Abstract:
A method and apparatus are disclosed for processing non-homogeneous bodies. In exemplary embodiments, the present invention may be employed for aseptically slaughtering and processing animals for food, food products, chemicals, or hides. The methods and apparatus of the present invention require little or no human interaction with the animal carcass during slaughter and processing thereby reducing the possibility of injury to workers and contamination of the carcass through human contact.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Application Ser. No. 60/216,296, filed Jul. 6, 2000. Said U.S. Provisional Application Ser. No. 60/216,296 is herein incorporated by reference in its entirety. 
     Incorporation by Reference 
     The following related commonly owned U.S. Patent Applications are herein incorporated by reference in their entirety: 
     
       
         
               
               
               
               
             
           
               
                   
               
               
                 Applicant 
                 Docket No. 
                 Filing Date 
                 Serial/Express Mail Label No. 
               
               
                   
               
             
             
               
                 O&#39;Neill 
                 ONE 99-3-1 
                 Jul. 6, 2000 
                 09/610,823 
               
               
                 O&#39;Neill 
                 ONE 99-1-1 
                 Jul. 6, 1999 
                 60/142,644 
               
               
                   
               
             
          
         
       
     
    
    
     FIELD OF THE INVENTION 
     The present invention relates generally to methods and apparatus for slaughtering and processing animals for meat and/or hides, and more specifically to a method and apparatus for slaughtering and processing animals suitable for allowing the use of robotic cutting and processing equipment. 
     BACKGROUND OF THE INVENTION 
     Commercial slaughtering and processing of animals (cattle, sheep, swine, or the like) for meat, meat products, chemicals, hides and the like are labor intensive and expose the animal&#39;s carcass to possible microbiological contamination. Known methods for slaughtering and processing animals subject the animal&#39;s to substantial handling by several operators. Such handling increases the likelihood of microbiological contamination of the carcass. For example, the hides of animals being transported to slaughter may become soiled with contaminants such as the animal&#39;s fecal matter. These contaminants often contain microorganisms including pathogens such as  Escherichia Coli , Salmonella, and the like. When the animals hide is removed, operators may contact this fecal matter and inadvertently transfer it to the carcass. Further, operators may acquire contaminates through other sources, such as through illness, and may likewise transfer these contaminants to the carcass when it is handled. For instance, an operator may inadvertently touch a contaminated portion of the hide wherein contaminants containing pathogenic microorganisms are acquired. Should, the operator then handle the carcass, these contaminants may be unknowingly transferred from the operator to the carcass where the microorganisms may be undetectable during inspection. 
     Handling of the animal&#39;s carcass during slaughter and processing also exposes the operators to unpleasant and dangerous working conditions. For instance, operators must utilize instruments such as knives, saws and the like to process the carcass. These instruments are kept extremely sharp so that cuts may be made quickly and efficiently. If the instruments are inadvertently mishandled for even an instant, serious injury to the operator may result. 
     Consequently, there exists a need for improved methods and apparatus for processing non-homogeneous bodies, and in particular, for aseptically slaughtering and processing animals for food, food products, chemicals, hides and the like so that human interaction with the animal carcass during slaughter and processing is reduced 
     SUMMARY OF THE INVENTION 
     The present invention is directed to novel methods and apparatus for processing non-homogeneous bodies. In exemplary embodiments, the present invention may be employed for aseptically slaughtering and processing animals for food, food products, chemicals, hides, and the like. The methods and apparatus of the present invention require little or no human interaction with the animal carcass during slaughter and processing thereby reducing the possibility of the possibility of injury to workers and contamination of the carcass through human contact. 
     In accordance with a first aspect of the present invention, a method is provided for aseptically slaughtering and processing animals for food, food products, chemicals, hides and the like. In one embodiment, the method comprises the steps of sensing at least a portion of an animal carcass being processed utilizing a sensing assembly capable of determining the orientation of the animal carcass portion. Points on the animal carcass portion where processing steps are to be performed are then identified based on the determined orientation of the animal carcass portion sensed by the sensing apparatus. The processing step or steps are then performed remotely utilizing robotic processing apparatus. 
     In accordance with a second aspect of the present invention, apparatus are provided for aseptically slaughtering and processing animals for food, food products, chemicals, hides and the like. In one embodiment, the apparatus includes a sensing device for sensing at least a portion of an animal carcass being processed. The sensing device is operably coupled to a controller capable of identifying a location on the animal carcass portion to perform at least one processing step based on the determined orientation of the carcass. The controller controls a robotic processing assembly capable of performing the processing step to perform the processing step. 
     In exemplary embodiments of the invention, the foregoing method and apparatus may be utilized to implement a variety of processing steps utilized in the slaughter and processing of animals including stunning the animal, slaughtering the animal, bleeding the animal, removal of the hide from the animal carcass, removal of the animal carcass&#39;s head, separation of the animals rectum, evisceration, removal of bones from a portion of the animal carcass, trimming of the animal carcass portion and the like as contemplated by one of ordinary skill in the art. 
    
