the movable sub-casing  802 A provide an upper screen surface. 
       FIGS. 21A-F  illustrate other variants of the screen  800 . In  FIG. 21A , the lower right segment  804 C starts extending from the fixed sub-casing  802 B. In  FIG. 21B , the lower right and left segments  804 C and  804 D are extending from the fixed sub-casing  802 B. In  FIG. 21C , the lower right and left segments  804 C and  804 D are fully extended.  FIG. 21D  (a rear view of the screen) illustrates all screens fully extended to form six-fold flat screen viewing area. 
     In  FIG. 21E , the movable sub-casing  802 A is tilted relative to the fixed sub-casing  802 B for different viewing screens. The movable sub-casing  802 A can be manually or electronically tilted with respect to the fixed sub-casing  802 B for different tilting angles. The movable sub-casing  802 A can tiled inwards or outwards relative to the fixed sub-casing  802 B. 
     In addition or alternatively, the segments  804 A-D can be selected tilted relative to the associated sub-casings  802 A-B either inwardly or outwardly. In  FIG. 21E , the lower right and left segments  804 C and  804 D are tilted inwards relative to the fixed sub-casing  802 B. In  FIG. 21F , the upper right and left segments  804 A and  804 B are tilted inwards relative to the movable sub-casing  802 A. The segments  804 A-D can be manually or electronically controlled for different tilting angles. 
       FIGS. 22A-F  illustrate another exemplary embodiment of a screen  830 , which can be used as a video or image monitor. The screen  830  can be connected to an endoscope or other suitable viewing systems which may be used with any TARS systems described herein. In this example, the screen  830  is configured as an Unfoldable Endoscopic Screen (UES) system. 
     In this embodiments, the screen  830  includes a plurality of segments  832  each providing a part of a larger screen surface. The segments  832  are pivotally connected and unfolded to provide such a larger screen surface. For example, the screen  830  includes a first (upper) base segment  834  and a second (lower) base segment  836  pivotally connected to the first base segment  834 . The screen  830  further includes a lower left segment  838 A and a lower right segment  838 B, which are pivotally coupled to the lower base segment  836 . The lower left and right segments  838 A-B can be connected to the lower base segment  836  at hinges  842 . Further, the screen  830  includes an upper left segment  840 A and an upper right segment  840 B, which are pivotally coupled to the upper base segment  834 . The upper left and right segments  840 A-B can be connected to the upper base segment  834  at hinges  844 . When unfolded, the segments  832  (including  834 ,  836 ,  838 A-B, and  840 A-B) provide a viewing area. 
     In  FIG. 22A , the screen  830  is in a compacted (folded) position. In  FIG. 22B , the screen  830  is partially unfolded so that the lower left and right segments  838 A-B are unfolded. In  FIG. 22C , the upper base segment  834  is unfolded upwards relative to the lower base segment  836 . In  FIG. 22D , the upper left and right segments  840 A-B are being unfolded. In  FIG. 22E , the upper left and right segments are further unfolded. In  FIG. 22F , the screen  830  are fully unfolded with six segments providing an unfolded surface/viewing area. 
       FIGS. 23A-B  illustrate yet another exemplary embodiment of a screen  850 , which can be used as a video or image monitor. The screen  850  can be connected to an endoscope or other suitable viewing systems which may be used with any TARS systems described herein. In this example, the screen  850  is configured as an Unfoldable Endoscopic Screen (UES) system. 
     The screen  850  is configured as a canvas  852  with opposite posts  854 . The canvas  852  can be scrolled in and out one or more of the posts  854 . The screen  850  further includes one or more image projectors  856  (e.g., short distance image projectors) arranged adjacent the posts  854  and configured to project images/videos onto the canvas  852  when unscrolled. For example, in  FIG. 23A , the screen  850  is scrolled. In  FIG. 23B , the screen  850  is unscrolled and an image is projected onto the canvas  852  from the projectors  856 . 
     Referring now to  FIGS. 24-31 , yet another example TARS system  900  is illustrated.  FIGS. 24A-D  schematically illustrate an example structure and operation of the system  900  that may be in different positions. The system  900  is configured as a Self-Organizing Modular Robot (SOMR) system. 
     The system  900  can include a plurality of units  902  and one or more joints  904  configured to movably couple adjacent units  902 . The units  902  are used as building blocks to provide the system  900 . A limited number of units  902  coupled using the joints  904  can associate themselves in multiple fashions to produce desired robotic geometry. The robotic geometry can either be decided artificially through accumulated intelligence or with human supervision or human operators. 
     The units  902  can be autonomous robotic units (ARUs). Each unit  902  can be configured as a simple mechanical structure that contains electronics for autonomous robotic functionality. The joints  904  can be electronic double ball joints (DBJs), which may be configured to be similar to double-headed doorknobs. Each end of the joint  904  is configure to interlock with an end of the unit  902 . In a simplest form, two units  902  that are coupled through a single joint  904  can provide a full joint chain of the system  900 . 
     The interlocking between the unit  902  and the joint  904  can be provided with various mechanisms. For example, the unit  902  is coupled to the join  904  using unique rearrangeable magnetic patterns, which and can be controlled via multiple electronic feedback signals or an ad-hoc nervous-system-like signaling pervasive throughout the robot. Signals can be coupled from joint to joint via electronic to magnetic transmission at its attachment points to the joint. 
     The units  902  are configured to self-organize to pre-programmable implantable AI&#39;s. The system  900  with a plurality of coupled units  902  can self-transport with internal mechanisms, such as momentum producing, rolling, motors, etc. In some implementations, some units  902  are configured to transport other units  902  being coupled thereto via the joints  904  (e.g., DBJs). 
     As illustrated, the units  902  can be autonomously arranged relative to each other to provide various relative angles between adjacent two units by their mutual intermediate joint  904 . For example, in  FIG. 24A , the ARUs  902  are maximally closed/adducted. The ARU&#39;s are almost parallel in this configuration. In  FIG. 24B , the ARUs  902  are somewhat opened. In  FIG. 24C , the ARUs  902  are further opened. In  FIG. 24D , the ARUs are completely opened/aligned. 
       FIG. 25  is a schematic cross-sectional view of the unit  902  of  FIG. 24 . In this example, the unit  902  has a housing  910  that is cylindrical. Other shapes of the housing  902  are also possible. The unit  902  includes one or more sockets  912  provided at the housing  910 , such as opposite longitudinal ends of the housing  910 . The socket  912  is configured to movably engage with the end of the joint  904  (e.g., mechanically, electrically, magnetically, electromagnetically, etc.). Each unit  902  can be configured in various sizes. For example, each unit  902  is sized similar to a bone (e.g., a long bone). 
     The unit  902  can include electronics  914  for operating the unit  902  as programmed or autonomously. The electronics  914  can be at least partially housed in the housing  910 . In some implementations, the electronics  914  are configured to implement an artificial intelligent (AI) self-organizing unit. The electronics  914  can include at least some of the components as illustrated in  FIG. 24 , such as electronics components and/or systems including computation or processing systems, calculating or programmable solid-state, analog, digital or integrated components such as microprocessors, FPGAs, CPUs, GPUs located on either printed, pre-fabricated or modular circuit boards. 
     The unit  902  (e.g., the housing  910 ) can be made of one or more various materials, such as metal, alloy, polymer, plastic, wood, bio/organic materials, etc. The unit  902  can be made in various shapes. In some implementations, the unit  902  can be made to be rigid. Alternatively, the unit  902  can be made to be flexible. As described herein, the system  900  that is made of a plurality of units  902  and joints  904  can be in various configurations, with compressibility and/or extensibility, and/or with a degree of non-axial range of motion. 
       FIGS. 26A and 26B  are magnified views of the joint  904  of  FIG. 24 , which illustrates an example configuration of the joint  904 . The joint  904  can be configured as a double ball joint (DBJ) and include balls or spheres  920  arranged at opposite ends. For example, the balls or spheres  920  can be axially mated at an interface  924  to allow for single-axis rotation. The balls or spheres  920  are configured to operatively mate with the sockets  912  of the units  902 . The units  902  can freely (spherically) rotate around the mated ball or sphere  920  of the joint  904 . In addition, the joint  904  can rotate axially (along its own axis extending through the balls or spheres  920 ). Alternatively or in addition, the joint  904  is configured to rotate about more than one axis. 
     In some implementations, the joint  904  can include electronics for operating the joint  904  as programmed or autonomously. Such electronics can be at least partially housed in the joint  904 . In some implementations, the electronics are configured to implement an artificial intelligent (AI) self-organizing unit, similarly to the ARUs  902  described above. The joint  904  can be made of one or more various materials, such as metal, alloy, polymer, plastic, wood, bio/organic materials, etc. In some implementations, the joint  904  can be made to be rigid. Alternatively, the joint  904  can be made to be flexible. 
       FIGS. 27A-E  schematically illustrate different geometric cross-sectional views of the assembly of the unit  902  and the joint  904 . When assembled, the units  902  and the joint  904  can provide arm-like angulation within its kinematic space. 
       FIG. 28A-B  schematically illustrate another example unit  942 . The unit  942  is configured similarly to the unit  902  with some modifications. For example, the unit  942  is configured with a T-jointed housing  944  with four sockets  946  each for mating the joint  904 . In this example, the unit  942  can be adjoined with four other units  902  and/or  942  through the joints  904 . 
     The unit can have other example configurations of the housing that have geometry or topology for increasing or maximizing the joint connector sockets per strength requirements. Examples shapes can include a star shape, polygon with connectors on outside or other non-planar examples. 
       FIGS. 29A-B  schematically illustrate yet another example unit  962 . The unit  962  is configured similarly to the unit  902  with some modifications. For example, the unit  962  is configured as a wing-shaped ARU capable of assisting in non-ground locomotion or other propulsive mechanisms utilizing a propellant fan arrangement. The unit  962  includes a housing  964  and a propulsion fan  966  that can be horizontally oriented in the housing  962 . The fan  966  can operate to propel the unit  962  horizontally. In addition, the unit  962  includes a vertical propeller  968  that is oriented vertically in the housing  964  and configured to be openable to optimally allow hovering or steep vertical lift and landing. 
