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11. 发明授权

US5666965A Radial jaw biopsy forceps 失效
标题翻译：径向钳活检钳
公开(公告)号：US5666965A
公开(公告)日：1997-09-16
申请号：US458215
申请日：1995-06-02
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 , A61B10/02 , A61B10/06 , A61B17/00 , A61B17/28 , A61B17/30 , A61B17/32 , A61B18/14 , A61B19/00
CPC分类号： A61B10/06 , A61B17/29 , A61B17/320016 , A61B18/1445 , H01L21/67126 , A61B10/02 , A61B17/30 , A61B17/3201 , A61B2010/0225 , A61B2017/0023 , A61B2017/00398 , A61B2017/0046 , A61B2017/0088 , A61B2017/292 , A61B2017/2926 , A61B2017/2931 , A61B2017/2939 , A61B2017/2945 , A61B2018/00077 , A61B2018/00083 , A61B2018/00107 , A61B2018/00148 , A61B2018/1253 , A61B2018/1412 , A61B2018/1415 , A61B2018/1432 , A61B2018/1455 , A61B2018/146 , A61B2018/1861 , A61B2090/064 , A61M2025/0098 , A61M2205/6081 , H01L21/6715 , Y10T403/32181 , Y10T403/32221 , Y10T74/18944 , Y10T74/20402
摘要： A biological forceps device for the taking of tissue samples from a body, comprising a flexible main coil attached at its distal end to a pair of homologous cast jaws. The jaws have radially arranged teeth on their distalmost end. The jaws are opened and closed by attachment to a pair of pull wires which extend through the main coil, into a handle at its proximal end. The handle has a spool which slides about a central shaft attached to the main coil. The spool is attached to the pull wires, so that movement of the spool with respect to the central shaft, effectuates a force on the proximal ends of the levered jaws, to open and close them, appropriately.
摘要翻译：一种用于从身体采集组织样本的生物镊子装置，包括在其远端处附接到一对同源颚爪的柔性主线圈。钳口在其最远端具有径向排列的齿。夹爪通过连接到延伸穿过主线圈的一对拉线打开和关闭，在其近端处于手柄中。手柄具有绕连接到主线圈的中心轴滑动的线轴。线轴被连接到拉线，使得线轴相对于中心轴的运动在适当地对杠杆钳口的近端施加力以打开和闭合它们。

12. 发明授权

US5429596A Endoscopic electrosurgical suction-irrigation instrument 失效
标题翻译：内窥镜电外科吸灌仪
公开(公告)号：US5429596A
公开(公告)日：1995-07-04
申请号：US247335
申请日：1994-05-23
申请人： Juan J. Arias , Thomas O. Bales , Jurgen A. Kortenbach , Dana W. Ryan , Charles R. Slater , Kevin W. Smith , Matthew S. Solar
发明人： Juan J. Arias , Thomas O. Bales , Jurgen A. Kortenbach , Dana W. Ryan , Charles R. Slater , Kevin W. Smith , Matthew S. Solar
IPC分类号： A61B17/32 , A61B18/00 , A61B18/14 , A61M1/00 , A61M3/02 , A61M5/14
CPC分类号： A61B17/3203 , A61B18/1442 , A61B18/1482 , A61M1/0043 , A61M1/0045 , A61M1/0064 , A61M3/0233 , A61M5/1418 , A61B10/02 , A61B18/148 , A61B2017/32113 , A61B2018/00958 , A61M1/0062 , A61M2205/6081
摘要： An endoscopic electrosurgical suction-irrigation instrument with insertable probes and attachments is disclosed. The instrument has a fluid chamber sealed at its proximal end with a slit valve for receiving the probes and connected at its distal end to a cannula through which the inserted probes extend. The fluid chamber is selectively provided with suction and/or irrigation and includes an electrical contact for supplying voltage to an inserted electrosurgical probe. Depending on the probe configuration suction and/or irrigation is provided in an annular space between the probe and the cannula or through the probe. Valves, connectors and switches for use with the instrument are also disclosed.
摘要翻译：公开了具有可插入探针和附件的内窥镜电外科吸入式灌洗仪。仪器具有在其近端处密封的流体室，其具有用于接收探针并且在其远端处连接到插入的探针延伸穿过的插管的狭缝阀。流体室选择性地具有抽吸和/或冲洗，并且包括用于向插入的电外科探针提供电压的电接触。根据探针结构，在探针和套管之间的环形空间中或通过探针提供吸力和/或冲洗。还公开了用于仪器的阀，连接器和开关。