    
     It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention claimed. The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate an embodiment of the invention and together with the general description, serve to explain the principles of the invention. 
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The numerous objects and advantages of the present invention may be better understood by those skilled in the art by reference to the accompanying figures in which: 
     FIGS. 1A,  1 B,  1 C and  1 D are block diagrams generally illustrating apparatus for slaughtering and processing animals in accordance with exemplary embodiments of the present invention; 
     FIGS. 2A and 2B are side elevational views illustrating use of the method and apparatus of the present invention to determine the orientation and size of an animal&#39;s carcass so that locations on the carcass for making incisions to trim the carcass into primal cuts may be made; 
     FIG. 3 is a perspective view illustrating generated model of the carcass having a grid pattern overlain thereon in accordance with one embodiment of the present invention; 
     FIG. 4 is a perspective view illustrating a controller display capable of displaying the model in accordance with and exemplary embodiment of the present invention; 
     FIG. 5 is a block diagram illustrating the hardware system of an exemplary controller; 
     FIG. 6 is a flow diagram illustrating a method for slaughtering and processing animals in accordance with an exemplary embodiment of the present invention; 
     FIG. 7 is an perspective view of an exemplary process step comprised of stunning or killing the animal; 
     FIGS. 8A and 8B are perspective views of an exemplary process step comprised of marking the animals hide for hide removal and removing the animal&#39;s hide; 
     FIG. 9 is a perspective view of an exemplary process step comprised of evisceration of the animal carcass; 
     FIG. 10 is a perspective view of an exemplary process step comprised of separation of the carcass into halves or sides; and 
     FIG. 11 is a top plan view illustrating use of the method and apparatus of the present invention to trim a primal cut into smaller cuts. 
    