     Referring to  FIGS. 30A-F , various example configurations of the system  900  using multiple units  902 ,  942 ,  962  and joints  904  are illustrated. As illustrated, the system  900  can be autonomously configured into increasing complex re-configurable states. For clarity, in some of  FIGS. 30A-F , the joints  904  are omitted from view. Each example configuration may be optimally suited for specified scenarios. 
     For example, in  FIG. 30A , ARU units  902  are arranged to assume a snake like configuration. In  FIG. 30B , ARUs  902 ,  942  are configured in a praying mantis configuration with back attachments. Multi-planed and joint configuration are optimized to suit specific task. In  FIG. 30C , ARUs  902 ,  942  are configured in a spider/arachnoid configuration. In  FIG. 30D , ARUs  902 ,  972  are arranged in a humanoid configuration with four major limbs and a head. In this example, a T-shaped ARU  972  is used and coupled with other ARUs  902 . The T-shaped ARU  972  includes a T-shaped housing with three sockets configured to operatively mate with the joints  904 . In  FIG. 30E , ARUs  902 ,  974 ,  976  are arranged in another embodiment of a humanoid configuration. In this example, ARUs  902  of various lengths can be used to imitate human limbs. Further, a Y-shaped ARU  974 , which has a Y-shaped housing with three sockets for mating with the joints  904 , is used as a connector for connecting ARUs  902  for a body part and ARUs  902  for leg parts. Moreover, a V-shaped ARU  976  is provided as a connector for connecting one or more ARUs  902  for a head part, ARUs  902  for arm parts, and ARUs  902  for a body part. The V-shaped ARU  976  includes a main housing  980  with opposite sockets  982  for connecting ARUs for the head and body, and two branch housings  984  with respective sockets  986  for connecting ARUs for arms. In  FIG. 30F , ARUs  902 ,  942  are arranged in yet another embodiment of a humanoid configuration (e.g., in praying mantis configuration). In this example, the system  900  includes additional ARUs  902  and joints  904  for back attachments  990 . The system  900  further provides the arms, legs, body, and head. 
     Referring to  FIGS. 31A-E , various example scenarios of operating the system  900 , which is constructed, for example, in a humanoid configuration, are illustrated performing a variety of tasks. For example, in  FIG. 31A , two systems  900  of different configurations are simultaneously used to assist in an injured person. One system  900  is in a humanoid configuration with a tool in hand and is working with another system  900  in a different configuration (e.g., unspecified ARU autonomous assistive device) responding to an injured person. 
     In  FIG. 31B , a roving humanoid ARU system  900  is illustrated. The system  900  is holding a tool  992  in a hand part, readying a response. In  FIG. 31C , three humanoid ARU systems  900  are working as a team. In  FIG. 31D , three humanoid ARU systems  900  are holding tools  992  and working as a team at an outside environment, such as in front of a building, going in different directions, yet cooperating. In  FIG. 31E , multiple humanoid ARU systems  900  are working on human scale environment. 
       FIG. 32  is a block diagram that illustrates an example modular robotic system  1000 . The modular robotic system  1000  is configured to provide a self-aggregation and learning system. For example, the modular robotic system  1000  includes one or more ARUs  1002  (e.g., the units  902 ,  942 ,  962 ,  972 ,  974 ,  976 , etc.), one or more DBJ  1004 , and one or more other external transportation components  1006  (e.g., drones described herein). The ARUs  1002 , the DBJs  1004 , the transportation components  1006  can organize, disassemble, and/or reassemble themselves for optimal configurations. The ARU  1002  can be made with a hollow body for cargo space and weight reduction. The ARU  1002  can include an internal locomotion mechanism to autonomously operate itself. 
     The modular robotic system  1000  can receive inputs from the ARUs  1002 , the DBJs  1004 , the other external transportation components  1006 , and delegated operations  1008 , and combine them (input variable amalgamation  1010 ). Such combined input variables can be used to permit for the ARUs  1002 , the DBJs  1004 , and the other components  1006  to operate as self-aggregating identical or near identical atomic robotic units  1012 . In addition, an artificial learning system  1014  is used to improve the operation of the modular robotic system  1000  (e.g., the implementation of atomic robotic units  1012 ). 
     ARUs and other robotic units described herein can be configured to be self-assembled by autonomously arranging, climbing, rolling, leaping, attaching, and otherwise positioning themselves with respect to each other. ARUs and other robotic units described herein can be configured to communicate with each other using various technologies (e.g., Wi-Fi, NFC, RFID, barcode recognition, etc.) to identify each other. For example, ARUs and other robotic units described herein can be self-assembling and self-reconfiguring by using pivoting motions to change their intended geometry. An example of such self-assembling and self-reconfiguring robotic mechanisms is described in John W. Romanishin, et al., M-blocks: Momentum-driven, magnetic modular robots, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4288-4295, November 2013, Tokyo, Japan, the disclosure of which is incorporated hereby in its entirety. 
     Referring now to  FIGS. 33-37 , various exemplary embodiments of an artificial intelligent (AI) system are illustrated which may be used with various devices, components, and systems described herein, such as the TARS systems described herein (e.g., the system  100 ,  200 ,  300 ,  400 ,  500 ,  900 , etc.), the autonomous limb positioners  600 ,  650 , the arches  700 , the screens  800 ,  830 ,  850 , and the modular robotic system  1000 . 
       FIG. 33  illustrates an example AI system  1100  for diagnosis and surgical procedure. This Figure presents a framework for start-to-finish medical care. Starting from the top left, an AI will interact with a patient, at which point it will decide a procedural route, either surgical or non-surgical. If surgical, it will act out appropriate preparations and perform the surgery either independently or cooperatively (with humans/tele-humans or another AI). The system would optimally improve over time as a central or distributed library gains experience from being trained either through video interpretation, knowledge expansion or supervision/correction by humans. 
       FIG. 34  illustrates an example AI Robotic based diagnosis  1110  based on only a few sensory (and in this example non-contact) cues, which would be an analogous diagnostic procedure for a doctor telephonically interacting with a patient. Visual and audio input would measure the state of a patient and their measured aberration from health (for example, limp, cough, discoloration etc.) and combine that with symptoms reported by the patient to assemble a recommendation. 
       FIG. 35  illustrates another example of AI diagnostic routes  1120 . Based on time/cost analysis these are adjustable as needed. For example, if a patient verbally reports symptoms that may more unequivocally represent a condition (such as a stroke), other time/cost consuming diagnostic elements may be bypassed or conducted in a rough or expedient manner. 
       FIG. 36  illustrates an example AI/Robotic algorithm  1130 . This Figure demonstrates further decision making with regard to necessity benefits, cost and time when diagnosing a patient. This model would like the others also improve over the time with human modification/supervision/teaching. 
       FIG. 37  illustrates various example diagnostic elements  1140  with AI and human interaction. This graph decomposes the diagnostic elements in an alternative matter as well as disclosing how humans may be involved. This graph roughly outlines an incomplete sampling of available diagnostic and monitoring resources. Each resource can be in turn associated with a number of other variables that can be optimized, minimized, or maximized, such as: risk (direct effects, such as invasiveness, unpredictable outcomes if incoming patient has unknown history and/or is unconscious), expense, availability, time-required. Combinations can include: switching-mode (alternate every x-seconds, x&lt;10), MM-on/off, instrument-off/on, switching/alternating modes of imaging modes (e.g., MRI/CT, multiple simultaneous imaging (e.g., one arm can be an ultrasonic device), triple check on the robot (different imaging confirmation), human supervision observing with stop or assist modes—or computer can request supervision for risky segments of surgery, surgical pincers: anything miniaturized: Visualization, (surgical) instrumentation, radiosurgery, stereotactic radiation up-close (6 dof/motion), laser ablation, ultrasonic treatment and usual/typical manual surgical tools, suction irrigation, ability and checks to interact with the robot, also, smooth/easy transitions, fail-safes, sensors, feedbacks, micro/macro visualization modes of MRI/CT, endoscopic ultrasound, 6 dof. programming, learning from video, and connecting to an agglomerated database reference, human to personalize surgery, we could use a new computer language, SurgC, Preoperative computer planning and algorithms that are surgeon-friendly, choosing/executing the autonomous surgical program of choice. 
     Referring now to  FIGS. 38A-B , example AI communication structures are illustrated, which are over distances ( FIG. 38A ), and over time sensitivity ( FIG. 38B ). 
       FIG. 38A  illustrates an example communication structure  1200  configured for not necessarily-determinate, lossy, or unreliable communication channels or distances. For example, the communication structure  1200  can be used for remote autonomous and/or automatic surgical operation at a long distance (e.g., a distance between Earth and Mars), especially when bi-directional communication times are greater than several tens of milliseconds and thus may cause significant delay and unreliability in remote autonomous and/or automatic surgical operation. The more distant an AI component is from a central processing system, the more self-reliant it need be, especially during delicate procedures that may have expensive, fatal, or injurious negative outcomes. 
     The communication structure  1200  can be implemented via satellite transmission. In some implementations, the communication structure  1200  is configured with an AI scheme acting in environments that are separated from base-stations by distances far greater than light-seconds (1 light second is close to 300,000 km), possibly light-minutes, or conceivably light-hours. For example, the distance between Earth and Mars is 54.6M-225M km (3-13 light-minutes, not including processing through relays). Notwithstanding techniques that may overcome lightspeed communication barriers, such as quantum entanglement, spatial expansion/contraction, for further reaches of space travel, this distance/time would vastly increase, making real-time 2-way communication for dynamic scenarios, such as surgery, and other less-predictable or on-the-fly scenarios unfeasible. 
     One example application of the communication structure  1200  is an autonomous doctor/surgical system that would behave as a surrogate for a hospital/surgical staff without requiring the resources to sustain humans fulfilling this role. An example of an environment in which resources may be limited and the overall well-being of system and humans would benefit from maximal efficiency and conservation would be in a small and isolated population such as characteristic of those in a voyage or remote colony. 
     The automated tasks can be categorized by their time sensitivity. For example, a diagnostic measure such as interpreting an MRI may be able to withstand a delay of minutes or an hour without substantially impacting the health of a patient. In contrast, a scenario during a surgical procedure during which there is an unexpected situation such as vast changes in respiration/blood-pressure or if there is a bleed, delays that are greater than a few seconds may cause permanent injury or be fatal to the patient. 