13. 发明授权

US06200258B1 Radioactive therapeutic seed having selective marker configuration 失效
标题翻译：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。

14. 发明授权

US5312332A Endoscopic surgical methods utilizing a suction-irrigation instrument with a port for endoscopic manipulating instruments 失效
标题翻译：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。

15. 发明授权

US5176702A Ratchet locking mechanism for surgical instruments 失效
标题翻译：手术器械的棘轮锁定机构
公开(公告)号：US5176702A
公开(公告)日：1993-01-05
申请号：US833840
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 , A61B2017/0023 , A61B2017/0046 , A61B2017/0088 , A61B2017/2837 , A61B2017/2926 , A61B2017/2929 , A61B2017/2939 , A61B2018/00077 , A61B2018/00083 , A61B2018/00107 , A61B2018/00148 , A61B2018/1412 , A61B2018/1415 , A61B2018/1455 , A61B2018/146 , A61B2018/1861 , Y10T74/2133 , Y10T74/2136 , Y10T74/214 , Y10T74/2152
摘要： Releasable ratchet mechanism for medical instruments such as endoscopic instruments are disclosed. The ratchet mechanism includes: a leaf spring with a locking barb which is located on a handle of the medical instrument; a ratchet on a lever arm of the medical instrument which lever arm is pivotally engaged to the handle; and a latch on the handle of the medical instrument. The latch on the handle engages and resiliently deforms the leaf spring to cause engagement of the locking barb in a groove of the ratchet when the latch is in a first position. When in a second position, the latch releases the locking barb from the ratchet groove. Preferably, the locking barb has an extending edge surface on an axis which is substantially parallel to the pivoting axis of the handle and lever arm, and the teeth of the ratchet have extending edge surfaces on axes substantially parallel to the extending edge surface of the locking barb. Also, preferably, the edge surfaces of said teeth of the ratchet are located along an arc of a cylinder having the handle/lever arm pivot axis as its center line.
摘要翻译：公开了诸如内窥镜仪器的医疗器械的可释放的棘轮机构。棘轮机构包括：具有锁定倒钩的板簧，其位于医疗器械的手柄上; 在所述医疗器械的杠杆臂上的棘轮，所述杠杆臂枢转地接合到所述手柄; 以及在医疗器械的手柄上的闩锁。当闩锁处于第一位置时，手柄上的闩锁接合并弹性地使片簧变形，从而使锁定倒钩接合在棘轮的槽中。当处于第二位置时，闩锁从棘轮槽释放锁定倒钩。优选地，锁定倒钩在轴线上具有基本上平行于手柄和杠杆臂的枢转轴线的延伸边缘表面，并且棘轮的齿具有基本上平行于锁定件的延伸边缘表面的轴上的延伸边缘表面倒钩此外，优选地，棘轮的所述齿的边缘表面沿着具有手柄/杠杆臂枢转轴线的圆柱的圆弧定位为其中心线。