    
     DETAILED DESCRIPTION 
     Reference will now be made in detail to the presently preferred embodiments of the invention, examples of which is illustrated in the accompanying drawings. 
     Referring generally to FIGS. 1A through 8, methods and apparatus for slaughtering and processing animals for food, food products, chemicals, hides, and the like are described. In the exemplary embodiments shown, the method and apparatus may be employed by a processing facility such as a “meat packing house” or “slaughterhouse.” Such a processing facility typically utilizes a conveyer system for transporting the carcass of a slaughtered animal though the various dressing and butchering operations required to ultimately reduce the animal into cuts of meat for sale to consumers. In such a meat processing facility, the animal is first stunned. The animal is then hoisted into a hanging position by its hind legs and the animal&#39;s throat is marked (cut) so that the jugular veins in its neck may be severed to bleed the animal. The animal&#39;s carcass may then be suspended by the hocks of its hind legs on trolleys or hooks of the conveyor system. The hooks are pivotally supported via hook brackets having wheels that engage and roll on a monorail rigidly mounted to a supporting structure such as the ceiling and walls of the facility. In this manner, the animal may be moved from one processing station or operation to the next while supported on the monorail by the hooks. In FIGS. 1A through 8, the present invention is shown, in an exemplary embodiment, as being employed in the slaughter and processing of beef cattle for the production of meat or hide. It should be appreciated, however, that the methods and apparatus of the present invention may likewise be utilized in the processing of other meat or hide producing animals such as swine (hogs), sheep, horses, American bison, and the like. 
     Turning now to FIGS. 1A,  1 B and  1 C, block diagrams illustrating exemplary apparatus for slaughtering and processing animals in accordance with the present invention are described. As shown in FIG. 1A, the processing apparatus  100  utilizes at least one sensing device  102  for inputting information suitable for determining of the size and orientation of the live animal, the animal&#39;s entire carcass, a portion of the animal&#39;s carcass, a primal cut, a cut, or the like [hereinafter collectively referred to as “carcass”]. Such information includes, but is not limited to, the shape of the carcass including its height, width, and depth, the contour of the surface of the carcass, and the position of the carcass relative to the processing apparatus  100 . In an exemplary embodiment, the sensing device  102  may be comprised of one or more cameras each capable of generating an image of the carcass which is transmitted to a controller  104  as a series of electrical impulses. Alternatively, other sensing technologies may be used. For example, sensing devices  102  that are suitable for use by processing apparatus  100  may alternately include laser scanning devices, ultrasonic devices, infrared devices, and the like as contemplated by one of ordinary skill in the art. The sensing device  102  is operably coupled to a controller  104  that is capable of identifying a location on the animal carcass portion to perform one or more processing steps based on the determined orientation of the carcass. 
     In exemplary embodiments of the invention, the foregoing apparatus may be employed to implement a variety of processing steps utilized in the slaughter and processing of animals including stunning the animal, slaughtering the animal, bleeding the animal, removal of the hide from the animal carcass, removal of the animal carcass&#39;s head, separation of the animals rectum, evisceration, removal of bones from a portion of the animal carcass, trimming of the animal carcass portion and the like as contemplated by one of ordinary skill in the art. Exemplary processing stations are discussed further herein below in conjunction with FIGS. 7 through 9. 
     Referring now to FIGS. 2A and 2B, the carcasses  202 ,  204  of animals being processed are generally non-homogeneous in nature. Thus, each carcass  202 , 204  will likely have a somewhat different size and shape depending primarily on the size and condition of the animal before slaughter. For instance, the carcass of a first animal  202 , shown in FIG.  2 A, may be substantially larger than the carcass of a second animal  204 , shown in FIG.  2 B. Consequently, important features of the carcasses  202 , 204  such as bones, muscles, tendons, internal organs, veins or arteries and the like cannot be located utilizing existing automated processing technologies designed for use with homogeneous products making the performance of processing steps such as hide removal, evisceration, and trimming of the carcasses  202 ,  204  into primal cuts  206 - 236 , or trimming of primal cuts  206 - 236  into cuts (not shown) for sale or use impossible. 