     As illustrated in  FIG. 38A , the communication structure  1200  (e.g., an algorithm thereof) is configured to optimally maintain, cache and send or receive AI modules that may benefit from larger off-premise data-stores or parallel processing units. Example tasks include AI radiological/diagnostic image interpretation. During a learning phase, human intervention may be necessary or it is possible that human interpretation may present advantages over AI interpretation. However, during a procedure that is too remote for real-time communication, imaging references can use caching prior to a procedure to enable real-time interpretations by the AI. Another example scenario is that while a patient undergoes a surgical procedure, the resources in terms of real-time AI or equipment are not available. In this scenario, a mobile system can be sent merely to with a light-second proximity of the geographic location (such as entering into any type of orbit or a stationary/geo-sync orbit type) to interact in real time. In an undrawn system, physical equipment may be delivered from this mobile system. 
     Further, as illustrated in  FIG. 38A , an example communication channel is provided to accomplish telerobotic over extended distances or in environments impenetrable by other humans. In some implementations, data can transmit through multiple satellite relays. Computation tasks can also be off put to satellites if the environment/vessel containing the AI is of a lower grade. 
       FIG. 38B  illustrates that another example communication structure  1210 . The communication structure  1210  can be configured to be non-location dependent (due to time insensitivity). In this structure, modules can be primed for transmission in an anticipatory manner based on ongoing monitoring or crew/passenger health. This monitoring can be silent and non-interactive. For example, the monitoring can be accomplished through either non-contact or not-specifically medical measurement systems. This can include surfaces that can measure pulse rate for example. Resource consuming data and computation can be distributed between the endpoint and a network of satellite systems as shown. The crew can also be trained by a doctor. 
     As described herein, MRIs can be configured to be compact and mobile, and fitted with various types of arms, arches, gimbals, and other suitable components described herein. An example method of incorporating MRI features into other components (e.g., arms, arches, gimbals, etc.) of small form factor is described in Zhang, B., Sodickson, D. K. &amp; Cloos, M. A. A high-impedance detector-array glove for magnetic resonance imaging of the hand.  Nat Biomed Eng  2, 570-577 (2018) doi:10.1038/s41551-018-0233-y, the disclosure of which is incorporated herein by reference. 
     Referring now to  FIGS. 39-82 , various examples of automated transportation systems are illustrated which are configured for delivery of various objects including patients. 
       FIG. 39  illustrates an example automated patient delivery system (APDS)  2100 . An example sequence for transporting a patient with the system  200  is illustrated in Scenes 1-4. The system  2100  can include a transport carriage  2102 , a patient gurney or cart  2104 , a carriage rail  2106 , and an intake rail  2018 . The transport carriage  2102  can be configured as a vehicle which can be human-driven and/or autonomously driven. 
     The cart  2104  can be automatically delivered using one or more actuating mechanisms. For example, the cart  2104  can be propelled magnetically or mechanically through the mating rails (e.g., through the intake rail  2018  when mating with the carriage rail  2016 ) to a hospital or patient-center emergency intake. For example, in Scene 1, the transport carriage  2012  can position itself to mate with the intake rail  2018 . In Scenes 2A and 2B, the carriage rail  2016  has mated with the intake rail  2018 . In Scene 3, the patient cart  2014  is transported through the carriage rail  2016  and the intake rail  2018  that have been aligned. In Scene 4, the patient cart  2014  is transported along the intake rail  2018  into an inpatient area. 
     Referring to  FIGS. 40-43 , an example hospital environment  2200  is illustrated in which one or more unmanned aerial vehicles (UAVs) or drones  2202  are operated to aerially deliver patients and/or equipment to desired locations for treatment and surgery. The drones  2202  can be of various types, such as hybrid mass drones. The drones  2202  are configured to perform multiple functions, and can maneuver along a human right-of-way corridor  2204 . 
     The environment  2200  can include a protective netting  2206  provided along the corridor  2204  so that drones  2202  can travel above the protective netting  2206  for safety of humans and equipment close to the floor. The protective netting  2206  can be arranged at a desired height relative to the floor. In some examples, the protective netting  2206  can be installed close to the ceiling of the corridor. People can walk, and equipment can be delivered along the corridor under the protective netting  2206 . 
     For a drone to travel below the protective netting  2206 , one or more drone transfer systems  2208  can be arranged along the corridor. For example, the drone transfer systems  2208  include ducts or elevators for ingress/egress of drones  2202  (with or without persons). 
     The environment  2200  can further include one or more guidance rails  2210  configured to permit drones  2202  to latch thereon for maintenance and repair (for a fail-safe). The guidance rails  2210  can be arranged in various locations, such as along the corridor below and/or above the protective netting  2206 , and through the drone transfer systems  2208 . In some implementations, the guidance rails  2210  can be used to perform the functions of the protective nettings  2206  by guiding the travel of drones therealong. 
     The guidance rails  2210  can include a magnetic or monorail type lock as an example fail-safe, which can be attached to the guidance rails  2210 . Alternatively, the guidance rails  2210  are configured as monorail systems in which drones can use aerial propulsion systems provided by the guidance rails  2210  either instead of, or in conjunction to propulsion systems built in the drones. In case of failure of a drone, the drone is bound to the guidance rail  2210 . 
       FIG. 41  illustrates a schematic front perspective view of the environment  2200  of  FIG. 40 . As illustrated, the guidance rails  2210  extending through the drone transfer system  2208  can further be used as a drone elevator or depressor. 
       FIG. 42  illustrates an example process of a free-travelling drone  2202  that latches on to the guidance rail  2210 . For example, in Scene 1, a drone  2202  travels in a default free-flying state. In this state, the drone  2202  has a latch structure  2212  that is in an opened position. Alternatively, the latch structure  2212  can be concealed from the exterior of the drone  2202  while the drone is in a free-flying state. In Scene 2, the drone  2202  can reposition itself to mate with the guidance rail  2210  by aligning the latch structure  2212  with the guidance rail  2210 . In Scene 3, the latch structure  2212  of the drone  2202  operates to close around the guidance rail  2210 . In Scene 4, the drone  2202  is fully latched to the guidance rail  2210 . In some implementations, a preprogrammed AI can be used to operate the drone. 
     In addition, the latch structure  2212  can be configured to form a communication and/or power link with the guidance rail  2210  to serve a multitude of functions, such as charging, power delivery, unspecified propulsion, semi-hardwire (through magnetic link, NFC-near-filed-communication) communication with network. For example, if the drone  2202  powers down or fails, the latch structure  2212  can remain in its closed position, and a magnet can engage the drone  2202  to maintain its position. In some implementations, an additional system can be installed to recover, recuperate, or maintain drones that have malfunctioned for efficient re-use and to remove drones from traffic to prevent jams. Similarly, the guidance rail  2210  extending through the drone transfer system  2208  (e.g., drone elevator vertical pole) can further have multiple functions (charge, power, communication etc.) other than drone guidance. 
       FIG. 43  illustrates an example process of a drone transferring from two different levels of travel lanes (e.g., from an upper travel level or lane to a lower people/equipment level or lane). For example, in Scene 1, a drone  2202  starts to position itself towards a guidance rail  2210  (e.g., elevator rail) in the drone transfer system  2208  (e.g., duct). In Scenes 2A and 2B, drones  2202  raise or lower themselves through the duct  2208  using the guidance rails  2210 . In some implementations, the drones  2202  include side latch structures  2214  configured to engage with the guidance rails  2210  and permit the drones  2202  to move up and down through the duct  2208  between the upper drone-only travel area/level (above the protective netting  2206 ) and the lower general travel area/level (below the protective netting  2206 ). 
     In some implementations, the latch structures  2214  can be arranged on the side of the drones  2202  so that the drones  2202  can position to easily enable the latch structures  2214  to engage with the guidance rails  2210 . The guidance rails  2210  with the duct  2208  can be arranged on the side of the corridor. In some implementations, the guidance rails  2210  with the duct  2208  do not have to include fail-safe functionality in a non-netted environment because the drones are in a designated elevator area, much more restricted than the span of its travel lanes. 
       FIG. 44  illustrates an example environment  2300 , such as an existing street, in which aerial vehicles (drones)  2302  can operate with existing structures, such as other vehicles, houses, buildings, and other miscellaneous properties with or without structures. The drones  2302  can travel parallel to existing power delivery lines  2304 . The drones  2302  can be physically engaged with the power delivery lines  2304  for electric connection, or wirelessly connected to the power delivery lines  2304  while traveling close to the lines  2304 . The drones  2302  can be charged or supplied with electric power from the power delivery lines  2304 . 
     In the environment  2300 , the drones  2302  can operate along streets, thereby providing additional benefits of limiting low-fly drone exhaust/noise to street lanes where it may be additionally muffled by usual environmental noise (e.g., other non-electric locomotion devices requiring muffling such as cars/trucks etc.). Streetwise drones can obtain power from power lines, such as the existing power delivery lines  2304  (from existing power grids or systems). 
     In the environment  2300 , one or more delivery receptacles  2306  can be provided and configured to move up and down along wire support structures  2308  which can be arranged (e.g., at intervals) along the street. One or more power delivery devices  2310 , either wireless or wired, can be fixed to the wire support structures  2308  and configured to deliver electric power to the drones  2302 . 
     Referring to  FIGS. 45-47 , an example environment  2400  is illustrated that safely integrates drones  2402  with human traffic (and other regular traffic of robots or other objects) within a corridor  2406  (e.g., a hospital corridor). For example, the environment  2400  includes one or more multi-purpose guidance rails  2404 , which can be arranged above a general human height level. 
     As illustrated in  FIG. 45 , the guidance rails  2404  include tracks  2408  configured to engage the drones  2402 . Although being able to free-fly, the drones  2402  can be generally relegated to the tracks  2408  that may be arranged above head-level to ensure free-flowing and non-obstructed human foot traffic. 
       FIGS. 46A-B  further illustrate the environment  2400  of  FIG. 45 . The guidance rails  2404  can be configured as a hybrid drone electromagnetic guidance rail and propulsion system integrated into a hospital corridor. 