16. 再颁专利

USRE39415E1 Radial jaw biopsy forceps 失效
标题翻译：径向钳活检钳
公开(公告)号：USRE39415E1
公开(公告)日：2006-11-28
申请号：US11064520
申请日：2005-02-24
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： A61B17/28 , A61B10/00
CPC分类号： A61B10/06 , A61B10/02 , A61B17/29 , A61B17/30 , A61B17/320016 , A61B17/3201 , A61B18/1445 , A61B2010/0225 , A61B2017/0023 , A61B2017/00398 , A61B2017/0046 , A61B2017/0088 , A61B2017/292 , A61B2017/2926 , A61B2017/2931 , A61B2017/2939 , A61B2017/2945 , A61B2018/00077 , A61B2018/00083 , A61B2018/00107 , A61B2018/00148 , A61B2018/1253 , A61B2018/1412 , A61B2018/1415 , A61B2018/1432 , A61B2018/1455 , A61B2018/146 , A61B2018/1861 , A61B2090/064 , A61M2025/0098 , A61M2205/6081 , H01L21/67126 , H01L21/6715 , Y10T74/18944 , Y10T74/20402 , Y10T403/32181 , Y10T403/32221
摘要： A biological forceps device for the taking of tissue samples from a body, comprising a flexible main coil attached at its distal end to a pair of homologous cast jaws. The jaws have radially arranged teeth on their distalmost end. The jaws are opened and closed by attachment to a pair of pull wires which extend through the main coil, into a handle at its proximal end, the handle has a spool which slides about a central shaft attached to the main coil. The spool is attached to the pull wires, so that movement of the spool with respect to the central shaft, effectuates a force on the proximal ends of the levered jaws, to open and close them, appropriately.
摘要翻译：一种用于从身体采集组织样本的生物镊子装置，包括在其远端处附接到一对同源颚爪的柔性主线圈。钳口在其最远端具有径向排列的齿。夹爪通过附接到一对延伸穿过主线圈的拉线而被打开和关闭，该拉线在其近端处延伸到手柄中，手柄具有绕附接到主线圈的中心轴滑动的线轴。线轴被连接到拉线，使得线轴相对于中心轴的运动在适当地对杠杆钳口的近端施加力以打开和闭合它们。

17. 发明授权

US6024708A Radial jaw biopsy forceps 失效
标题翻译：径向钳活检钳
公开(公告)号：US6024708A
公开(公告)日：2000-02-15
申请号：US928453
申请日：1997-09-12
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 , A61B10/02 , A61B10/06 , A61B17/00 , A61B17/28 , A61B17/30 , A61B17/32 , A61B18/14 , A61B19/00
CPC分类号： A61B10/06 , A61B17/29 , A61B17/320016 , A61B18/1445 , H01L21/67126 , A61B10/02 , A61B17/30 , A61B17/3201 , A61B2010/0225 , A61B2017/0023 , A61B2017/00398 , A61B2017/0046 , A61B2017/0088 , A61B2017/292 , A61B2017/2926 , A61B2017/2931 , A61B2017/2939 , A61B2017/2945 , A61B2018/00077 , A61B2018/00083 , A61B2018/00107 , A61B2018/00148 , A61B2018/1253 , A61B2018/1412 , A61B2018/1415 , A61B2018/1432 , A61B2018/1455 , A61B2018/146 , A61B2018/1861 , A61B2090/064 , A61M2025/0098 , A61M2205/6081 , H01L21/6715 , Y10T403/32181 , Y10T403/32221 , Y10T74/18944 , Y10T74/20402
摘要： A biological forceps device for the taking of tissue samples from a body, comprising a flexible main coil attached at its distal end to a pair of homologous cast jaws. The jaws have radially arranged teeth on their distalmost end. The jaws are opened and closed by attachment to a pair of pull wires which extend through the main coil, into a handle at its proximal end. the handle has a spool which slides about a central shaft attached to the main coil. The spool is attached to the pull wires, so that movement of the spool with respect to the central shaft, effectuates a force on the proximal ends of the levered jaws, to open and close them, appropriately.
摘要翻译：一种用于从身体采集组织样本的生物镊子装置，包括在其远端处附接到一对同源颚爪的柔性主线圈。钳口在其最远端具有径向排列的齿。夹爪通过连接到延伸穿过主线圈的一对拉线打开和关闭，在其近端处于手柄中。手柄具有绕附接到主线圈的中心轴滑动的线轴。线轴被连接到拉线，使得线轴相对于中心轴的运动在适当地对杠杆钳口的近端施加力以打开和闭合它们。

18. 发明授权

US5192298A Disposable laparoscopic surgical instruments 失效
标题翻译：一次性腹腔镜手术器械
公开(公告)号：US5192298A
公开(公告)日：1993-03-09
申请号：US680392
申请日：1991-04-04
申请人： Kevin W. Smith , Charles R. Slater , Gregory J. Murphy , Thomas O. Bales , John W. Box , Frank A. Scarfone
发明人： Kevin W. Smith , Charles R. Slater , Gregory J. Murphy , Thomas O. Bales , John W. Box , Frank A. Scarfone
IPC分类号： A61B10/00 , A61B10/02 , A61B10/06 , A61B17/00 , A61B17/28 , A61B17/30 , A61B17/32 , A61B18/14 , A61B19/00
CPC分类号： A61B10/06 , A61B17/29 , A61B17/320016 , A61B18/1445 , H01L21/67126 , A61B10/02 , A61B17/30 , A61B17/3201 , A61B2010/0225 , A61B2017/0023 , A61B2017/00398 , A61B2017/0046 , A61B2017/0088 , A61B2017/292 , A61B2017/2926 , A61B2017/2931 , A61B2017/2939 , A61B2017/2945 , A61B2018/00077 , A61B2018/00083 , A61B2018/00107 , A61B2018/00148 , A61B2018/1253 , A61B2018/1412 , A61B2018/1415 , A61B2018/1432 , A61B2018/1455 , A61B2018/146 , A61B2018/1861 , A61B2090/064 , A61M2025/0098 , A61M2205/6081 , H01L21/6715 , Y10T403/32181 , Y10T403/32221 , Y10T74/18944 , Y10T74/20402
摘要： Disposable laparoscopic surgical instruments for insertion through trocar tubes are disclosed. The instruments broadly include: a hollow aluminum tube; an aluminum clevis which is formed separately from the aluminum tube with the distal end of the hollow aluminum tube crimped around the proximal end of the clevis, and with the clevis including a pivot pin; at least one end effector element having a pivot hole through which the pivot pin of the clevis is pivotally engaged, and another through-hole; an aluminum push rod extending at least partially through the hollow aluminum tube and mechanically coupled to the end effector element; and a plastic actuator engaging the proximal end of the push rod and for imparting reciprocal motion to the push rod relative to the aluminum tube, where the reciprocal motion is translated at the clevis into pivotal motion of the end effector element. Preferably, staple-like connectors are used to mechanically couple the end effector element to the push rod, especially for double acting instruments. The end effector elements are preferably formed of investment cast bronze.
摘要翻译：公开了一种用于通过套管针插入的腹腔镜手术器械。仪器广泛包括：中空铝管; 与铝管分开形成的铝制U型夹具，中空铝管的远端围绕U形夹的近端卷曲，并且U形夹包括枢轴销; 至少一个端部执行器元件具有枢轴孔，所述U形夹的枢销通过所述枢轴孔枢转地接合，以及另一个通孔; 铝推杆，其至少部分延伸穿过中空铝管并且机械地联接到末端执行器元件; 以及塑料致动器，其接合推杆的近端并且用于相对于铝管相对于推杆的往复运动，其中往复运动在U形夹下平移成端部执行器元件的枢转运动。优选地，钉状连接器用于将末端执行器元件机械地联接到推杆，特别是用于双重作用的仪器。末端执行器元件优选地由投资铸青铜形成。

19. 发明授权

US06273851B1 Radioactive therapeutic seeds 失效
标题翻译：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。

20. 发明授权

US5833656A Endoscopic robotic surgical tools and methods 失效
公开(公告)号：US5833656A
公开(公告)日：1998-11-10
申请号：US778641
申请日：1997-01-03
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.

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