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1. 发明授权

US5624398A Endoscopic robotic surgical tools and methods 失效
标题翻译：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。

2. 发明授权

US08211119B2 Endoscopic surgical instrument having a rotational actuator 有权
标题翻译：具有旋转致动器的内窥镜外科器械
公开(公告)号：US08211119B2
公开(公告)日：2012-07-03
申请号：US10867498
申请日：2004-06-14
申请人： Matthew A. Palmer , Kevin W. Smith , Juergen A. Kortenbach , Thomas O. Bales
发明人： Matthew A. Palmer , Kevin W. Smith , Juergen A. Kortenbach , Thomas O. Bales
IPC分类号： A61B17/10
CPC分类号： A61B17/1285 , A61B90/03 , A61B2017/2902 , A61B2017/2905 , A61B2017/2923 , A61B2090/0803 , Y10T29/53478
摘要： A flexible endoscopic clip applier includes a flexible coil with a manual actuator coupled to one end and a jaw assembly coupled to the other end. A store of clips is arranged adjacent to the jaw assembly and a clip pusher is arranged adjacent to the store of clips. The actuator includes a lever for opening and closing the jaws, a knob for rotating the jaw assembly, and a crank for dispensing clips. The knob and the lever are coupled to a single control member which extends through the coil to a joiner where it is joined to a pair of pull wires coupled to the jaws. The crank is coupled to a second control member which is threaded along a distal portion. The threaded portion engages a threaded member near the pusher and is coupled to the pusher such that rotation of the threaded control member by the crank causes the pusher to be moved distally.
摘要翻译：灵活的内窥镜施夹器包括具有联接到一端的手动致动器的柔性线圈和联接到另一端的钳口组件。夹子存放在邻近夹爪组件的位置，夹子推动器邻近夹子存放设置。致动器包括用于打开和关闭夹爪的杆，用于旋转夹爪组件的旋钮和用于分配夹子的曲柄。旋钮和杠杆联接到单个控制构件，该单个控制构件延伸穿过线圈到接合器，在该接合器处，接合到耦合到钳口的一对牵引线。曲柄联接到沿着远端部分螺纹的第二控制构件。螺纹部分接合推动器附近的螺纹构件并且联接到推动器，使得螺纹控制构件通过曲柄的旋转使得推动器向远侧移动。

3. 发明授权

US07357806B2 Clip ejector for endoscopic clip applier 有权
标题翻译：夹子用于内窥镜夹子施放器
公开(公告)号：US07357806B2
公开(公告)日：2008-04-15
申请号：US10867413
申请日：2004-06-14
申请人： Carlos Rivera , Kevin W. Smith , Thomas O. Bales , Robert Sixto, Jr. , Juergen A. Kortenbach , Scott Arp
发明人： Carlos Rivera , Kevin W. Smith , Thomas O. Bales , Robert Sixto, Jr. , Juergen A. Kortenbach , Scott Arp
IPC分类号： A61B17/10
CPC分类号： A61B17/1285 , A61B90/03 , A61B2017/2902 , A61B2017/2905 , A61B2017/2923 , A61B2090/0803
摘要： A flexible endoscopic clip applier includes a flexible coil, a manual actuator coupled to one end and a jaw assembly coupled to the other. A store of clips is arranged adjacent to the jaw assembly and a clip pusher adjacent to the store of clips. The actuator includes a lever for opening and closing the jaws, a knob for rotating the jaw assembly, and a crank for dispensing clips. The knob and lever are coupled to a single control member which extends through the coil to a joiner where it is joined to a pair of pull wires coupled to the jaws. The crank is coupled to a second control member which is threaded along a portion. The threaded portion engages a threaded member near the pusher such that rotation of the second control member by the crank causes the pusher to be moved distally.
摘要翻译：灵活的内窥镜施夹器包括柔性线圈，联接到一端的手动致动器和联接到另一端的钳口组件。夹子存放在邻近夹爪组件的位置，夹子推动器邻近夹子存放。致动器包括用于打开和关闭夹爪的杆，用于旋转夹爪组件的旋钮和用于分配夹子的曲柄。旋钮和杠杆联接到单个控制构件，该单个控制构件通过线圈延伸到接合器，在该接合器处，接合到耦合到钳口的一对牵引线。曲柄联接到沿着一部分螺纹的第二控制构件。螺纹部分接合推动器附近的螺纹构件，使得第二控制构件通过曲柄的旋转使得推动器向远侧移动。