     In addition, as illustrated in  FIG. 46A , the environment  2400  can include one or more randomized echo locator beam devices (e.g., sensors with emitters and receivers)  2410  which can be electrical (e.g., laser and/or photonic) or mechanical (e.g., sonar). The beams  2412  emitted from the devices  2410  can be reflected off from the presence of objects. As illustrated, some beams are reflected sooner than others indicating the presence of an object. The devices  2412  can be integrated with a wall in the corridor. The devices  2412  can be arranged in a predetermined pattern, or randomly arranged. 
       FIG. 46B  is a partial enlargement of the drone  2402  of  FIG. 46A . In this example, the drone  2402  can include a body  2414  configured as a cylindrical cargo for carrying one or more objects. The drone  2402  further includes one or more dynamic fans (with air propulsion bores)  2416  provided on the body  2414  and configured to propel the drone  2402 . In addition, the environment  2400  can include an array of the beam devices or sensors  2410  that are adjacent to, and spaced along, the guidance rail  2402 . 
       FIG. 47  illustrates an example operation for drone traffic and collision avoidance using the guidance rail  2402 . As described herein, the drones  2402  are configured to be self-propelled, and the guidance rail  2402  is configured to prevent collision between multiple drones  2402  traveling along the guidance rail  2402 . For example, in Scene 1, two drones  2402  are travelling in opposing directions and towards each other along the same virtual lane L1. Without collision avoidance, a collision would occur. In Scene 2, either or both of the drones  2402  can detect the other drone in the way and determine whether any of the drones  2402  should move and/or which drone will actively avoid the other. The drone that is determined to move can navigate to an alternative virtual lane L2 that does not overlap the lane L1 along which the other drone is still traveling. In alternative implementations, the determination can be performed at a remote computing device or server that communicates with the drones  2402 . Further, in other implementations, both of the drones can move to shift their traveling lanes to avoid collision. In Scene 3, both drones  2402  can adjust their propulsive fans  2416  towards the direction of the nearest outer edge of the guidance rail  2404  to further avoid unintended contact. In Scene 4, the drones  2402  are traveling in different lanes L1 and L2 and passing each other without collision. In Scene 5, the drones  2402  have successfully passed each other. Further, the propulsive fans  2416  can return to their original (neutral) position. In addition, the drones  2402  can return to their original lanes that they had traveled prior to passing each other. In some implementations, magnetic-bumper collision can be provided to reduce possibility of derailment or otherwise damage. 
     Referring now to  FIGS. 48-56 , an example indoor-rail-based drone system  2500  is illustrated.  FIG. 48  schematically illustrates an overview of the indoor-rail-based drone system  2500  as used in a hospital for example. Illustrated are one or more drones  2502 , a guidance rail system  2504 , a patient examination/visitation room  2506 , a patient-room door  2508 , an outside room wall  2510 , and a floor  2512  on a hospital corridor  2514 . In this example, the drones  2502  are configured as Accessory Conveyance Units (ACUs). 
       FIGS. 49-52  illustrate an example of the guidance rail system  2504  for the drones  2502 . As illustrated in  FIGS. 49-50 , the guidance rail system  2504  can provide bypass capabilities. 
     In this example, the guidance rail system  2504  includes a pair of rail lines  2520  configured to guide drones  2502  therealong. The rail lines of the guidance rail system  2504  can physically engage (e.g., clasp, contact, etc.) with the drones for guidance. Alternatively or in addition, the guidance rail system  2504  is configured to provide virtual rails using various mechanisms (e.g., markers, electronic elements such as magnets, lasers etc.). 
     The guidance rail system  2504  can include a base rail  2524  extending along a corridor wall, and further include a bypass rail  2522  that branches out from, and rejoins back to, the base rail  2524  and are routed in parallel with a portion of the base rail  2524 . The drones  2502  can selectively navigate along the base rail  2524  or the bypass rail  2522  that they can enter or return from through Y-shaped branches  2526 . In the illustrated example, the base rail  2524  is routed into, and out from, a patient room  2530  while the bypass rail  2522  continues along the corridor wall. As described herein, the guidance rail system  2504  can be arranged above head level to minimally obstruct human traffic. 
     The base rail  2524  is routed into the room. As a drone  2502  navigates along the base rail  2524  and enters the room, a drone door  2528  (like a pet door) can be automatically opened by the drone  2502  (e.g., by wireless control from the drone  2520 , or by the drone  2520  pushing the door). 
     As illustrated in  FIGS. 51-52 , the guidance rail system  2504  is routed in a room  2530  from a corridor  2514 . The guidance rail system  2504  includes a room rail  2532  that is connected to the base rail  2524 . A drone  2502  traverses the room rail  2532  (e.g., U-shaped rail) to access individual patient or doctor necessities on both sides of the room. For example, in Scene 1, a drone  2502  is moving along the room rail  2532  after entering the room  2530 . The room  2530  has multiple areas or sub-rooms, such as a first area  2530 A and a second area  2530 B. In Scene 2, the drone  2502  is about to make a turn along the room rail  2532 . In Scene 3, the drone  2502  is making a sharp turn at a curved portion of the room rail  2532 . In Scene 4, the drone  2502  is making a second sharp turn for return path along the room rail  2532 . In Scene 5, the drone  2502  is now in position to interact with the first area  2530 A in the room  2530 . In Scene 6, the drone  2502  is in a position convenient for the first area  2530 A. In Scene 7, the drone  2502  stays in the same location of the room rail  2532 , while a cargo is repositioning to change its orientation to optimize its interaction relative to the first area  2530 A. In Scene 8, the drone  2502  is further reoriented for interaction in the first area  2530 A. 
       FIG. 53  illustrates example positions (including orientations) of a drone  2502  in the guidance rail system  2504 . In the illustrated example, the drone  2502  is positioned along the room rail  2532  in the first area  2530 A of the room  2530 , and reorienting itself to interact with that area. For example, in Scene 1, the drone  2502  is in a neutral orientation. In Scene 2, the drone  2502  is rotating about a vertical axis  2534 . In Scene 3, the drone  2502  is rotating relative to a horizontal axis  2536 . 
     For example, the drone  2502  can include a cargo  2540  containing a sensor configured to detect a patient or other objects. As moving along the room rail  2532  and traversing multiple areas, the drone  2502  can monitor the statuses of multiple patients or other objects in the room and other rooms. 
     Referring to  FIGS. 54-55 , an example operation of a drone  2502  is illustrated, which can travel along selectively a base rail or a bypass rail.  FIG. 54  illustrates an example mechanism and operation of drones choosing a room bypass track  2522 . In Scene 1, two drones  2502 A-B (collectively  2502 ) are traveling in the same direction (towards the bottom-left of the scene). For example, each drone  2502  includes one or more claspers  2544  operatively coupled to a body  2546  of the drone  2502 . The claspers  2544  are configured to engage the rails and change their orientations relative to the rails. The orientation of the claspers  2544  can determine which rail the drone follows (e.g., between the base rail  2524  and the bypass rail  2522 ) (whether the drone enters or passes the room). 
     For example, when moving along the base rail  2524  and reaching the location of the branch  2526 , the claspers  2544  of a first drone  2502 A can be oriented onto the side of the bypass rail  2522  (towards the bypass rail  2522 ). As described below, if the claspers  2544  are oriented onto the side of the base rail  2524  (e.g., opposite side to the side of the bypass rail  2522 ), the drone will follow the base rail  2524 , not the bypass rail  2522 . In Scenes 2-7, the drone  2502 A are sequentially traversing along the bypass route  2522  in progressing stages. 
     A second drone  2502 B has claspers  2544  reoriented to follow the base rail  2524  (the opposing non-bypass route) to enter a patient room. In Scene 8, the second drone  2502 B has claspers  2544  oriented (or reoriented) at (or before) the branch  2526  so as to move toward the room along the base rail  2524 . The second drone  2502 B will enter the room and not bypass it. In Scenes 9-10, the drone  2502 B are sequentially traveling on the base rail  2524  leading into the room. 
       FIG. 56  illustrates an example operation of a drone  2502  changing the orientation of claspers  2544  to alter tracks (rails) that it follows. For example, the claspers  2544  of the drone  2502  alter their orientation in order to determine a branch path (e.g., between the base rail  2524  and the bypass rail  2522 ). For example, in Scene 1, the claspers  2544  are in a first orientation (e.g., neutral orientation). In Scenes 2-4, the claspers  2544  are in process of changing orientation relative to the rail. In Scene 5, the claspers  2544  are fully reoriented. 
     The claspers  2544  can be reoriented relative to the body  2546  of the drone  2502  in various mechanisms. For example, the claspers  2544  include C-shaped gripping portions that are rotatably coupled to opposite ends of the body  2546 . The C-shaped gripping portion is configured to rotate relative to the body  2546  and thus rotate around the associated rail while the body  2546  remains stationary. As it rotates, the open side of the C-shaped gripping portion faces different sides of the rail as illustrated in Scenes 1-5. 
     Referring to  FIGS. 57-58 , an example cargo gripping mechanism of the drone  2502  is described.  FIG. 57  schematically illustrates an example operation of transferring a cargo from one drone to another. For example, the drone  2502  includes a cargo holding structure  2550  having a pair of mating grippers  2552  configured to hold a cargo  2540 . The grippers  2552  can be retracted into and extended from the body  2546  of the drone  2502 . For example, as shown in Scene 1, two drones  2502  come close and aligned (e.g., along a rail) so that a cargo  2540  held by the extended grippers  2552  of a first drone  2502  is arranged close to the retracted grippers  2552  of a second drone  2502 . In Scenes 2 and 3, the grippers  2552  are gradually extended out from the body of the second drone  2502 , while the grippers  2552  of the first drone  2502  may be gradually retracted into the body of the first drone  2502 . In Scene 4, when the second drone  2502  finally holds the cargo, the first drone  2502  may hand off, and two drones may be moved away from each other. 
       FIG. 58  illustrates an example structure of the drone  2502  (as an accessory conveyance unit (ACU)) with the cargo holding structure  2550  for carrying a cargo  2540 . The cargo  2540  can include equipment for use by a medical practitioner or patient. In Scene 1, the drone  2502  is in clasped engagement with the cargo. For example, the grippers  2552  (e.g., C-ring claspers) are in a closed position holding the cargo. In Scene 2, the grippers  2552  of the drone  2502  is in a partial closed/open position. In Scene 3, the grippers  2552  of the drone  2502  is in an open position. The drone  2502  can include a propulsion mechanism for driving the drone  2502 . For example, the drone  2502  can include a pair of engines  2560  (with fans). The drone  2502  can be self-guided, or guided by the rails as described herein or by other mechanisms (e.g., magnetic wallpaper) with or without counterweight. 
