Apparatus for spraying a material on a surface comprises at least one elongate member (408) having a distal end and a proximal end, at least one spray nozzle (1404) mounted at the distal end of the elongate member for spraying the material in a spray pattern, a ground-engaging member (1420) mounted at the distal end of the elongate member and arranged to facilitate translational movement of the apparatus over a ground surface, a camera (1406) mounted at the distal end of the elongate member (1408) and connected to a camera output, the camera being arranged for capturing images of the spray pattern and the camera output being arranged to facilitate the viewing of images of the spray pattern from the proximal end of the elongate member, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

Apparatus for spraying a material on a surface comprises at least one elongate member (408) having a distal end and a proximal end, at least one spray nozzle (1404) mounted at the distal end of the elongate member for spraying the material in a spray pattern, a ground-engaging member (1420) mounted at the distal end of the elongate member and arranged to facilitate translational movement of the apparatus over a ground surface, a camera (1406) mounted at the distal end of the elongate member (1408) and connected to a camera output, the camera being arranged for capturing images of the spray pattern and the camera output being arranged to facilitate the viewing of images of the spray pattern from the proximal end of the elongate member, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

A camera for observing the inside of a shielded cell comprises a support provided with a spring in the form of a gripper for mounting it on a remote- manipulation arm performing the task to be observed, by means of another arm, exerting solely a force for opening the branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop means is added in order to provide the correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by other remote-manipulation means.

A camera for observing the inside of a shielded cell comprises a support provided with a spring in the form of a gripper for mounting it on a remote- manipulation arm performing the task to be observed, by means of another arm, exerting solely a force for opening the branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop means is added in order to provide the correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by other remote-manipulation means.

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

A manipulator including an elongated shaft, a distal-end treatment section disposed at a distal end of the shaft, a distal-end articulated section having a bendable joint and a rotatable joint, and a proximal-end operating section disposed at a proximal end side of the shaft, wherein the bendable joint has an axis intersecting a longitudinal axis of the shaft, the rotatable joint has an axis that intersects the axis of the bendable joint and that is substantially aligned with a central axis of the distal-end treatment section, the proximal-end operating section includes a first operating section gripped by one hand and causing the bendable joint to move about the axis intersecting the longitudinal axis of the shaft, and also includes a second operating section provided in the first operating section and causing the rotatable joint to move.

A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time.