4. 发明授权

US06569105B1 Rotatable and deflectable biopsy forceps 失效
公开(公告)号：US06569105B1
公开(公告)日：2003-05-27
申请号：US09661593
申请日：2000-09-14
申请人： Juergen A. Kortenbach , Saul Gottlieb , Kevin W. Smith , Charles R. Slater , Thomas O. Bales
发明人： Juergen A. Kortenbach , Saul Gottlieb , Kevin W. Smith , Charles R. Slater , Thomas O. Bales
IPC分类号： A61B1000
CPC分类号： A61B10/06 , A61B2017/003 , A61B2017/2927 , A61B2017/2938
摘要： An endoscopic or laparoscopic biopsy forceps instrument is provided which includes a flexible tubular member having proximal and distal ends, a biopsy jaw assembly at the distal end of the tubular member, an actuation assembly to operate the jaw assembly between open and closed positions, and a control assembly to deflect the biopsy jaw assembly relative to a lumen through which the instrument extends and to rotate the jaw assembly about the longitudinal axis of the instrument.

5. 发明授权

US07727248B2 Surgical clip 有权
标题翻译：手术夹
公开(公告)号：US07727248B2
公开(公告)日：2010-06-01
申请号：US10867412
申请日：2004-06-14
申请人： Kevin W. Smith , Jose Luis Francese , Robert Sixto, Jr. , Juergen A. Kortenbach , Thomas O. Bales , Carlos Rivera , Matthew A. Palmer
发明人： Kevin W. Smith , Jose Luis Francese , Robert Sixto, Jr. , Juergen A. Kortenbach , Thomas O. Bales , Carlos Rivera , Matthew A. Palmer
IPC分类号： A61B17/08
CPC分类号： A61B17/1285 , A61B17/122 , A61B2017/2905 , A61B2017/320064 , Y10T24/44752
摘要： A surgical clip has a base portion and two generally parallel, spaced arms extending from the base portion and defining an opening therebetween. The arms terminate distally in fingers which are of reduced width and thickness relative to the arms and which are adapted to be bent towards and past each other. A transition section from each arm to the finger provides curved structures which extending away from each other and providing a wider mouth for the opening between the arms. The arms also have a proximal section with an undercut which helps in flexure of the arms. The base is an extended structure having a rounded proximal end with outwardly extending shoulders which are arranged to be engaged by the curved structures of the mouth of another clip.
摘要翻译：手术夹具具有从基部延伸并在其间限定开口的基部和两个大致平行的间隔开的臂。臂在远离手指的位置处终止，手指相对于手臂减小了宽度和厚度，并且它们适于朝彼此弯曲并且彼此相交。从每个臂到手指的过渡部分提供了彼此延伸的弯曲结构，并为臂之间的开口提供更宽的口。臂还具有带有底切的近端部分，其有助于臂的挠曲。底座是具有圆形近端的延伸结构，其具有向外延伸的肩部，其被布置成与另一个夹子的口部的弯曲结构接合。

6. 发明授权

US06585694B1 Knob-controlled endoscopic needle device 失效
标题翻译：旋钮控制内窥镜针装置
公开(公告)号：US06585694B1
公开(公告)日：2003-07-01
申请号：US09656599
申请日：2000-09-07
申请人： Kevin W. Smith , Juergen A. Kortenbach , Thomas O. Bales
发明人： Kevin W. Smith , Juergen A. Kortenbach , Thomas O. Bales
IPC分类号： A61M500
CPC分类号： A61M25/0084 , A61B2090/062 , A61M5/46 , A61M2025/0089
摘要： An endoscopic needle device includes an inner fluid conduit, an outer sheath extending over the length of the conduit, a longitudinally stiff wire extending through the conduit, and a needle fixedly attached to the distal end of the conduit. The distal end of the wire is coupled to one or both of the needle and the distal end of the conduit. The needle includes a proximal opening such that the hollow of the needle is in fluid communication with a lumen of conduit. A proximal handle includes a stationary member and a movable member longitudinally movable relative to the stationary member. The proximal end of the outer sheath is coupled to the stationary member, and the stationary member includes structure to mount the handle to a port of an endoscope. The movable member includes a passageway, and the proximal end of the conduit is coupled to the distal end of the movable member, and a port is provided at the proximal end of the movable member. A syringe may be coupled to the port and operated to inject a fluid which travels through the passageway, the lumen of the conduit, and the needle. In addition, the proximal end of the wire is coupled to the movable member. The handle assembly also includes a knob rotatably coupled to the stationary member, wherein rotation of the knob results in reciprocal movement of the movable member relative to the stationary, and consequently the needle relative to the distal end of the outer sheath.
摘要翻译：内窥镜针装置包括内部流体导管，在导管的长度上延伸的外护套，延伸穿过导管的纵向刚性线，以及固定连接到导管远端的针。线的远端连接到针和导管的远端中的一个或两个。针包括近端开口，使得针的中空与导管的内腔流体连通。近侧手柄包括固定构件和可相对于固定构件纵向移动的可移动构件。外护套的近端联接到固定构件，并且固定构件包括将手柄安装到内窥镜的端口的结构。可动构件包括通道，并且导管的近端联接到可移动构件的远端，并且端口设置在可动构件的近端处。注射器可以联接到端口并且被操作以注射穿过通道，导管的内腔和针的流体。此外，线的近端联接到可动构件。手柄组件还包括可旋转地联接到固定构件的旋钮，其中旋钮的旋转导致可动构件相对于静止件的相互运动，并且因此导致相对于外护套的远端的针。

7. 发明申请

US20110071555A1 Method for Applying Surgical Clips Particularly Useful in the Endoluminal Treatment of Gastroesophageal Reflux Disease (GERD) 审中-公开
公开(公告)号：US20110071555A1
公开(公告)日：2011-03-24
申请号：US12748944
申请日：2010-03-29
申请人： Michael Sean McBrayer , Thomas O. Bales, JR. , Charles R. Slater , Juergen A. Kortenbach , Robert Sixto, JR.
发明人： Michael Sean McBrayer , Thomas O. Bales, JR. , Charles R. Slater , Juergen A. Kortenbach , Robert Sixto, JR.
IPC分类号： A61B17/00
CPC分类号： A61B17/122 , A61B10/06 , A61B17/0644 , A61B17/068 , A61B17/1285 , A61B18/1445 , A61B90/50 , A61B2017/00296 , A61B2017/00827 , A61B2017/0647 , A61B2017/2905 , A61B2017/2919 , A61B2017/2926 , A61B2017/320064 , A61B2018/00577 , A61B2018/1253 , A61B2018/126
摘要： Surgical clips, which are particularly useful in the transoral invagination and fundoplication of the stomach to the esophagus, and methods of applying the surgical clips to living tissue are disclosed. The clips include first and second arms joined by a bridge to form a substantially U-shape, and which are provided with a first structure adapted to prevent a movement of the clip in a direction perpendicular to a longitudinal axis of the clip after the clip is applied to tissue. In addition, the clips preferably also include a second structure adapted to prevent rotation of the clip about the longitudinal axis of the clip after the clip is applied to tissue.

8. 发明授权

US06761717B2 Multifilar flexible rotary shaft and medical instruments incorporating the same 失效
标题翻译：多头柔性旋转轴和包含其的医疗器械
公开(公告)号：US06761717B2
公开(公告)日：2004-07-13
申请号：US10155584
申请日：2002-05-24
申请人： Thomas O. Bales , Juergen A. Kortenbach
发明人： Thomas O. Bales , Juergen A. Kortenbach
IPC分类号： A61B1818
CPC分类号： A61B17/32056 , A61B17/320016 , A61B17/32002 , A61B2017/2902 , A61B2017/2905 , A61B2017/2929 , F16C1/02 , F16C1/08 , F16C2316/10
摘要： A multifilar flexible rotary shaft includes a plurality of individual filaments which are not wound around each other or around a central core, a loose ensemble of filaments. The input ends of each filament are coupled to each other and the output ends of each filament are coupled to each other. Preferably all of the filaments are identical. A loose ensemble of N filaments can transmit N times the torque of a single filament, and will have N times the torsional stiffness of a single filament, while retaining the minimum radius of operation of a single filament. Since a loose ensemble of filaments does not have any appreciable contact forces among the filaments (because they are not forcibly twisted together), there is no appreciable internal friction or hysteresis. In order to appreciably eliminate all the hysteresis in such an ensemble of filaments, the filaments should be no more than loosely twisted together, if at all. The only reason for loosely twisting the wires together is to allow the ensemble to be easily handled and to insure that the individual wire filaments follow the same general curved path from one end to the other. Several practical applications of the invention are also disclosed.
摘要翻译：多针柔性旋转轴包括多个单独的细丝，它们彼此不缠绕或围绕中心芯，松散的细丝组合。每个灯丝的输入端彼此耦合，并且每个灯丝的输出端彼此耦合。优选地，所有的长丝是相同的。 N细丝的松散组合可以传播N倍的单丝的扭矩，并且将具有单丝的扭转刚度的N倍，同时保持单丝的最小操作半径。由于长丝的松散组合在细丝之间没有任何明显的接触力（因为它们不被强制扭曲在一起），所以没有明显的内部摩擦或滞后。为了明显地消除这种灯丝组合中的所有滞后现象，如果有的话，灯丝不应该松散地扭曲在一起。将电线松散地缠绕在一起的唯一原因是允许集合容易地处理并且确保单个线丝沿着从一端到另一端的相同的一般弯曲路径。还公开了本发明的几个实际应用。

9. 发明授权

US06716226B2 Surgical clip 有权
标题翻译：手术夹
公开(公告)号：US06716226B2
公开(公告)日：2004-04-06
申请号：US09891775
申请日：2001-06-25
申请人： Robert Sixto, Jr. , Juergen A. Kortenbach , Thomas O. Bales
发明人： Robert Sixto, Jr. , Juergen A. Kortenbach , Thomas O. Bales
IPC分类号： A61B1708
CPC分类号： G01B7/10 , A61B17/0644 , A61B17/122 , A61B17/1285 , A61B2017/2905 , A61B2017/2946 , A61B2017/320064 , Y10T24/44752
摘要： A surgical clip includes a U-shaped configuration with first and second arms, and a bridge portion therebetween. The first arm is provided with a tip preferably having a catch, and the second arm extends into a deformable retainer having a tissue-piercing end and preferably also a hook. During application, tissue is clamped, and the clip is forced over the clamped tissue and the retainer of the second arm is bent and may be pierced through the tissue. The retainer is toward and around or adjacent the tip of the first arm preferably until the hook is engaged about the catch to secure the clip to the tissue and prevent the clip and tissue from separating. The clip is provided with structure that facilitates the stacking of a plurality of clips in a clip chamber of a clip applier.
摘要翻译：手术夹具包括具有第一和第二臂的U形构造以及它们之间的桥接部分。第一臂设置有优选地具有卡扣的末端，并且第二臂延伸到具有组织穿刺端部并且优选地还有钩子的可变形保持器中。在施用期间，组织被夹紧，并且夹子被压在夹持的组织上，并且第二臂的保持器被弯曲并且可以穿透组织。保持器朝向并围绕或邻近第一臂的尖端，优选地直到钩与锁扣接合以将夹子固定到组织上并防止夹子和组织分离。该夹具设置有便于在施夹器的夹子室中堆叠多个夹子的结构。

10. 发明授权

US07276067B2 Multifilar flexible rotary shaft and medical instruments incorporating the same 失效
标题翻译：多头柔性旋转轴和包含其的医疗器械
公开(公告)号：US07276067B2
公开(公告)日：2007-10-02
申请号：US10856927
申请日：2004-05-27
申请人： Thomas O. Bales , Juergen A. Kortenbach
发明人： Thomas O. Bales , Juergen A. Kortenbach
IPC分类号： A61B18/18
CPC分类号： A61B17/32056 , A61B17/320016 , A61B17/32002 , A61B2017/2902 , A61B2017/2905 , A61B2017/2929 , F16C1/02 , F16C1/08 , F16C2316/10
摘要： A multifilar flexible rotary shaft includes a plurality of individual filaments which are not wound around each other or around a central core, a loose ensemble of filaments. The input ends of each filament are coupled to each other and the output ends of each filament are coupled to each other. Preferably all of the filaments are identical. A loose ensemble of N filaments can transmit N times the torque of a single filament, and will have N times the torsional stiffness of a single filament, while retaining the minimum radius of operation of a single filament. Since a loose ensemble of filaments does not have any appreciable contact forces among the filaments (because they are not forcibly twisted together), there is no appreciable internal friction or hysteresis. In order to appreciably eliminate all the hysteresis in such an ensemble of filaments, the filaments should be no more than loosely twisted together, if at all. The only reason for loosely twisting the wires together is to allow the ensemble to be easily handled and to insure that the individual wire filaments follow the same general curved path from one end to the other. Several practical applications of the invention are also disclosed.
摘要翻译：多针柔性旋转轴包括多个单独的细丝，它们彼此不缠绕或围绕中心芯，松散的细丝组合。每个灯丝的输入端彼此耦合，并且每个灯丝的输出端彼此耦合。优选地，所有的长丝是相同的。 N细丝的松散组合可以传播N倍的单丝的扭矩，并且将具有单丝的扭转刚度的N倍，同时保持单丝的最小操作半径。由于长丝的松散组合在细丝之间没有任何明显的接触力（因为它们不被强制扭曲在一起），所以没有明显的内部摩擦或滞后。为了明显地消除这种灯丝组合中的所有滞后现象，如果有的话，灯丝不应该松散地扭曲在一起。将电线松散地缠绕在一起的唯一原因是允许集合容易地处理并且确保单个线丝沿着从一端到另一端的相同的一般弯曲路径。还公开了本发明的几个实际应用。

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