       FIGS. 59A-B  illustrate an example system  2600  for guiding drones or other objects (e.g., carts carrying patients) along a desired path. The system  2600  includes a granulated magnetic wallpaper  2602 , which may be for indoor or outdoor usage. The system  2600  can replace, or be used along with, the guidance rail system described herein. The granulated magnetic wallpaper  2602  includes a plurality of sensors and/or markings that are sparsely positioned. Examples of the granulated magnetic wallpaper is described in U.S. Pub. Nos. US 2009/0263634 and US2009/0110948, the entirety of which are incorporated herein by reference. 
     The granulated magnetic wallpaper  2602  can be stored and/or potable in a rolled configuration. In  FIG. 59A , a roll of the granulated magnetic wallpaper  2602  is being unrolled for usage. In  FIG. 59B , the granulated magnetic wallpaper  2602  is arranged and installed in a desired configuration (e.g., a cylindrical shape along a path) for usage. 
     Referring to  FIGS. 60-61 , an example aerial drone carrier system  2700  is described. The aerial drone carrier system  2700  includes a drone carrier  2702  configured to carry one or more drones  2704  of the same or different functionalities together. The drone carrier  2702  can be used to collect and transport multiple drones simultaneously for repurposing, recharging or for energy conservation of drone batteries (e.g., satellite drones batteries which may be consumed relatively quickly). 
     For example, the drone carrier  2702  includes a vertical docking extension  2706  with which drones  2704  engage. The vertical docking extension  2706  can be configured to pick up or mate with such drones  2704 . For example, the drones  2704  include slots  2708  configured to engage the vertical docking extension  2706  of the drone carrier  2702 . In some implementations, the drone carrier  2702  can be configured to provide additional functions to the drones  2704 , such as charging, data communication, etc., through the connection between the vertical docking extension  2706  and the slots  2708 . 
     The drone carrier  2702  can include one or more propulsion devices  2714  (e.g., engines with fans) for self-driving. In addition or alternatively, the drone carrier  2702  can be guided by a guidance rail system  2710  (e.g., the guidance rail system described herein) which can be fixed or not fixed to, for example, an upper area of a wall  2712 . For example, the drone carrier  2702  includes a rail engaging section  2716  configured to slidably engage a rail line of the guidance rail system  2710 . 
     Referring to  FIGS. 62A-B , another example drone carrier  2800  is described.  FIGS. 62A-B  schematically illustrate an example drone carrier  2800  (e.g., a larger/mother drone or carrier) configured to hold and carrier one or more drones  2802  (e.g., a smaller/satellite/child drones). The drones  2802  can be configured to similar to the drones  2704  or other drones described herein. The drones  2802  may be configured for the same or different functionalities. For example, each satellite drone can perform separate functions in the same or disparate locations. In some implementations, the drone carrier  2800  is configured to be manually handled. For example, the drone carrier  2800  includes a handle  2810  for manual gripping. Alternatively or in addition, the drone carrier  2800  is configured to be self-driven. 
     The drone carrier  2800  can include one or more propulsion devices  2804  located at desired locations in a body  2806  of the drone carrier  2800 . The propulsion devices  2804  can be of various types, such as engines with propeller fans, and configured to propel, levitate, and/or hover the drone carrier  2800 . 
     As illustrated in  FIG. 62A , the child drones  2802  can be secured or mated onto the drone carrier  2800 . In  FIG. 62B , the child drones  2802  are separated from the drone carrier  2800 . As illustrated in  FIG. 62B , the drone carrier  2800  can include one or more drone support areas  2812  on which the child drones  2802  can rest. The drone carrier  2800  can further include one or more dock latches  2814  configured to mate with the child drones  2802 . For example, similarly to the drones  2704 , the child drones  2802  can have slots  2816  configured to engage with the dock latches  2814 . Similarly to the drone carrier system  2700 , the drone carrier  2800  can provide additional functions to the child drones  2802 , such as charging, data communication, etc., through the connection between the dock latches  2814  and the slots  2816 . 
     Referring to  FIGS. 63A-C , an example drone  2900  is described, which can be used to implement the drones described herein, such as the drones  2704 ,  2802 , and other drones illustrated above. The drone  2900  includes a body  2902  with an upper cargo compartment  2904  and a lower cargo compartment  2906 . Example cargo packages  2910  can be held by the upper cargo compartment  2904  and the lower cargo compartment  2906 . In some implementations, a package can be held onto the upper cargo compartment  2904  and secured by a cargo fastener  2905 . In some implementations, a package can be held onto the lower cargo compartment  2904  by being engaged between the lower cargo compartment  2904  and the upper cargo compartment  2904 . 
     The drone  2900  includes one or more propulsion devices  2908  provided in the body  2902 . The propulsion devices  2908  can be of various types, such as engines with propeller fans, and configured to propel, levitate, and/or hover the drone  2900 . The drone  2900  includes a control system  2910  and a sensor system  2912 . The sensor system  2912  includes one or more sensors  2914  (e.g., optical sensors, light sensors, imaging sensors, photon sensors, position sensors, angle sensors, displacement sensors, distance sensors, speed sensors, acceleration sensors, acoustic sensors, sound sensors, vibration sensors, or other sensors for desired purposes). For example, the sensor system  2912  can include cameras and/or sonar sensors. The sensor system  2912  is attached to the body  2902  so that the sensors are arranged in desired directions and orientations. For example, the sensors  2914  can be arranged around a circular rim  2916  attached to the body  2902 , so that the sensors are arranged for multi-directional sensing. The control system  2910  is configured to receive sensor signals from the sensor system  2912  and control the components of the drone  2900  for operating the drone  2900  based at least part on the signals. The drone  2900  can include slots  2918  configured to engage a docking extension of another structure, such as the vertical docking extension  2706 , the dock latches  2814 , or other suitable structures for mating, charging, data communication, and other suitable functions. 
     Referring now to  FIGS. 64-82 , various embodiments of drones are described. 
       FIG. 64  schematically illustrates an example drone  3100  with one or more foldable wings. For example, as shown in Scene 1, the drone  3100  includes a stabilizer  3102  and lift wings  3104 . The lift wings  3104  include lift propulsion devices  3106  (e.g., engines with propellers). The drone  3100  can include a foldable undercarriage wing  3108 . The drone  3100  can include other foldable wings. In Scene 2, the undercarriage wing  3108  is in a folded configuration. In Scene 3, the undercarriage wing  3108  is unfolding. In Scene 4, the undercarriage wing  3108  is fully unfolded. The wing can be made from various materials, such as rigid materials, cloth, or other suitable materials. 
     In some implementations, the foldable wings can include a plurality of pieces coupled movably coupled together. The wings can be retracted by folding one or more of the pieces, and extended by unfolding the pieces. 
     The foldable wings and other structures, described with reference to this Figure and other Figures herein, can be made of various materials. Example materials for the foldable wings and other structures include shape memory alloys, which remember their original shape and can return to their original shape after deformation under a stimulus. Examples of shape memory alloys include a gold-cadmium alloy (bent when cool and return to its original shape when heated), a nickel-titanium alloy (or nitinol), etc. In some implementations, some example shape memory alloys can return to a shape different from their original shape under a stimulus, thus holding two different shapes. Examples of shape memory alloys are further described in P. K. Kumar, et al., “ Introduction to shape memory alloys ,” In: Shape Memory Alloys. Springer, Boston, Mass. (2008); Ogawa et al., Science, 353 (2016), 368. DOI: 10.1126/science.aaf6524; Raj Suhail, et al.,  Potential Applications of Shape Memory Alloys in Seismic Retrofitting of an Exterior Reinforced Concrete Beam - column Joint , SECED 2015 Conference: Earthquake Risk and Engineering towards a Resilient World, 9-10 Jul. 2015, Cambridge UK; and Canadinc et al.,  Scripta Materialia,  158 (2019), 83. The disclosures of these references are incorporated herein by reference. 
       FIGS. 65A-C  schematically illustrate an example foldable wing  3200  which can be used with a drone. Illustrated are three stages in  FIGS. 65A-C . The wing  3200  includes multiple segments  3202  that are coupled at hinges  3204 . The wing  3200  is in a folded mode ( FIG. 65A ), in the process of folding ( FIG. 65B ), and completely folded ( FIG. 65C ). 
       FIGS. 66A-C  schematically example drones with nestled wings. As illustrated in  FIG. 66A  (a front perspective view) and  FIG. 66B  (a rear perspective view), an example drone  3300  includes wings  3302  that can be selectively retracted into or extended from a body  3304  of the drone  3300 . The wings  3302  can be arranged on a desired portion (e.g., an upper portion, a lower portion, sides, etc.) of the body  3304 . In  FIGS. 66A-B , the wings  3302  move gradually from a compacted position to an expanded position (from Scene 1 to Scene 4 in  FIG. 66A , and from Scene 1 to Scene 5 in  FIG. 66B ). 
     As illustrated in  FIG. 66C , another example drone  3330  includes wings  3332  that can be selectively retracted into or extended from a body  3334  of the drone  3330 . The wings  3332  can be arranged on a desired portion (e.g., an upper portion, a lower portion, sides, etc.) of the body  3334 . In  FIG. 66C , the wings  3332  move gradually from a compacted position to an expanded position (from Scene 1 to Scene 3). 
     Dependent on scaling factors, drones described herein can be used achieve guidance and/or lift via propeller action (rotary on top of craft, flapping action (laterally positioned) or static airfoil type lift). 
       FIGS. 67A-D  schematically illustrate a drone  3400  with deformable wings  3402 . For example, the wings  3402  include flexible wings that can adjust to various weather/wind conditions and a midline airflow path. Such flexible wings  3402  can be made from flexible or deformable materials, such as flexible cloth, nitinol, or other material suitable materials. In addition to the example shape memory alloys described above, other example shape memory alloys, which can be used for the wings, are described in, for example, J. K. Strelec, et al.,  Design and Implementation of a Shape Memory Alloy Actuated Reconfigurable Airfoil , Journal of Intelligent Material System, Vol 14, Issue 4-5, 2003, the disclosure of which is incorporated herein by reference. 