     In accordance with an exemplary embodiment of the present invention, shown in FIG. 3, a grid pattern  300  may be used to determine the size, shape, and orientation of the carcass  302  so that important features of the carcass  302  may be identified and located. The identified features may then be used to ascertain the location or locations on the carcass  302  where a particular process step or group of process steps are to be performed. In one embodiment, shown in FIGS. 4, the controller  104  may utilize information received from the sensing devices  102  to generate a three dimensional virtual model of the carcass  400  (shown displayed graphically on a display  404  of the controller  104 ). A grid pattern  402  is then overlain onto the model  400 . Alternately, as shown in FIGS. 2A and 2B, the grid pattern  402  may be physically overlain onto the carcass utilizing projection apparatus (not shown) and inputted by the sensing devices  102  and included in the generated model  400  (FIG.  4 ). 
     The controller  104  may next identify important features of the carcass and determine the location of each identified feature in the model  400  with respect to a grid or grids  404  of the grid pattern  402 . Once identified and located, these features may be used to identify a location on the carcass  302  (FIG. 3) to perform one or more processing steps. For instance, the controller  104 , using a predetermined algorithm, may identify a particular grid or grids in which the processing step or steps are to be performed wherein the grid or grids are related to the grid or grids containing the identified feature. The controller  104  may then cause a robotic processing assembly  106  to perform the step at the identified location. 
     Turning again to FIGS. 1B and 1C, various processing steps may be implemented at separate processing stations  108  within the processing facility  110 . The processing stations  108  may include processing devices  106  each suitable for performing one or more processing steps required to slaughter the animal and reduce its carcass to the cuts desired. For example, as shown in FIGS. 1B and 1C, a processing facility  110  may include a first processing station, “PROCESSING STATION 1”  112 , a second processing station, “PROCESSING STATION 2”  114 , up to N number of processing stations, “PROCESSING STATION N”  116 . Optionally, the processing facility  110  may further include processing stations, “PROCESSING STATION 3”  118 , wherein one or more processing steps are performed manually, e.g., by a human operator instead of or in addition to a robotic processing device  106 . 
     The carcass is moved from one processing station or operation to the next via a suitable transport system such as a monorail, conveyor or the like. Thus, as an animal is processed in the processing facility  110 , its carcass, or portions thereof, are transported from processing station to processing station  108  to be trimmed into increasingly smaller cuts of meat (sides, quarters, primal cuts, cuts, and the like). Exemplary meat cuts are described in “The Meat Buyer&#39;s Guide” published by the National Association of Meat Purveyors (NAMP) which is herein incorporated by reference in its entirety. 
     In one embodiment, shown in FIG. 1B, processing stations  108  may be substantially self-contained. Each such processing station  108  may include processing apparatus  100  including at least one sensing device  102 , a controller  104 , and at least one processing device  106  operating independently of the processing apparatus  100  of other processing stations  108 . Alternately, as shown in FIG. 1C, multiple processing stations  108  may be controlled by a common controller. Each processing station  108  may include processing apparatus  100  including at least one sensing device  102 , and at least one processing device  106 . Preferably, the sensing and processing devices of each processing station  108  are coupled to a centrally located controller  118  that provides control of the processing apparatus of each processing station  108 . 
     In accordance with yet another exemplary embodiment, a processing facility may be comprised of one or more processing stations capable of performing multiple processing steps. For instance, as shown in FIG. 1D, such a processing station  120  may include at least one sensing device  102  operably coupled to a controller  104 . The controller  104  controls a plurality of robotic processing assemblies  106  each capable of performing one or more one processing step to the carcass. In this manner, several processing steps may be performed at a single processing station so that the animal carcass portion is not moved from station to station. 
     Referring now to FIG. 5, the hardware system of a controller in accordance with the present invention is shown. The hardware system  500  is controlled by a central processing system  502 . The central processing system  502  includes a central processing unit such as a microprocessor or micro controller for executing programs, performing data manipulations and controlling the tasks of the hardware system  500 . Communication with the central processor  502  is implemented through a system bus  510  for transferring information among the components of the hardware system  500 . The bus  510  may include a data channel for facilitating information transfer between storage and other peripheral components of the hardware system  500 . The bus  510  further provides the set of signals required for communication with the central processing system  502  including a data bus, address bus, and control bus. The bus  510  may comprise any state of the art bus architecture according to promulgated standards, for example industry standard architecture (ISA), extended industry standard architecture (EISA), Micro Channel Architecture (MCA), peripheral component interconnect (PCI) local bus, standards promulgated by the Institute of Electrical and Electronics Engineers (IEEE) including IEEE  488  general-purpose interface bus (GPIB), IEEE 696/S-100, and so on. 
