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    • 3. 发明授权
    • Endoscopic robotic surgical tools and methods
    • 内窥镜机器人手术工具及方法
    • US5954692A
    • 1999-09-21
    • US890366
    • 1997-07-09
    • Kevin W. SmithJuergen Andrew KortenbachCharles R. SlaterAnthony I. MazzeoTheodore C. Slack, Jr.Thomas O. Bales
    • Kevin W. SmithJuergen Andrew KortenbachCharles R. SlaterAnthony I. MazzeoTheodore C. Slack, Jr.Thomas O. Bales
    • A61B1/00A61B17/00A61B19/00B25J3/04B25J9/06B25J9/10B25J15/02A61M37/00
    • B25J15/02A61B34/70A61B34/71A61B34/76B25J3/04B25J9/06B25J9/104A61B17/00234A61B2017/00477A61B2034/2059
    • 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.
    • 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。
    • 6. 发明授权
    • Radioactive therapeutic seed having selective marker configuration
    • 具有选择标记物配置的放射性治疗种子
    • US07172549B2
    • 2007-02-06
    • US10811536
    • 2004-03-29
    • Charles R. SlaterThomas O. Bales
    • Charles R. SlaterThomas O. Bales
    • A61M36/00A61N5/00
    • A61N5/1027A61B90/39A61B2090/3954A61N2005/1024
    • Radioactive therapeutic seeds include a carrier structure bearing a radioactive isotope and a radiopaque marker. According to several embodiments, 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 distinguishing a seed provided with the second marker relative to a seed not provided with the second marker. According to another embodiment, 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 distinguished from one another by providing seeds with marker wires of different lengths. According to other embodiments, the seed includes a cylindrical outer member, and an inner member provided within the outer member and having two large diameter portions and a relatively smaller diameter portion therebetween. A marker is disposed within the inner member, and a radioactive isotope is carried on the inner member. The marker may be drilled to a smaller size. Each embodiment permits at least two groups of seeds to be distinguished from one another by the use of differing marker configurations.
    • 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。 根据几个实施例,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第二标记的种子进行区分。 根据另一个实施方案,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。 通过为种子提供不同长度的标记线,种子可以彼此区分。 根据其他实施例,种子包括圆柱形外部构件和设置在外部构件内部并具有两个大直径部分和其间相对较小直径部分的内部构件。 标记物设置在内部构件内,并且放射性同位素被承载在内部构件上。 标记可以钻到较小的尺寸。 每个实施例允许通过使用不同的标记物构造将至少两组种子彼此区分开。
    • 7. 发明授权
    • Raidoactive therapeutic seed having selective marker configuration
    • 具有选择性标记物构型的抗过敏治疗种子
    • US06482143B1
    • 2002-11-19
    • US09514787
    • 1999-02-28
    • Charles R. SlaterThomas O. Bales
    • Charles R. SlaterThomas O. Bales
    • A61N500
    • A61N5/1027A61B90/39A61B2090/3954A61N2005/1024
    • Radioactive therapeutic seeds include a carrier structure bearing a radioactive isotope and a radiopaque marker. According to several embodiments, 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 distinguishing a seed provided with the second marker relative to a seed not provided with the second marker. According to another embodiment, 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 distinguished from one another by providing seeds with marker wires of different lengths. According to other embodiments, the seed includes a cylindrical outer member, and an inner member provided within the outer member and having two large diameter portions and a relatively smaller diameter portion therebetween. A marker is disposed within the inner member, and a radioactive isotope is carried on the inner member. The marker may be drilled to a smaller size. Each embodiment permits at least two groups of seeds to be distinguished from one another by the use of differing marker configurations.