     In some implementations, the drone  3400  can include a body  3404  with an airflow intake  3406  into which air is drawn, and a rear exhaust  3408  from which the air is discharged. The drone  340  can include a cargo space  3410  configured to hold and carry a package. 
       FIG. 68  schematically illustrates a small drone  3500  with an expandable low-cost glider (or flapper)  3502  mounted to a body  3503 . For example, the glider  3502  can include multiple segments  3504  that are coupled together at hinges  3506 . The segments  3504  can be hinged or folded/unfolded so that the glider  3502  can move between a collapsed position and an expanded position. For example, Scenes 1 and 2 illustrate side and frontal-oblique views of the drone  3500  with the glider  3502  in a folded position. Scene 3 captures the glider in the process of unfolding. Scene 4 illustrates the glider is unfolded (i.e. extended). Scenes 5-7 illustrate the drone with the extended flapper (top view, front view, and rear view). 
       FIGS. 69A-C  schematically illustrate an example drone  3600  that can be guided by guide rails (e.g., polls or wires). In this example, the drone  3600  includes a body  3602  and wings  3604  configured to be selectively extendable. For example, the wings  3604  can be collapsed toward the body  3602 , or extended from the body  3602  for navigating the drone  3600 . The drone  3600  can further include guide extensions  3606  extending from the body  3602  and configured to engage a guidance rail system  3610 . For example, the guide extensions  3606  include recessed portions  3612  that may receive rails (wires or poles)  3614  of the guidance rail system  3610 , independently or simultaneously. In some implementations, the recessed portions  3612  are arranged such that their open sides that receive rails face in the opposite direction (as illustrated in  FIGS. 69A-C ) or in the same direction. The guidance rail system  3610  can be routed in various configurations. Examples of the guidance rail system  3610  include the guidance rail systems described above. The guidance rail system  3610  can provide guidance by permitting the drone to physically contact the rails as it moves. Alternatively, the guidance rail system  3610  can provide contactless guidance rails using for example electromagnetism. The drone  3600  can be further configured to take off from the guidance rail system  3610  and fly on its own. 
       FIG. 70  schematically illustrates an example land ambulette vehicle  3700 . The vehicle  3700  can move freely on the ground, or move in tandem style (similarly to a train on tracks). The vehicle  3700  includes a propulsion system  3702  (e.g., using traction, mating, propellant or any combination thereof), and a rotatable thruster assembly  3704 . 
       FIGS. 71A-D  schematically illustrate an example hybrid flight/train vehicle (e.g., drone)  3800 . The vehicle  3800  can fly while assisted by a track system  3802  (e.g., a tubular propulsion). In particular,  FIGS. 71A-B  illustrate front views of the vehicle  3800  with the track system  3802 , and  FIGS. 71C-D  illustrate rear views thereof. 
     The vehicle  3800  includes a body  3804  and one or more propulsion devices  3806 , such as a thrust/exhaust fan or engine assembly. The vehicle can further include a cargo (or payload capture)  3807  that is removably attached to, or carried by, the body  3804 . One or more of the propulsion devices  3806  of the vehicle  3800  can be engaged with the track system  3802 , and the vehicle  3800  can move along the track system  3802  with the one or more of the propulsion devices  3806  sliding along the track system  3802 . For example, the track system  3802  includes a tubular track that includes an open portion  3808 . When the one or more of the propulsion devices  3806  are engaged within the track system  3802 , the rest of the vehicle  3800  is arranged next to the track system  3802  through the open portion  3808 . The track system  3802  can use various propulsion or momentum delivery mechanisms which can further assist propulsion of the vehicle  3800  in addition or alternatively to the vehicle&#39;s own propulsion devices  3806 . Examples of such propulsion delivery mechanisms can use mechanical propulsion delivery schemes (e.g., using partially enclosed suction effect), electrical propulsion delivery schemes (e.g., using electric current), and/or magnetic propulsion delivery (e.g., using magnetic or electromagnetic effects). 
       FIGS. 72A-B  schematically illustrate an example combined land-air vehicle (e.g., drone)  3900 . The vehicle  3900  includes a body  3902  and a plurality of clasping legs  3904  extending from the body  3902  (e.g., a bottom of the body  3902 ). The clasping legs  3904  are arranged in two opposing rows so that they can move to grasp or release an object. Each clasping leg  3904  can include a plurality of segments  3906  that are movably (e.g., pivotally) coupled to adjust the shape of the leg for clasping or releasing. For example, in  FIG. 72A  (a bottom-oblique view), the clasping undercarriage segmented legs  3904  are in an extended (no-clasping) position. In  FIG. 72B , the segmented legs  3904  are in a clasping position. 
       FIGS. 73-75  schematically illustrate an example winged drone  4100  with extendable arms  4102  configured to engage in a person rescue. The arms  4102  are configured to be foldable into, and extendable from, a body  4104  of the drone  4100 . The arms  4102  can be configured with multiple links to provide multiple configurations and grasping functionality. The drone  4100  can perform a rescue process with minimal arm extension. The drone  4100  can further include wings  4106  which may be foldable. 
     In Scene 1 (a bottom view), the drone  4100  has the arms  4102  being folded, and the wings  4106  being folded, while the drone  4100  can move. In Scenes 2 and 3, the drone  4100  is approaching a person to be rescued. In Scene 4, the drone  4100  has the arms  4102  being gradually extending, and/or the wings  4106  unfolding as necessary for navigational or physical requirements. In Scene 5, the arms  4102  are lowered but with its ends still withheld. In Scene 6, the drone  4100  is being reoriented for optimal contact with the person being rescued. For example, the wings  4106  can be extended to achieve desired lift or glide assistance during flight. The wings  4106  may or may not be retracted during specified segments of the operation. 
     In Scenes 7-8, the drone  4100  has the arms  4102  gradually extending to approach the person. In Scene 9, the drone  4100  is ready to engage the person with the extended arms  4102 . In Scene 10, the drone  4100  has the arms  4102  cradling the undersurface of the person as it engages for removal from scene. 
     In Scenes 11-14, the drone  4100  has the arms  4102  engaging with the person in maximal arm extension and contacting the person under his/her limbs (e.g., arms). 
       FIG. 76  schematically illustrates an example winged drone  4200 . The drone  4200  is configured similarly to the drone  4100  and further includes an object support panel  4202  (e.g., back and/or seat support) configured to support a person being rescued. The object support panel  4202  is selectively collapsible for storage or expandable for usage. For example, the object support panel  4202  can include multiple segments movably coupled so that different positions of such segments provide different configurations of the object support panel  4202 . The object support panel  4202  is configured to change its shape to support the person with or without extended arms  4204  from the drone  4200 . For example, in Scene 1, the drone  4200  is approaching a patient with the object support panel  4202  being compacted. In Scene 2, the drone  4202  is approaching with the arms  4204  and the object support panel  4202  both being extended. In Scene 3, the drone  4200  is engaging the patient&#39;s body with the extended arms  4204  beneath patient arms, and the extended object support panel  4202  positioning it underneath the patient. In Scene 4, the drone  4200  is in flight safely transporting the patient to the desired location for treatment. 
       FIG. 77  schematically illustrates an example winged drone  4300  that includes a robotic flexible buoy assembly  4302  for engaging in patient rescue. The buoy assembly  4302  can be used to hold and remove a person from a water, fluid, or other entrapping bodies around the person. The buoy assembly  4302  can include a flexible buoy  4304  and a retractable extension  4306  (e.g., wire, telescoping body, etc.) for connecting the flexible buoy  4304  to a body of the drone  4300 . In Scene 1, the drone  4300  moves on site and the flexible buoy  4304  is approaching a person to be rescued from an entrapping body (e.g., water). In Scene 2, the flexible buoy  4304  starts deforming on approach to the person. In Scene 3, the flexible buoy  4304  is deforming around the person. In Scenes 4 and 5, the flexible buoy  4304  is in an enclosed position around the person. In Scene 6, the drone  4300  is lifting the person held by the flexible buoy  4304 . The flexible buoy  4304  can be remotely controlled to change its shapes (e.g., flexed in and out). Alternatively, the buoy assembly  4302  includes a controller that automatically controls the shape of the buoy. 
       FIGS. 78A-C  schematically illustrate an example robotic flexible buoy assembly  4400  with a back support mechanism  4402 . Similarly to the buoy  4304 , the buoy assembly  4400  can be connected to a drone using a retractable extension  4404 . The body assembly  4400  can include one or more buoys  4406  that may be arranged vertically to improve holding of a person. Similarly to the buoy  4304 , the buoys  4406  can be remotely controlled to change their shapes. Alternatively, the buoy assembly  4400  includes a controller that automatically controls the shape of the buoy. Multiple buoys  4406  can be controlled individually or in coordination. 
     The back support mechanism  4402  can include a plurality of panels  4408  connected in series using flexible connectors which can be controlled to change the overall shape of the back support mechanism  4402  so that the back support mechanism  4402  can comply with the contour of the person&#39;s body being supported by the mechanism. Optionally, there may be provided a minimal harness with controlled personal back/spine support. 
       FIGS. 79A-C  schematically illustrate an example drone  4500  for carrying an object thereon. The drone  4500  can be configured as a standing personal conveyer drone. The drone  4500  can include one or more slots  4502  for propulsion devices, such as propulsion fans for guidance, vertical lift, etc. The drone  4500  can further include an object support platform  4504  (e.g., a personal standing platform), vertical stabilizers  4506 , and a section  4508  for one or more horizontal propulsive devices which can be modular, interchangeable or dual function. 
     As illustrated in  FIG. 79B , the drone  4500  can include a weight adjustment assembly  4510 . The weight adjustment assembly  4510  can include one or more electronic and/or mechanical rectilinear weight adjustment structures  4512  for either of counterbalance, stabilization, or heading/direction adjustment (exploded view). In the illustrated example, a first weight adjustment structure  4512 A includes a bar weight  4514 A that is adjustable along a first axis (e.g., left-right axis). A second weight adjustment structure  4512 B includes a bar weight  4514 B that is adjustable along a second axis (e.g., front-rear axis). In some embodiments, the second axis is perpendicular to the first axis. In other embodiments, the second axis is angled (other than 90 degrees) relative to the first axis. 