     Other components of the hardware system  500  include memory  504  comprised of main memory and auxiliary memory. The main memory provides storage of instructions and data for programs executing on the central processing system  502 . The main memory is typically semiconductor-based memory such as dynamic random access memory (DRAM) and/or static random access memory (SRAM). Other semi-conductor-based memory types include, for example, synchronous dynamic random access memory (SDRAM), Rambus dynamic random access memory (RDRAM), ferroelectric random access memory (FRAM), and so on. Auxiliary memory provides storage of instructions and data that are loaded into the main memory before execution. The auxiliary memory may include semiconductor based memory such as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), or flash memory (block oriented memory similar to EEPROM). The auxiliary memory may also include a variety of non-semiconductor-based memories, including but not limited to magnetic tape, drum, floppy disk, hard disk, optical, laser disk, compact disc read-only memory (CD-ROM), write once compact disc (CD-R), rewritable compact disc (CD-RW), digital versatile disc read-only memory (DVD-ROM), write once DVD (DVD-R), rewritable digital versatile disc (DVD-RAM), and the like. Other varieties of memory devices are contemplated as well. 
     The hardware system  500  may optionally include an auxiliary processing system which may be an auxiliary processor to manage input/output, an auxiliary processor to perform floating point mathematical operations, a digital signal processor (a special-purpose microprocessor having an architecture suitable for fast execution of signal processing algorithms), a back-end processor (a slave processor subordinate to the main processing system), an additional microprocessor or controller for dual or multiple processor systems, or a coprocessor. It will be recognized that such auxiliary processors may be discrete processors or may be built in to the main processor. 
     The hardware system  500  further includes a sensing device interface  514  for interfacing with one or more sensing devices  516 - 520  and a processing device interface  522  for interfacing with one or more processing devices  524 - 528 . The sensing device interface  514  and processing device interface  522  may comprise one or more controllers or adapters for providing interface functions between the one or more sensing devices  516 - 520  and processing devices  524 - 528 . For example, the sensing device interface  514  and processing device interface  522  may comprise a serial port, parallel port, universal serial bus (USB) port, IEEE 1394 serial bus port, infrared port, network adapter, radio-frequency (RF) communications adapter, universal asynchronous receiver-transmitter (UART) port, and the like as contemplated by one of skill in the art, for interfacing between corresponding sensing devices  516 - 520  and processing devices  524 - 528 , respectively. 
     The hardware system  500  further includes a display system  512  for connecting to a display device  514 , and an input/output (I/O) system  516  for connecting to one or more I/O devices. The display system  512  may comprise a video display adapter having all of the components for driving the display device, including video memory, buffer, and graphics engine as desired. Video memory may be, for example, video random access memory (VRAM), synchronous graphics random access memory (SGRAM), windows random access memory (WRAM), and the like. The display device  514  may comprise a cathode ray-tube (CRT) type display such as a monitor or television, or may comprise an alternative type of display technology such as a projection-type display, liquid-crystal display (LCD), light-emitting diode (LED) display, gas or plasma display, electroluminescent display, vacuum fluorescent display, cathodoluminescent (field emission) display, plasma-addressed liquid crystal (PALC) display, high gain emissive display (HGED), and so forth. The input/output system  516  may comprise one or more controllers or adapters for providing interface functions between the one or more I/O devices. For example, the input/output system  516  may comprise a serial port, parallel port, universal serial bus (USB) port, IEEE 1394 serial bus port, infrared port, network adapter, printer adapter, radio-frequency (RF) communications adapter, universal asynchronous receiver-transmitter (UART) port, etc., for interfacing between corresponding I/O devices such as a keyboard, mouse, trackball, touchpad, joystick, trackstick, infrared transducers, printer, modem, RF modem, bar code reader, charge-coupled device (CCD) reader, scanner, compact disc (CD), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), video capture device, touch screen, stylus, electroacoustic transducer, microphone, speaker, audio amplifier, etc. The input/output system  516  and I/O devices  518 - 522  may provide or receive analog or digital signals for communication between the hardware system  500  of the present invention and external devices, networks, or information sources. The input/output system  516  and