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    Endoscopic robotic surgical tools and methods
    2.
    发明授权
    Endoscopic robotic surgical tools and methods 失效
    内窥镜机器人手术工具及方法

    公开(公告)号：US5954692A

    公开(公告)日：1999-09-21

    申请号：US890366

    申请日：1997-07-09

    申请人： Kevin W. Smith ,  Juergen Andrew Kortenbach ,  Charles R. Slater ,  Anthony I. Mazzeo ,  Theodore C. Slack, Jr. ,  Thomas O. Bales

    发明人： Kevin W. Smith ,  Juergen Andrew Kortenbach ,  Charles R. Slater ,  Anthony I. Mazzeo ,  Theodore C. Slack, Jr. ,  Thomas O. Bales

    IPC分类号： A61B1/00 ,  A61B17/00 ,  A61B19/00 ,  B25J3/04 ,  B25J9/06 ,  B25J9/10 ,  B25J15/02 ,  A61M37/00

    CPC分类号： B25J15/02 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  B25J3/04 ,  B25J9/06 ,  B25J9/104 ,  A61B17/00234 ,  A61B2017/00477 ,  A61B2034/2059

    摘要： The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.

    摘要翻译： 本发明的方法和装置包括编码器，内窥镜机器人仪器和编码器/机器人仪器接口。 编码器的优选实施例具有设置有伸缩管和接头的胸/肩板。 每个接头都配有一个直接驱动电位器来监控运动并提供相应的信号。 胸板优选适应于大范围的人胸部尺寸，并且伸缩部分在肘部处被绑在医师的手臂上。 在伸缩段的腕端设有手枪把手。 根据目前优选的实施例，编码器除了在每只手握持之外还编码每个臂的肩部，肘部和手腕的屈曲和旋转。 编码装置耦合到操作伺服系统的电路。 伺服系统包括一系列伺服电机。 与伺服马达的数量对应的一系列滑轮布置在壳体中。 机器人装置优选地包括安装在多腔管的远端处的两个臂。 每个臂具有对应于从业者的肩部，肘部和手腕的旋转和弯曲关节。 肌腱联接到伺服电动机的皮带轮，并通过多腔管馈送到两个臂的关节。

    Radioactive therapeutic seed having selective marker configuration
    6.
    发明授权
    Radioactive therapeutic seed having selective marker configuration 失效
    具有选择标记物配置的放射性治疗种子

    公开(公告)号：US06200258B1

    公开(公告)日：2001-03-13

    申请号：US09371243

    申请日：1999-08-10

    申请人： Charles R. Slater ,  Thomas O. Bales ,  Kevin W. Smith

    发明人： Charles R. Slater ,  Thomas O. Bales ,  Kevin W. Smith

    IPC分类号： A61N500

    CPC分类号： A61N5/1027 ,  A61N2005/1024

    摘要： Radioactive therapeutic seeds include a carrier structure bearing a radioactive isotope and a radiopaque marker. According to embodiments of the invention, the seeds include a central plug provided with an axial marker and a relatively transverse bore extending through the marker. A second marker may be positioned in the bore, thereby radiographically distinguishing a seed provided with the second marker relative to a seed not provided with the second marker. According to another embodiment of the invention, the isotope is deposited on the outer surface of a hollow radiolucent tube. A biologically-compatible, radiolucent, surface-sealing layer seals the external surface of the tube. A radiopaque marker wire of selected length is positioned in the hollow of the tube. Seeds may be radiographically distinguished from one another by providing seeds with marker wires of different lengths. Each embodiment permits at least two groups of seeds to be radiographically distinguished from one another by the use of differing marker configurations. Each embodiment is further capable of being selectively marked by the physician prior to implantation of the seeds, or by the manufacturer for delivery to the physician in radiographically distinguishable sets. As a result, seeds having different levels of radiation emission can be distinguished in vivo and their effect monitored by the physician.

