An apparatus and method for bending or shaping orthodontic archwires or other medical devices into a complex, patient individual shape is described. The apparatus comprises of two moveable, compact, manipulators with, in total, at least three revolute joints defining three rotation axes and at least three prismatic joints defining at least three translation axes. Gripping tools are provided on the manipulators. The two manipulators are arranged to allow a relative movement in six degrees of freedom. A reduced complexity embodiment is also described having only one or two revolute joints.

Systems, methods, and devices relating to urinal, in some examples having a movable portion able to pivot from a generally closed to a generally open position. The urinal may have a drain line engaged with a proximal end of the funnel for conveying urine and rinse water into a sewer line or a toilet bowl and a rinse line coupled with a water supply for rinsing urine therein. The urinal may be movable with the assistance of one or more sensors that may automatically signal other electrical or mechanical components to move one or more portions of the urinal, and may be include elements that seal portions of the urinal when not in use or during cleaning to reduce gas or liquid escaping from the urinal system.