I/O devices  518 - 522  preferably implement industry promulgated architecture standards, including Ethernet IEEE 802 standards (e.g., IEEE 802.3 for broadband and baseband networks, IEEE 802.3z for Gigabit Ethernet, IEEE 802.4 for token passing bus networks, IEEE 802.5 for token ring networks, IEEE 802.6 for metropolitan area networks, and so on), Fibre Channel, digital subscriber line (DSL), asymmetric digital subscriber line (ASDL), frame relay, asynchronous transfer mode (ATM), integrated digital services network (ISDN), personal communications services (PCS), transmission control protocol/Internet protocol (TCP/IP), serial line Internet protocol/point to point protocol (SLIP/PPP), and so on. It should be appreciated that modification or reconfiguration of the hardware system  500  of FIG. 5 by one having ordinary skill in the art would not depart from the scope or the spirit of the present invention. 
     Referring now to FIG. 6, an exemplary method for processing animals for food, food products, chemicals, hides, and the like in accordance with the present invention in accordance with the present invention is described. The method  600  is implemented when a carcass is received at a processing station within a processing facility employing apparatus in accordance with the present invention. At least a portion of the carcass is scanned utilizing a sensing assembly capable of determining the orientation of the animal carcass portion at step  602 . Points on the animal carcass portion where processing steps are to be performed are then identified based on the determined orientation of the animal carcass portion from the scan at step  604 . For instance, as shown in FIGS. 2A,  2 B and  3 , and discussed above, the controller may overlay a grid pattern onto the image of carcass received from the sensing device. The controller then identifies important features of the carcass and determines the location of each identified feature with respect to a grid or grids of the grid pattern. If necessary the carcass may be re-oriented or, alternately, the processing device, repositioned so that the processing step may be performed at step  606 . The processing step or steps are then performed remotely utilizing robotic processing apparatus at step  608 . The carcass is then moved to the next processing station for further processing if necessary  610   
     Turning now to FIGS. 7 through 11, exemplary processing stations in accordance with exemplary embodiments of the present invention capable of implementing a variety of processing steps for slaughtering and processing an animal for meat, hide, or the like are shown. While the processing stations shown in FIGS. 7 through 11 are shown as physically separate stations, as described in the discussion of FIGS. 1B and 1C above, it should be appreciated that the processing apparatus utilized by these stations may also be implemented as part of a single processing station as described in the discussion of FIG.  1 D. 
     Referring now to FIG. 7, an exemplary processing station employing apparatus in accordance with the present invention is shown. The processing station  700  is used for stunning an animal  702  to cause unconsciousness so the animal  702  may be slaughtered and its carcass  704  processed for meat, hide, and the like. The processing station  700  includes an enclosure  706  into which the animal is herded or led. The enclosure  706  includes a forward wall portion  708  for restricting forward movement of the animal  702 , and left and right side wall portions  710  &amp;  712  spaced to limit side to side movement of the animal  702 . The enclosure  706  may optionally include a gate (not shown) which is closed behind the animal  702  to prevent the animal from backing out of the enclosure  706  and to separate the animal  702  from other animals to be processed. 
     In accordance with the present invention, the processing station  700  includes a processing device  714  comprising an arm  716  to which a stunning device  718  is mounted. In the exemplary embodiment shown in FIG. 7, the stunning device  718  includes a bolt  720  that is thrust against the animal&#39;s head  722  by a blast of compressed air, an explosive charge, a spring, or the like. Optimally, the bolt impacts the animal&#39;s head  722  with sufficient force to stun the animal  702  rendering it unconscious without causing cessation of the pumping action of the heart. Alternately, other stunning technologies may be employed to stun the animal. For example, a stunning device employed by the present invention may utilize electrical shock to stun the animal. 
