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    Endoscopic robotic surgical tools and methods
    3.
    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 seeds
    7.
    发明授权
    Radioactive therapeutic seeds 失效
    放射治疗种子

    公开(公告)号：US06273851B1

    公开(公告)日：2001-08-14

    申请号：US09312215

    申请日：1999-05-14

    申请人： Charles R. Slater ,  Scott L. Jahrmarkt ,  Scott T. Smith ,  Thomas O. Bales ,  Kevin W. Smith

    发明人： Charles R. Slater ,  Scott L. Jahrmarkt ,  Scott T. Smith ,  Thomas O. Bales ,  Kevin W. Smith

    IPC分类号： A61M3600

    CPC分类号： A61N5/1027 ,  A61N2005/1005 ,  A61N2005/1023 ,  A61N2005/1024

    摘要： Radioactive therapeutic seeds include a substantially radiotransparent cylindrical capsule containing a radioactive isotope and, in particular embodiments, a radiopaque or MRI-visible marker. Each of the embodiments is designed to provide a substantially isotropic distribution of radiation. In one embodiment, the isotope is deposited on the outer surface of a hollow radiolucent tube and a collar is provided about a central portion of the tube. The capsule comprises two tubular halves positioned over the tube with the open ends of the halves forming an interference fit with the collar and welded thereabout. In another embodiment, the isotope bearing structure is a plurality of radiolucent spheres provided with a thin coating of silver to facilitate the adhesion of the isotope thereto. The spheres are provided in two capsule halves which are welded closed about a plug have an axial radiopaque marker therein. In yet another embodiment, the isotope bearing structure is a pair of silver tubes having surfaces on which the isotope is provided. One tube is positioned in each half of the capsule, and the halves are then welded about a plug provided with a marker. In each embodiment, the closed ends of the capsule are provided with tissue engaging members or connectors which can be coupled to discrete spacing links.

    摘要翻译： 放射性治疗种子包括含有放射性同位素的基本上无辐射透明的圆柱形胶囊，特别是不透射线或MRI可见标记。 每个实施例被设计成提供基本上各向同性的辐射分布。 在一个实施例中，同位素沉积在中空的射线可透管的外表面上，并且围绕管的中心部分提供轴环。 胶囊包括位于管上方的两个管状半部，其半开口端形成与套环的过盈配合并在其周围焊接。 在另一个实施方案中，同位素承载结构是多个具有薄的银涂层的射线可透过球，以便于同位素与其粘附。 球体设置在两个胶囊半部中，其围绕塞子被焊接封闭，其中具有轴向不透射线的标记。 在另一个实施方案中，同位素承载结构是具有其上提供同位素的表面的一对银管。 一个管被定位在胶囊的每一半中，然后将半部焊接在设置有标记的塞子周围。 在每个实施例中，胶囊的封闭端部设置有组织接合构件或可连接到分立间隔连接件的连接器。

    Endoscopic robotic surgical tools and methods
    9.
    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：US5624398A

    公开(公告)日：1997-04-29

    申请号：US597423

    申请日：1996-02-08

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

    发明人： Kevin W. Smith ,  Juergen A. 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式握把。 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。

    Endoscopic surgical instruments having stepped rotatable end effectors
    10.
    发明授权
    Endoscopic surgical instruments having stepped rotatable end effectors 失效
    内窥镜手术器械具有阶梯式可旋转末端执行器

    公开(公告)号：US5293878A

    公开(公告)日：1994-03-15

    申请号：US989984

    申请日：1992-12-04

    申请人： Thomas O. Bales ,  Gregory J. Murphy ,  Frank A. Scarfone ,  Charles R. Slater ,  Kevin W. Smith

    发明人： Thomas O. Bales ,  Gregory J. Murphy ,  Frank A. Scarfone ,  Charles R. Slater ,  Kevin W. Smith

    IPC分类号： A61B10/00 ,  A61B10/06 ,  A61B17/00 ,  A61B17/28 ,  A61B17/32 ,  A61B18/14

    CPC分类号： A61B17/29 ,  A61B17/320016 ,  A61B18/1445 ,  A61B10/06 ,  A61B17/3201 ,  A61B18/1442 ,  A61B2017/0023 ,  A61B2017/0046 ,  A61B2017/0088 ,  A61B2017/2837 ,  A61B2017/292 ,  A61B2017/2926 ,  A61B2017/2929 ,  A61B2017/293 ,  A61B2017/2939 ,  A61B2018/00077 ,  A61B2018/00083 ,  A61B2018/00107 ,  A61B2018/00148 ,  A61B2018/1412 ,  A61B2018/1415 ,  A61B2018/1455 ,  A61B2018/146 ,  A61B2018/1861

    摘要： Medical instruments are provided having end effectors and end effector actuator apparatus which are rotatable relative to the end effectors. The instruments generally include a tube which is typically coupled to the end effectors via a clevis around which the end effectors pivot, a push rod extending through the tube and coupled to the end effectors, and an actuator apparatus engaging the tube and the push rod with the actuator apparatus including a handle which surrounds and rotatably engages the proximal end of the tube, and a lever arm which pivotally engages the handle and is coupled to the push rod such that pivotal movement of the lever arm relative to the handle effects axial movement of the push rod relative to the tube and pivotal movement of the end effectors. In order to alternatively fix or allow rotation of the actuator apparatus relative to the tube and end effectors, the tube is provided with a plurality of peripherally spaced apart recesses in a portion thereof, and the handle is provided with a resiliently biased contact element which is coupled to an electrode and which when seated in a recess restrains rotation of the outer tube about the longitudinal axis, but which can be unseated by a sufficient relative rotational force. To decouple rotation of the push rod from the lever arm, a generally spherical push rod engaging element is provided in a cylindrical bore of the lever arm.

    摘要翻译： 提供了具有能够相对于末端执行器旋转的末端执行器和末端执行器致动器装置的医疗器械。 仪器通常包括管，其通常经由U形夹连接到端部执行器，末端执行器绕其枢转，延伸穿过管并连接到端部执行器的推杆以及与管和推杆接合的致动器装置， 所述致动器装置包括围绕并可旋转地接合所述管的近端的手柄，以及与所述手柄枢转接合并且联接到所述推杆的杠杆臂，使得所述杠杆臂相对于所述手柄的枢转运动实现轴向运动 推杆相对于管和端部执行器的枢转运动。 为了交替地固定或允许致动器装置相对于管和端部执行器的旋转，管在其一部分中设置有多个周向间隔开的凹部，并且手柄设置有弹性偏置的接触元件，该接触元件是 耦合到电极，并且当其位于凹部中时，限制外管围绕纵向轴线的旋转，但是可以通过足够的相对旋转力而脱离。 为了将推杆与杠杆臂的旋转分离，大体上球形的推杆接合元件设置在杠杆臂的圆柱形孔中。