    摘要翻译： 放射治疗种子包括具有放射性同位素和不透射线标记的载体结构。 根据本发明的实施例，种子包括设置有轴向标记的中心塞和延伸穿过标记的相对横向的孔。 可以将第二标记物定位在孔中，从而与提供有第二标记的种子相对于未设置有第二标记的种子进行射线照相。 根据本发明的另一个实施方案，同位素沉积在中空的射线可透管的外表面上。 生物相容的射线可透过的表面密封层密封管的外表面。 所选长度的不透射线标记线位于管的中空中。 种子可以通过向不同长度的标记线提供种子而被放射学地区分开。 每个实施例允许至少两组种子通过使用不同的标记物构造彼此放射学地区分开。 每个实施例还能够在植入种子之前被医生选择性地标记，或者由制造商在放射学可区分的组中递送给医师。 结果，具有不同水平的辐射发射的种子可以在体内被区分，并且其效果由医师监测。

    Endoscopic surgical methods utilizing a suction-irrigation instrument with a port for endoscopic manipulating instruments
    7.
    发明授权
    Endoscopic surgical methods utilizing a suction-irrigation instrument with a port for endoscopic manipulating instruments 失效
    内窥镜手术方法利用具有用于内窥镜操纵仪器的端口的吸入式装置

    公开(公告)号：US5312332A

    公开(公告)日：1994-05-17

    申请号：US51000

    申请日：1993-04-21

    申请人： Thomas O. Bales ,  Charles R. Slater ,  Kevin W. Smith

    发明人： Thomas O. Bales ,  Charles R. Slater ,  Kevin W. Smith

    IPC分类号： A61B10/00 ,  A61B10/06 ,  A61B17/00 ,  A61B17/34 ,  A61B18/14 ,  A61M1/00

    CPC分类号： A61B17/00234 ,  A61B10/06 ,  A61B17/3421 ,  A61B18/14 ,  A61B2090/0817 ,  A61B2217/005 ,  A61B2217/007

    摘要： Methods of endoscopic surgery are disclosed. The methods utilize a suction/irrigation endoscopic instrument and a second endoscopic instrument. The suction/irrigation endoscopic instrument has a cannula, a fluid chamber in communication with the cannula, and an automatic valve at the proximal end of the fluid chamber. The second endoscopic instrument has end effectors and actuating means, and the end effectors of the second endoscopic instrument is inserted through the automatic valve, through the fluid chamber, and through the cannula. The methods involve inserting the suction/irrigation instrument through a trocar tube, and then inserting the second endoscopic instrument therethrough. The automatic valve insures that there is no leakage when the second instrument is inserted. The second endoscopic instrument may rotated inside, or may be partially withdrawn into the suction/irrigation instrument. Upon removing the second endoscopic instrument, the valve of the suction/irrigation instrument automatically closes so that there is no leakage. If desired, the suction/irrigation instrument may be provided with a cautery current at the cannula, and the second endoscopic instrument may be provided with a bump which contacts the cannula as a cautery pick-up.

    摘要翻译： 公开了内窥镜手术的方法。 该方法利用抽吸/灌洗内窥镜仪器和第二内窥镜仪器。 吸入/冲洗内窥镜器具具有插管，与插管连通的流体室，以及在流体室的近端处的自动阀。 第二内窥镜仪器具有末端执行器和致动装置，并且第二内窥镜器械的末端执行器通过自动阀，通过流体腔室并穿过套管插入。 所述方法包括通过套管针插入吸入/冲洗器械，然后将第二内窥镜器械插入其中。 自动阀确保插入第二台仪器时没有泄漏。 第二内窥镜器械可以在内部旋转，或者可以部分地抽吸到抽吸/冲洗仪器中。 在移除第二内窥镜仪器后，吸入/冲洗仪器的阀门自动关闭，因此不会有泄漏。 如果需要，吸入/冲洗器械可以在套管处设置有烧焦电流，并且第二内窥镜器械可以设置有作为灼烧拾取器接触套管的凸块。