     As shown in FIG. 7, a sensing device  724  mounted to the arm  716  inputs information which is communicated to the controller (a display  728  of which is shown) controlling the processing device  714 . The controller uses the information received from the sensing device  724  to locate the proper position of the animal&#39;s head  722  against which the stunning device  718  should be positioned to stun the animal efficiently and humanely. For example, as discussed supra, in an exemplary embodiment, the controller may utilize the inputted information to generate a three-dimensional model of the animal&#39;s head  722  on which a grid pattern  730  is overlain so that the size, shape, orientation, and movement of the animal&#39;s head  722  may be determined, and the point on the head  722  where the stunning device  718  should be positioned may be ascertained. The controller may then manipulate the arm  716  to properly position the stunning device  718  against the animal&#39;s head  722 . Once positioned, the controller actuates the stunning device  718  driving the bolt  720  against the animal&#39;s head  722  to stun the animal  702  and render it unconscious. The controller may further use the information received from the sensing device  718  to provide a video display of the position and movement of the animal&#39;s head to an operator via the display  728 . The operator may utilize the video display to monitor operation of the processing station  700 , or alternately, to manually guide the arm  716  into position and actuate the stunning device  718  if it is desired that this function is not performed automatically by the controller. A door in side wall portion  712  may then open allowing the animal  702  to be removed from enclosure  706  for slaughter and processing of its carcass  704 . 
     Referring now to FIGS. 8A and 8B, an exemplary processing station employing apparatus in accordance with the present invention for removing the hide of a slaughtered animal is shown. The processing station  800  comprises at least one processing device  802  capable of aseptically separating and removing the hide of an animal from its carcass. Such processing devices are described in U.S. Provisional Patent Application Serial No. 60/142,644, filed Jul. 6, 1999, which is herein incorporated by reference in its entirety. As shown in FIGS. 8A and 8B, the processing device  802  is comprised of one or more cutting members  804  that are inserted between the hide  806  and muscle  808  of the animal&#39;s carcass  810 . Each cutting member  802  includes a cutting implement  812  suitable for cutting the connecting tissue attaching the hide  806  and muscle  808  while avoiding damage (e.g., cutting, burning, etc.) to the hide  806  and muscle  808 . In accordance with the present invention, the cutting member  810  also includes a flexible appendage  814  having one or more articulated segments  816  that may be manipulated so as to determine the path taken by the cutting implement  812  through the connecting tissue layer. In this manner, the cutting member  812  is manipulated robotically in a manner much like existing endoscopic or laparoscopeic instruments. 
     As shown in FIG. 8A, in one embodiment, the processing station  800  may further include a sensing device assembly  816 , comprised of a plurality of sensing devices  818  such as cameras or the like mounted to a generally vertical arm assembly  820 . The arm assembly  820  may be rotated about the carcass  810  allowing the sensing devices  818  to input information which is communicated to the controller (not shown). Alternately, the sensing devices  818  may remain stationary while the carcass  810  is rotated, or may remain stationary being located at strategic points within the processing station  800  to provide full coverage of the carcass&#39; surface. 
     As discussed supra, in an exemplary embodiment, the controller may utilize the inputted information to generate a three-dimensional model of the carcass  810 . A grid pattern is overlain onto the carcass  810  of a slaughtered animal so that the size, shape, and orientation of the carcass  810  may be determined and points on the carcass  810  where cutting members  804  should be inserted may be ascertained. The controller may then cause the cutting members  804  to be inserted through the hide into the connecting tissue at the ascertained locations, for example, by robotic arm assembly  822  (FIG.  8 A), and may guide the cutting members  804  through the connecting tissue layer to separate the hide  806  from the carcass  810 . The controller may further use the information received from the sensing device assembly  816  to provide a video display of the carcass. The operator may utilize the video display to monitor operation of the processing station  800 . Further, the operator may use the video display so that he or she may manually operate the processing device  802  if this function is not performed automatically by the controller. 
     It will be appreciated that while a processing device  802  capable of aseptically separating and removing the hide of an animal from its carcass in accordance with U.S. Provisional Patent Application Serial No. 60/142,644 is shown and described herein, other methods and apparatus for removing the hide may be adapted for use with the present invention without departing from the scope and spirit of the invention. For example, in one embodiment, the present invention may be adapted to use a processing device comprised of a conventional downpulling assembly or downpuller for hide removal. Such downpullers grip a previously detached portion of the hide and pull downwardly thereon forcibly pulling the hide from the animal&#39;s carcass. 