     As illustrated in  FIG. 79C , the drone  4500  can include a cylindrical counterbalance/navigational weight adjustment assembly  4520 , which can include a cylindrical adjustable weight  4522 . 
       FIGS. 80A-C  illustrate an example drone  4600  that includes an electromechanical gimbal assembly  4602  configured to steer and navigate the drone  4600 . The gimbal assembly  4602  can also be configured to support (e.g., contact, strap, etc.) a passenger of the drone. The drone  4600  permits for a passenger to be in a posterior oblique position ( FIG. 80A ), an anterior oblique position ( FIG. 80B ) and a lateral oblique position ( FIG. 80C ). 
       FIG. 81  illustrates an example operation of launching a drone  4700  using a launcher assembly  4702 . The launcher assembly  4702  can be configured to assist and/or catapult the drone therefrom. This Figure schematically depict multiple stages that are returnable (Scenes 1-7). In this example operation, the drone can be launched without requiring continuous power or electrical charge. Depending on various material abilities, some embodiments of the launcher can remain grounded or powered through an extendable cord. In some implementations, the launcher can be re-arranged to propel vehicles along the horizontal. Due to convenience and lesser gravitational considerations, the horizontal launchers may be guided by rail. 
     The launcher assembly  4702  can be configured as a concentric/returnable ballistic launcher. For example, the launcher assembly  4702  can include the drone  4700 , an inner thruster  4708 , an outer launcher  4706 , and a ground or base  4704   
     Illustrated are progressing stages of the drone projection. A base  4704  is configured to propel an outer launcher  4706 , which at a later stage propels an inner thruster  4708 , which in turn propels the drone  4700 . Scene 1 depicts a prelaunch configuration. Scene 2 depicts a full launch assembly. Scene 3 depicts that the outer launcher  4706  is separating. The outer launcher  4706  can be aimed ejection back to the ground and/or the base  4704 . Scene 4 depicts the outer launcher  4706  has been fully separated. Scene 5 depicts the outer launcher  4706  is fully returned. The inner thruster  4708  continues on a programmed trajectory. Scene 6 depicts the inner thruster  4708  has separated from the projectile vehicle (the drone  4700 ) and is ejected to be returned to the ground base  4704  in a guided manner. Scene 7 depicts the projectile vehicle (the drone  4700 ) is continuing on course using its guidance/thrust. 
       FIG. 82  schematically illustrates an example vertical or horizontal launcher  4800  with fixed stages  4802  acting as catapult to projectile. Such fixed projection stages  4802  can impart further momentum or catapulting onto a projected launch vehicle  4804 , thereby reducing necessary onboard energy reserves. 
       FIGS. 83A-B  schematically illustrate an example robotic system  4900  for controlling and placing an instrument. The system  4900  can include an instrument extension  4902  (e.g., radiation, layer, imaging device, etc.) that includes one or more notches  4904  that mate with corresponding structures of a robot so that the robot can grip the instrument extension  4902 . The instrument extension  4902  has a distal end configured to engage an instrument, such as a modular multi jointed electronic manipulator  4906 . In  FIG. 83A , the manipulator  4906  is in an inactive position. In  FIG. 83B , the manipulator  4906  is in an active position where the manipulator  4906  is emulating or performing operations against an internal organ in a patient. 
       FIG. 84  is a block diagram of computing devices  5000 ,  5050  that may be used to implement the devices, systems and methods described in this document, as either a client or as a server or plurality of servers. Computing device  5000  is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Computing device  5050  is intended to represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations described and/or claimed in this document. One or more components described in this Figure can be used to implement the systems, devices, elements, components, controllers, parts, objects, etc. that are described herein. 
     Computing device  5000  includes a processor  5002 , memory  5004 , a storage device  5006 , a high-speed interface  5008  connecting to memory  5004  and high-speed expansion ports  5010 , and a low speed interface  5012  connecting to low speed bus  5014  and storage device  5006 . Each of the components  5002 ,  5004 ,  5006 ,  5008 ,  5010 , and  5012 , are interconnected using various busses, and may be mounted on a common motherboard or in other manners as appropriate. The processor  5002  can process instructions for execution within the computing device  5000 , including instructions stored in the memory  5004  or on the storage device  5006  to display graphical information for a GUI on an external input/output device, such as display  5016  coupled to high-speed interface  5008 . In other implementations, multiple processors and/or multiple buses may be used, as appropriate, along with multiple memories and types of memory. Also, multiple computing devices  5000  may be connected, with each device providing portions of the necessary operations (e.g., as a server bank, a group of blade servers, or a multi-processor system). 
     The memory  5004  stores information within the computing device  5000 . In one implementation, the memory  5004  is a volatile memory unit or units. In another implementation, the memory  5004  is a non-volatile memory unit or units. The memory  5004  may also be another form of computer-readable medium, such as a magnetic or optical disk. 
     The storage device  5006  is capable of providing mass storage for the computing device  5000 . In one implementation, the storage device  5006  may be or contain a computer-readable medium, such as a floppy disk device, a hard disk device, an optical disk device, or a tape device, a flash memory or other similar solid state memory device, or an array of devices, including devices in a storage area network or other configurations. A computer program product can be tangibly embodied in an information carrier. The computer program product may also contain instructions that, when executed, perform one or more methods, such as those described above. The information carrier is a computer- or machine-readable medium, such as the memory  5004 , the storage device  5006 , or memory on processor  5002 . 
     The high-speed controller  5008  manages bandwidth-intensive operations for the computing device  5000 , while the low speed controller  5012  manages lower bandwidth-intensive operations. Such allocation of functions is an example only. In one implementation, the high-speed controller  5008  is coupled to memory  5004 , display  5016  (e.g., through a graphics processor or accelerator), and to high-speed expansion ports  5010 , which may accept various expansion cards (not shown). In the implementation, low-speed controller  5012  is coupled to storage device  5006  and low-speed expansion port  5014 . The low-speed expansion port, which may include various communication ports (e.g., USB, Bluetooth, Ethernet, wireless Ethernet) may be coupled to one or more input/output devices, such as a keyboard, a pointing device, a scanner, or a networking device such as a switch or router, e.g., through a network adapter. 
     The computing device  5000  may be implemented in a number of different forms, as shown in the figure. For example, it may be implemented as a standard server  5020 , or multiple times in a group of such servers. It may also be implemented as part of a rack server system  5024 . In addition, it may be implemented in a personal computer such as a laptop computer  5022 . Alternatively, components from computing device  5000  may be combined with other components in a mobile device (not shown), such as device  5050 . Each of such devices may contain one or more of computing device  5000 ,  5050 , and an entire system may be made up of multiple computing devices  5000 ,  5050  communicating with each other. 
     Computing device  5050  includes a processor  5052 , memory  5064 , an input/output device such as a display  5054 , a communication interface  5066 , and a transceiver  5068 , among other components. The device  5050  may also be provided with a storage device, such as a microdrive or other device, to provide additional storage. Each of the components  5050 ,  5052 ,  5064 ,  5054 ,  5066 , and  5068 , are interconnected using various buses, and several of the components may be mounted on a common motherboard or in other manners as appropriate. 
     The processor  5052  can execute instructions within the computing device  5050 , including instructions stored in the memory  5064 . The processor may be implemented as a chipset of chips that include separate and multiple analog and digital processors. Additionally, the processor may be implemented using any of a number of architectures. For example, the processor may be a CISC (Complex Instruction Set Computers) processor, a RISC (Reduced Instruction Set Computer) processor, or a MISC (Minimal Instruction Set Computer) processor. The processor may provide, for example, for coordination of the other components of the device  5050 , such as control of user interfaces, applications run by device  5050 , and wireless communication by device  5050 . 
     Processor  5052  may communicate with a user through control interface  5058  and display interface  5056  coupled to a display  5054 . The display  5054  may be, for example, a TFT (Thin-Film-Transistor Liquid Crystal Display) display or an OLED (Organic Light Emitting Diode) display, or other appropriate display technology. The display interface  5056  may comprise appropriate circuitry for driving the display  5054  to present graphical and other information to a user. The control interface  5058  may receive commands from a user and convert them for submission to the processor  5052 . In addition, an external interface  5062  may be provide in communication with processor  5052 , so as to enable near area communication of device  5050  with other devices. External interface  5062  may provided, for example, for wired communication in some implementations, or for wireless communication in other implementations, and multiple interfaces may also be used. 
     The memory  5064  stores information within the computing device  5050 . The memory  5064  can be implemented as one or more of a computer-readable medium or media, a volatile memory unit or units, or a non-volatile memory unit or units. Expansion memory  5074  may also be provided and connected to device  5050  through expansion interface  5072 , which may include, for example, a SIMM (Single In Line Memory Module) card interface. Such expansion memory  5074  may provide extra storage space for device  5050 , or may also store applications or other information for device  5050 . Specifically, expansion memory  5074  may include instructions to carry out or supplement the processes described above, and may include secure information also. Thus, for example, expansion memory  5074  may be provide as a security module for device  5050 , and may be programmed with instructions that permit secure use of device  5050 . In addition, secure applications may be provided via the SIMM cards, along with additional information, such as placing identifying information on the SIMM card in a non-hackable manner. 
     The memory may include, for example, flash memory and/or NVRAM memory, as discussed below. In one implementation, a computer program product is tangibly embodied in an information carrier. The computer program product contains instructions that, when executed, perform one or more methods, such as those described above. The information carrier is a computer- or machine-readable medium, such as the memory  5064 , expansion memory  5074 , or memory on processor  5052  that may be received, for example, over transceiver  5068  or external interface  5062 . 
     Device  5050  may communicate wirelessly through communication interface  5066 , which may include digital signal processing circuitry where necessary. Communication interface  5066  may provide for communications under various modes or protocols, such as GSM voice calls, SMS, EMS, or MMS messaging, CDMA, TDMA, PDC, WCDMA, CDMA2000, or GPRS, among others. Such communication may occur, for example, through radio-frequency transceiver  5068 . In addition, short-range communication may occur, such as using a Bluetooth, WiFi, or other such transceiver (not shown). In addition, GPS (Global Positioning System) receiver module  5070  may provide additional navigation- and location-related wireless data to device  5050 , which may be used as appropriate by applications running on device  5050 . 