    • 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。 根据几个实施例,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第二标记的种子进行区分。 根据另一个实施方案,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。 通过为种子提供不同长度的标记线,种子可以彼此区分。 根据其他实施例,种子包括圆柱形外部构件和设置在外部构件内部并具有两个大直径部分和其间相对较小直径部分的内部构件。 标记物设置在内部构件内,并且放射性同位素被承载在内部构件上。 标记可以钻到较小的尺寸。 每个实施例允许通过使用不同的标记物构造将至少两组种子彼此区分开。
    • 8. 发明授权
    • Radioactive therapeutic seed having selective marker configuration
    • 具有选择标记物配置的放射性治疗种子
    • US06200258B1
    • 2001-03-13
    • US09371243
    • 1999-08-10
    • Charles R. SlaterThomas O. BalesKevin W. Smith
    • Charles R. SlaterThomas O. BalesKevin W. Smith
    • A61N500
    • A61N5/1027A61N2005/1024
    • 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.
    • 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。
    • 9. 发明授权
    • Apparatus for counting the number of times a medical instrument has been
used
    • 用于计数医疗器械使用次数的装置
    • US5359993A
    • 1994-11-01
    • US998951
    • 1992-12-31
    • Charles R. SlaterThomas O. BalesJurgen A. KortenbachGeorge NunezDavid Turkel
    • Charles R. SlaterThomas O. BalesJurgen A. KortenbachGeorge NunezDavid Turkel
    • A61B1/00A61B17/00A61B17/28A61B19/00G06M1/04G06M1/08G06M3/12G01K5/00
    • A61B1/00062A61B17/00234G06M1/041G06M1/083G06M3/12A61B1/00055A61B2017/0046A61B2017/292A61B2090/0803A61B2560/0276
    • An apparatus for counting the number of times a medical instrument has been sterilized includes an indicator having sequential indicia and a heat responsive member for indicating a next one of the indicia. Mechanical, fluid mechanical and electronic versions of the invention are disclosed. In the mechanical version, the indicator can be a ratchet member having teeth, a pawl and a display surface containing indicia. A heat responsive element such as a bimetallic member engages the teeth of the ratchet and advances the ratchet each time the apparatus is subjected to the heat of sterilization. A housing with a window masks the display to indicate one of the indicia as advanced by the heat responsive element. Preferred embodiments of the mechanical version include a ring-like ratchet member with interior teeth and an exterior display surface. The number of teeth is preferably one or more less than the number of indicia so that upon advancing the ratchet member to the last indicia, it can be advanced no further. The bimetallic element is mounted inside the ring and the housing covers the outer surface of the ring. The housing may be formed from the ferrule of an endoscopic surgical instrument or may be formed as part of the handle of such an instrument. A removable locking pin is provided to prevent movement of the ratchet member during shipping and the locking pin may be coupled to packaging so that it is automatically removed when the surgical instrument is removed from its packaging.
    • 用于计数医疗器械已经消毒的次数的装置包括具有顺序标记的指示器和用于指示下一个标记的热响应构件。 公开了本发明的机械,流体机械和电子版本。 在机械版本中,指示器可以是具有齿,棘爪和包含标记的显示表面的棘轮构件。 诸如双金属构件的热响应元件与棘轮的齿接合,并且每当设备经受灭菌热时每次使棘轮前进。 具有窗口的壳体遮蔽显示器,以指示由热响应元件提前的一个标记。 机械版本的优选实施例包括具有内齿和外部显示表面的环形棘轮构件。 优选地,齿数比标记的数量少一个或多个,从而在将棘轮构件推进到最后的标记之后,可以进一步推进。 双金属元件安装在环内,壳体覆盖环的外表面。 壳体可以由内窥镜手术器械的套圈形成,或者可以形成为这种器械的手柄的一部分。 提供可拆卸的锁定销以防止棘轮构件在运输期间的移动,并且锁定销可以联接到包装,使得当手术器械从其包装中移除时它被自动移除。
    • 10. 发明授权
    • Endoscopic surgical methods utilizing a suction-irrigation instrument
with a port for endoscopic manipulating instruments
    • 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
    • US5312332A
    • 1994-05-17
    • US51000
    • 1993-04-21
    • Thomas O. BalesCharles R. SlaterKevin W. Smith
    • Thomas O. BalesCharles R. SlaterKevin W. Smith
    • A61B10/00A61B10/06A61B17/00A61B17/34A61B18/14A61M1/00
    • A61B17/00234A61B10/06A61B17/3421A61B18/14A61B2090/0817A61B2217/005A61B2217/007
    • 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.
    • 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。