     Referring now to FIG. 9, an exemplary processing station employing apparatus in accordance with the present invention for eviscerating the animal&#39;s carcass is described. The processing station  900  includes a processing device  902  comprised of a cutting member  904  for marking or cutting the carcass&#39;s abdomen  906  to provide access to its internal organs  908  and evisceration apparatus  910  for removing the animal&#39;s internal organs  908 . One or more sensing devices  912  &amp;  914  input information which is communicated to the controller (not shown) controlling the processing device  902 . The controller uses the information to locate the position or positions on the abdomen  906  where it should be marked and to locate connecting tissue (i.e., the pluck) that must be severed for removal of the animal&#39;s internal organs  908 . The controller may then operate the processing device  902  to eviscerate the carcass  916 . The controller may further use the information received from the sensing devices  912  &amp;  914  to provide a video display of the carcass  916 . The operator may utilize the video display to monitor operation of the processing station  900 . Further, the operator may use the video display so that he or she may manually operate the processing device  902  if this function is not performed automatically by the controller. 
     Referring now to FIG. 10, an exemplary processing station  1000  employing apparatus in accordance with the present invention for trimming the carcass into primal cuts is described. Specifically, in FIG. 10, a beef carcass  1002  is shown being trimmed into two beef sides  1004  &amp;  1006 . The processing station  1000  includes a processing device  1008  comprised of a saw  1010  capable of cutting a beef carcass  1002  along its backbone to provide two beef sides  1004  &amp;  1008 . One or more sensing devices  1012  input information which is communicated to the controller (not shown) controlling the processing device  1008  which uses the information to position the saw  1010 . The controller may further use the information received from the sensing devices  1012  to provide a video display of the carcass. The operator may utilize the video display to monitor operation of the processing station  1000 . Further, the operator may use the video display so that he or she may manually operate the processing device  1008  if this function is not performed automatically by the controller. 
     Referring now to FIG. 11, an exemplary processing station employing apparatus in accordance with the present invention for trimming primal cuts into cuts of meat for sale or use is described. The processing station  1100  is comprised of a processing device  1102  including a conveyor system  1104 , a turntable assembly  1106  and a trimming assembly  1108 . Primal cuts of meat  1110  are transported though the processing station  1100  by the conveyor system  1104  to the trimming assembly  1108  to be trimmed into smaller cuts  1112  for further processing, e.g., additional trimming, packaging, or the like. As shown in FIG. 11, the primal cuts  1110  are non-homogeneous in nature having a variety of shapes, sizes and orientations. One or more sensing devices (not shown) input information which is communicated to the controller controlling the processing device  1102 . For instance, as discussed, supra, the controller may, in an exemplary embodiment, utilize the information received from the sensing devices to generate a virtual model of each primal cut. The controller may overlay a grid pattern (shown as  1114 ) onto the image of carcass received from the sensing device which it may use to determine the shape, size and orientation of the primal cut. 
     The controller uses the information to orient each primal cut of meat  1110  for trimming by trimming assembly  1108 . For example, in the exemplary embodiment shown, the controller may cause the turntable assembly  1106  to rotate the primal cut  1110  so that it may pass through the trimming assembly  1108  in a desired orientation to produce the desired cuts  1112 , and/or may adjust the distance between blades of the trimming assembly  1108  depending on the size of the primal cut  1110 . The controller may further use the information received from the sensing devices to provide a video display of the primal cut  1110  as it moves along the conveyor  1104 . The operator may utilize the video display to monitor operation of the processing station  1100 . Further, the operator may use the video display so that he or she may manually operate the processing device  1102  if this function is not performed automatically by the controller. 
     In FIGS. 7 through 11, processing stations are shown which are exemplary of the types of processing stations that may be developed for use as part of the present invention. However, it should be appreciated that those of ordinary skill in the art may develop other processing apparatus based on the foregoing description of the present invention depending on the particular requirements of the processing plant in which the apparatus is used, the type of animal being processed, or like considerations, and development of such apparatus would not depart from the scope and spirit of the present invention. 
     It is believed that the method and apparatus for slaughtering and processing animals of the present invention and many of the attendant advantages thereof will be understood by the foregoing description, and it will be apparent that various changes may be made in the form, construction and arrangement of the components thereof without departing from the scope and spirit of the invention or without sacrificing all of its material advantages. The form herein before described being merely an explanatory embodiment thereof, it is the intention of the following claims to encompass and include such changes.