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This paper presents the experimental position and force testing of a 3-armed 6-DOF Parallel Robot, Robossis, that is specifically designed for the application of long-bone femur fracture surgery. Current surgical techniques require a significant amount of time and effort to restore the fractured femur fragments’ length, alignment and rotation. To address these issues, the Robossis system will facilitate the femur fracture surgical procedure and oppose the large traction forces/torques of the muscle groups surrounding the femur. As such, Robossis would subsequently improve patient outcomes by eliminating intraoperative injuries, reducing radiation exposure from X-rays during surgery and decreasing the likelihood of follow-up operations. Specifically, in this paper, we study the accuracy of the Robossis system while moving in the operational workspace under free and simulated traction loads of ([Formula: see text]–1100[Formula: see text]N). Experimental testing in this study demonstrates that Robossis can reach the most extreme points in the workspace, as defined by the theoretical workspace, while maintaining minimal deviation from those points with an average deviation of 0.324[Formula: see text]mm. Furthermore, the force testing experiment shows that Robossis can counteract loads that are clinically relevant to restoring the fractured femur fragments’ length, alignment and rotation. In addition, we study the accuracy of Robossis motion while coupled with the master controller Sigma 7. The results show that Robossis can follow the desired trajectory in real-time with an average error of less than 1[Formula: see text]mm. To conclude, these results further establish the ability of the Robossis system to facilitate the femur fracture surgical procedure and eliminate limitations faced with the current surgical techniques.

The Treaty of Union 1707 between Scotland and England and the respective implementing legislation in each Kingdom contained provisions which today we might describe as ‘opt-outs’. These opt-outs from incorporating Union preserved aspects of the Scottish legal system which, along with the Presbyterian religion and the system of education, helped to ensure that Scottish identity was supported by some of the most powerful aspects of the state. This essay will examine some of the provisions of the Treaty, analyse aspects of the legal system and law that persisted after the Union, comment on the extent to which 310 years of the Union with England influenced that law, reflect on membership of the EU and the harmonization which it brought to the legal system and consider the impact of the Scottish Parliament on that law and legal system.

Although, as can be seen from the Italian comments on Eyre's letter, it was actually Don Michael Rua who made the decision about Glasgow it was left to Don Bernard Redehan to both expand the reply and copy the final draft. Only the signature is in Bosco's frail hand. A problem arises in the dating of the two letters; Bosco's reply is dated a month before Eyre's original request. Since both Redehan and Eugenio Ceria record the reply from Don Bosco as 16 December 1887, the answer may be simply this. The Italian abbreviation for December, 10 may have been incorrectly transcribed as the tenth month, that is October. These two documents are of interest both as a small but coherent archival source and as part of the larger picture of two great figures in the nineteenth-century church. James M. Lawlor Chesters College. note 1. My thanks to Revv. Motto and Fenyo of the Institute Storico Salesiano, Rome, and to Canon h. n. Boyle of Glasgow for their assistance.