     Device  5050  may also communicate audibly using audio codec  5060 , which may receive spoken information from a user and convert it to usable digital information. Audio codec  5060  may likewise generate audible sound for a user, such as through a speaker, e.g., in a handset of device  5050 . Such sound may include sound from voice telephone calls, may include recorded sound (e.g., voice messages, music files, etc.) and may also include sound generated by applications operating on device  5050 . 
     The computing device  5050  may be implemented in a number of different forms, as shown in the figure. For example, it may be implemented as a cellular telephone  5080 . It may also be implemented as part of a smartphone  5082 , personal digital assistant, or other similar mobile device. 
     Additionally computing device  5000  or  5050  can include Universal Serial Bus (USB) flash drives. The USB flash drives may store operating systems and other applications. The USB flash drives can include input/output components, such as a wireless transmitter or USB connector that may be inserted into a USB port of another computing device. 
     Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device. 
     These computer programs (also known as programs, software, software applications or code) include machine instructions for a programmable processor, and can be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms “machine-readable medium” “computer-readable medium” refers to any computer program product, apparatus and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term “machine-readable signal” refers to any signal used to provide machine instructions and/or data to a programmable processor. 
     To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input. 
     The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (“LAN”), a wide area network (“WAN”), peer-to-peer networks (having ad-hoc or static members), grid computing infrastructures, and the Internet. 
     The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. 
     As described herein, the embodiments described in the present disclosure can include one or more of the following features. 
     An example robotic surgical system can include one or more surgical robots with multiple arms which can navigate 3-Dimensional space; and one or more real-time image devices to provide real-time visual monitoring of the one or more surgical robots. 
     In the system described herein, the one or more robots are configured to provide totally autonomous robotic surgery (TARS). 
     An example robotic surgical system can include one or more autonomously movable operating room tables to selectively position a patient&#39;s body and or limbs. 
     The system described herein can further include one or more surgical robots with multiple arms which can navigate 3-Dimensional space to operate on the patient. 
     The system described herein can further include one or more real-time image devices to provide real-time visual monitoring of the one or more surgical robots. 
     In the system described herein, the one or more robots are configured to provide totally autonomous robotic surgery (TARS). 
     The system described herein can further include one or more self-driving gurneys to provide transport for the patient. 
     The system described herein can further include one or more carriages coupled to driverless autonomous self-driving vehicles to provide transport for the patient. 
     The system described herein can further include one or more person rescue drones for transportation and delivery to a health care facility. 
     An example robotic surgical system can include one or more person rescue drones configured to engage in multiple autonomous movements proximate to a targeted person. 
     An example totally autonomous robotic surgery (TARS) system can be integrated with autonomous-assisted intraoperative real-time single modality and/or multi-modality fusion imaging. The system can further be integrated with autonomous-assisted intraoperative body/limb positioning, and integrated with autonomous-assisted land and unmanned aerial vehicular patient/equipment/supply transport systems. 
     An example totally autonomous robotic surgery (TARS) system can include Integrated Delta Robots and C-arms. 
     An example totally autonomous robotic surgery (TARS) system can include Mobile Robotic Doctor (MRD). 
     An example totally autonomous robotic surgery (TARS) system can include Robotic articulated linkage arms Array (RALAA). 
     An example totally autonomous robotic surgery (TARS) system can include cylinder arms. 
     An example totally autonomous robotic surgery (TARS) system can include truss arms truss-arms. 
     An example totally autonomous robotic surgery (TARS) system can be configured for system modularity and patient intake. 
     An example totally autonomous robotic surgery (TARS) system can include patient carts that can be automatically driven either independently or with a mobile table mover. 
     An example totally autonomous robotic surgery (TARS) system can include robotic accordion arm (RAA) instruments. 
     An example cooperative totally autonomous robotic surgery (TARS) method can include using a Mobile Robotic Doctor (MRD) and robotic accordion arm (RAA) instruments to perform different phases of an operative preparation and procedure. 
     An example totally autonomous robotic surgery (TARS) system can include a Gimble-Telescoping arm (GTA). 
     An example cooperative totally autonomous robotic surgery (TARS) method can include using a Gimble-Telescoping arm (GTA) with robotic accordion arm (RAA) instruments. 
     An example totally autonomous robotic surgery (TARS) system can include autonomous limb positioner (ALP) embodiment that can work synergistically with any of the TARS embodiments. 
     An example totally autonomous robotic surgery (TARS) system can include autonomous limb positioner (ALP) embodiment utilizing voxelated sensor/actuator components. 
     An example totally autonomous robotic surgery (TARS) system can include Multi-Functional Compaction Arch (MFCA) that includes a Foldable/Compactable Combination Actuation/Manipulation Device. 
     An example method can include a MFCA autonomously positioning itself over a patient. 
     An example totally autonomous robotic surgery (TARS) system can include Self-Organizing Modular Robot (SOMR) with ARUs and DBJs. 
     An example totally autonomous robotic surgery (TARS) system can include a T-jointed version of an ARU. 
     An example totally autonomous robotic surgery (TARS) system can include wing-shaped ARUs to assist in non-ground locomotion or other propulsive mechanisms. 
     An example totally autonomous robotic surgery (TARS) system can include different configurations of ARUs in re-configurable states of: arachnid, humanoid, and praying mantis. 
     An example totally autonomous robotic surgery (TARS) system can include modular robotic systems self-aggregation and learning system. 
     An example totally autonomous robotic surgery (TARS) system can include artificial Intelligent (AI) system for diagnosis and surgical procedure. 
     An example totally autonomous robotic surgery (TARS) system can include AI Robotic based diagnosis. 
     An example totally autonomous robotic surgery (TARS) system can include an AI/Robotic algorithm. 
     An example totally autonomous robotic surgery (TARS) method can include an artificial intelligence (AI) robotic instrument interacting with a human. 
     An example totally autonomous robotic surgery (TARS) system can include a communication structure over distances. 
     An example totally autonomous robotic surgery (TARS) system can include an Automated Patient Delivery System (APDS) utilizing a transport carriage. 
     An example totally autonomous robotic surgery (TARS) system can include drones within a hospital setting to, optionally, aerially deliver patients and or equipment to hospitals for treatment and surgery. 
     An example medical delivery system can include a free-travelling drone latching on to guidance rails. 
     An example medical delivery method can include a drone autonomously transferring from its safer travel lanes to the people. 
     An example robotic surgical method can include disabling a set of robotic devices when an MRI system is activated. 
     An example medical delivery method within a hospital corridor, comprising: utilizing multi-purpose guidance rails that are above the general human height level. 
     An example Hybrid Drone Electromagnetic Guidance Rail/Propulsion System can be integrated into a hospital corridor. 
     The system described herein can include a Hybrid Drone Guidance and self-propulsion system. 
     The system described herein can include an indoor-rail-based drone system as used in a hospital. 
     The system described herein can include one or more drones with rail guidance and bypass capacities with separate rails, either physical or virtual (markers, electronic elements such as magnets, lasers etc.). 
     The system described herein can include a drone capable of entering a room, traversing the U-shaped rail to access individual patient or doctor necessities on both sides of the room. 
     The system described herein can include a mechanism/operation of drones choosing a room bypass track. 
     The system described herein can include drone claspers reorienting to follow the opposing non-bypass route and enter the patient room. 
     An example medical delivery method within a hospital corridor can include ACU to ACU handoff of cargo. 
     An example medical delivery system can include granulated magnetic wallpaper for guiding drones along path in a medical environment without necessity for rail-guidance. 
     The system described herein can include an aerial “vertical” carrier drone which can pick up or mate with smaller child/satellite drones with the help of its mating slot that can additionally function as a charging/communication mechanism. 
     The system described herein can include aerial drone carrier embodiment with various propulsion devices fixed to carrier to propel the carrier. 
     The system described herein can include a larger “carrier” (mother) drone that houses three “satellite” (child) drones. 
     The system described herein can provide the ability to integrate MRIs with other electronic devices enabling co-usage of magnetic instrumentation with other surgical tools in every TARS embodiment presented. 
     The system described herein can include an unfoldable endoscopic screen (UES). 
     The system described herein can include modular robotic self-aggregation and learning systems. 
     The system described herein can include a manual (portable) drone carrier embodiment. 
     The system described herein can include a drone with foldable wings. 
     The system described herein can include a foldable wing on a drone. 
     The system described herein can include drone vehicles with “nestled” wings that can be compacted to above or below the vehicle body. 
     The system described herein can include a drone aircraft with deformable wings. 
     The system described herein can include a small vehicle drone with an expandable low-cost glider. 
     The system described herein can include a pole/wire guided drone. 
     The system described herein can include a land ambulette vehicle that can be used in tandem style as well (i.e. train). 
     The system described herein can include a hybrid flight/train vehicle that can be assisted by tubular propulsion. 
     The system described herein can include a combined land-air vehicle (drone). 
     The system described herein can include a winged drone with extendable arms engaging in person rescue (minimal arm extension) 
     The system described herein can include a winged drone with extendable arms engaging in person rescue (maximal arm extension). 
     The system described herein can include a winged drone with extendable arms engaging in person rescue (maximal arm extension) contacting refugee under his/her arms. 
     The system described herein can include a winged drone with back/seat support engaging person rescue. 
     The system described herein can include a winged drone using robotic flexible buoy engaging in patient rescue. 
     The system described herein can include a robotic flexible buoy with back support mechanisms. 
     The system described herein can include a standing personal conveyer drone. 
     The system described herein can include an electromechanical gimbal drone that can be used either/or steering/navigation and contact/strap with passenger. 
     The system described herein can include an assisted/catapult vertical drone launch with multiple stages that are returnable. 
     The system described herein can include a vertical or horizontal drone launcher with fixed stages acting as catapult to projectile. 
     While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any inventions or of what may be claimed, but rather as descriptions of features specific to particular implementations of particular inventions. Certain features that are described in this specification in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination. 
     Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products. 
     Thus, particular implementations of the subject matter have been described. Other implementations are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous.