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    Endoscopic surgical instruments having stepped rotatable end effectors
    3.
    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。

    Endoscopic surgical instruments having rotatable end effectors
    4.
    发明授权
    Endoscopic surgical instruments having rotatable end effectors 失效
    内镜手术器具具有可转动的末端执行器

    公开(公告)号：US5174300A

    公开(公告)日：1992-12-29

    申请号：US833456

    申请日：1992-02-07

    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： A61B1/00 ,  A61B10/00 ,  A61B10/06 ,  A61B17/00 ,  A61B17/28 ,  A61B17/32 ,  A61B17/3201 ,  A61B18/14

    CPC分类号： A61B17/2909 ,  A61B17/29 ,  A61B17/320016 ,  A61B18/1445 ,  A61B10/06 ,  A61B17/3201 ,  A61B18/1442 ,  A61B2017/0023 ,  A61B2017/0046 ,  A61B2017/0088 ,  A61B2017/2837 ,  A61B2017/292 ,  A61B2017/2926 ,  A61B2017/2939 ,  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, an actuator apparatus engaging the tube and the push rod and imparting reciprocal axial motion to the push rod relative to the tube, and end effectors. The actuator apparatus includes a sleeve, spring, handle, and lever arm. The sleeve is movable along the longitudinal axis of the tube against a biasing force of the spring, but is restrained from rotating about the tube. The sleeve has a locking element on its proximal end. The handle surrounds and rotatably engages the proximal end of the tube and has a locking element on its distal end which mates with the locking element of the sleeve and disengages therewith when the sleeve is advanced along the tube. Upon disengagement, the tube, push rod, and end effectors can be rotated. The lever arm pivotally engages the handle and is coupled to the push rod such that pivotal movement of the lever arm relative to the handle effects movement of the push rod relative to the tube and pivotal movement of the end effectors. To decouple rotation of the push rod from the lever arm, a generally spherical push rod engaging element is provided in a generally 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，其通常通过U形​​夹连接到端部执行器，末端执行器绕其枢转，推杆延伸穿过管并联接到端部执行器，致动器装置接合管和推杆并且赋予 推杆相对于管的往复轴向运动，以及末端执行器。 致动器装置包括套筒，弹簧，把手和杠杆臂。 套筒可以克服弹簧的偏置力沿着管的纵向轴线移动，但是被限制绕管旋转。 套管在其近端具有锁定元件。 手柄环绕并可旋转地接合管的近端，并且在其远端上具有锁定元件，该锁定元件与套筒的锁定元件配合，并且当套筒沿管子前进时与其脱离。 在分离时，管，推杆和末端执行器可以旋转。 杠杆臂枢转地接合手柄并且联接到推杆，使得杠杆臂相对于手柄的枢转运动实现推杆相对于管的运动和末端执行器的枢转运动。 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大致圆柱形的孔中。

    Endoscopic hemostatic agent delivery system
    7.
    发明授权
    Endoscopic hemostatic agent delivery system 失效
    内镜止血剂递送系统

    公开(公告)号：US5281197A

    公开(公告)日：1994-01-25

    申请号：US919893

    申请日：1992-07-27

    申请人： Juan J. Arias ,  Thomas O. Bales ,  David P. Gordon ,  Constance M. Ryan ,  Frank A. Scarfone ,  Kevin W. Smith ,  David Turkel

    发明人： Juan J. Arias ,  Thomas O. Bales ,  David P. Gordon ,  Constance M. Ryan ,  Frank A. Scarfone ,  Kevin W. Smith ,  David Turkel

    IPC分类号： A61B17/00 ,  A61M31/00

    CPC分类号： A61M37/0069

    摘要： An endoscopic tool for dispensing units of hemostatic agent broadly comprises a hollow tube which holds a plurality of individual units of the hemostatic agent, a valve at the distal end of the hollow tube which permits the hemostatic agent to pass therethrough but prevents foreign matter from contacting the hemostatic agent while in the tube, a plunger which extends into the hollow tube and contacts a proximal unit of the hemostatic agent, and a mechanism for moving the plunger distally in incremental movements to cause, upon each incremental movement, an individual unit of the hemostatic agent to be pushed through the valve. Typically, the mechanism for moving the plunger and the proximal end of the hollow tube are held in a handle. One mechanism for moving the plunger utilizes a portion of the plunger as a ratchet by forming a plurality of conical elements thereon, and utilizes a switch in the handle which has a V-spring coupled thereto as a pawl for advancing the conical elements. A second mechanism utilizes a regularly shaped notched cutout in the handle as the ratchet, and a vertical protrusion on the plunger which extends through the cutout as an engagement element. The notched cutout provides resilient stops, and the protrusion is shaped to allow it to be forced in a forward direction through each resilient stop and then to sit in another notch.

    摘要翻译： 用于分配止血剂单元的内窥镜工具广泛地包括保持止血剂的多个单独单元的中空管，在中空管的远端处的阀，其允许止血剂通过，但是防止异物接触 止血剂在管中，延伸到中空管中并接触止血剂的近端单元的柱塞，以及用于以增量运动向远侧移动柱塞的机构，以在每次增量运动时使单独的单元 止血剂被推过阀门。 通常，将柱塞和中空管的近端移动的机构保持在手柄中。 用于移动柱塞的一个机构通过在其上形成多个锥形元件而将柱塞的一部分用作棘轮，并且利用手柄中的开关，其中V形弹簧联接到其上作为用于推进锥形元件的棘爪。 第二机构使用手柄中的规则形状的切口切口作为棘轮，并且在柱塞上的垂直突起作为接合元件延伸穿过切口。 切口切口提供弹性止挡，并且突起成形为允许其通过每个弹性止动件沿向前的方向被迫，然后坐在另一个凹口中。

    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：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。