All The Claims

1. A method for preparing for robotic surgery, the method comprising:
sensing a movement of a set-up joint linkage supporting a first manipulator to within a threshold of a range of motion limit of the set-up joint linkage, the threshold of the range of motion limit of the set-up joint linkage being less than a total range of motion of the set-up joint linkage;
entering a platform movement mode after sensing movement of the set-up joint linkage to within the threshold of the range of motion limit of the set-up joint linkage;
after entering the platform movement mode, sensing an input displacement of a first link of the first manipulator from an initial positional relationship relative to an orienting platform to a displaced positional relationship relative to the orienting platform, the input displacement resulting from a manual articulation of the set-up joint linkage supporting the first manipulator so that the first link moves toward a desired position with a surgical site;
calculating a movement of a set-up structure linkage in response to the input displacement so that the first link of the first manipulator returns toward the initial positional relationship relative to orienting platform, the set-up structure linkage supporting the orienting platform and the orienting platform supporting the first manipulator via the set-up joint linkage;
driving the set-up structure linkage per the calculated movement.
2. The method of claim 1, further comprising maintaining a fixed pose of the first manipulator during the input displacement so that the first manipulator moves as a substantially solid body.
3. The method of claim 2, wherein the set-up structure is driven while a user manually moves the first link toward the desired position with the surgical site.
4. The method of claim 1, wherein the first link has a preferred positional relationship relative to the orienting platform prior to the manual movement, the calculated movement of the set-up structure linkage moving the orienting platform so as to return toward the preferred positional relationship during the manual movement.
5. The method of claim 4, wherein the preferred positional relationship helps maintain a desired range of motion of the first manipulator relative to the orienting platform.
6. The method of claim 1, wherein the movement of the set-up structure linkage is calculated using a velocity of the first link relative to the orienting platform during the input displacement, and wherein the driving of the set-up structure linkage diminishes the velocity.
7. The method of claim 6, wherein the velocity of the first link relative to the orienting platform exceeds a saturation threshold, and wherein the driving of the set-up structure reduces the velocity of the first link relative to the orienting platform by the saturation threshold.
8. The method of claim 6, wherein the velocity of the first link relative to the orienting platform moves the set-up structure toward an undesirable motion-limiting configuration of a set-up joint linkage between the manipulator and the orienting platform, and wherein the movement of the set up structure is calculated so as to resiliently urge the set-up structure away from the undesirable configuration.
9. A method for preparing for robotic surgery, the method comprising:
sensing an input displacement of a first link of a first robotic manipulator from an initial positional relationship relative to an orienting platform to a displaced positional relationship relative to the orienting platform, the input displacement resulting from a manual articulation of a set-up joint linkage supporting the first manipulator so that the first link moves toward a desired position with a surgical site;
calculating a movement of a set-up structure linkage in response to the input displacement so that the first link of the first manipulator returns toward the initial positional relationship relative to orienting platform, the set-up structure linkage supporting the orienting platform and the orienting platform supporting the first manipulator via the set-up joint linkage and a second manipulator;
driving the set-up structure linkage per the calculated movement;
wherein each of the manipulators includes an instrument holder and is configured to support an associated surgical instrument mounted to the instrument holder relative to a manipulator base, insert the associated surgical instrument along an insertion axis into a patient through an associated remote center of manipulation (RC), rotate the instrument holder around a first manipulator axis that intersects the associated RC, and rotate the instrument holder around a second manipulator axis that intersects the associated RC, each of the first and second manipulator axes being transverse to the insertion axis, the second manipulator axis being transverse to the first manipulator axis;
wherein the set-up structure linkage comprises:
a mounting base;
a column selectively positionable relative to the mounting base along a first support axis that is vertically oriented;
a member rotationally coupled to the column to selectively orient the member relative to the column around a second support axis that is vertically oriented;
an extendable boom slideably coupled with the member to selectively position the extendable boom relative to the member along a third support axis that is horizontally oriented, the orienting platform being rotationally coupled to the extendable boom member; and
wherein the first link comprises or is adjacent the holder, wherein the calculated movement comprises a movement of a plurality of joints of the set-up structure linkage, and wherein the plurality of joints are driven per the calculated movement.
10. The method of claim 9, wherein the manual movement comprises positioning the associated first RC of the first manipulator with a desired first RC of the surgical site, and wherein the driven movement of the set-up structure linkage moves the associated RC of the second manipulator toward an a second desired RC of the surgical site.
11. The method of claim 1, wherein the manipulator has an orienting platform movement input mounted adjacent the first link, the movement input normally in a first state and manually actuatable to a second state, and wherein the orienting platform does not move in response to movement of the first link when the movement input is in the first state.
12. The method of claim 11, further comprising mounting a cannula to the first manipulator after the manual movement and inhibiting movement of the orienting platform in response to the mounting of the cannula, wherein the cannula is configured to provide access therethrough to an internal surgical site for a surgical instrument supported by the first manipulator.
13. The method of claim 12, further comprising inhibiting movement along joints of the set-up structure linkage with associated joint brakes in response to the movement input being in the first state or in response to the cannula being mounted to the first manipulator.
14. A method for preparing for robotic surgery, the method comprising:
sensing a movement of a set-up joint linkage supporting a first manipulator to within a threshold of a range of motion limit of the set-up joint linkage, the threshold of the range of motion limit of the set-up joint linkage being less than a total range of motion of the set-up joint linkage;
entering a platform movement mode after sensing movement of the set-up joint linkage to within the threshold of the range of motion limit of the set-up joint linkage;
after entering the platform movement mode, sensing a manual movement of a first manipulator so that a first link of the manipulator moves toward a desired position with a surgical site;
sensing an input displacement of the first link from an initial positional relationship relative to a platform to a displaced positional relationship relative to the platform, the input displacement resulting from the manual movement of the first manipulator;
calculating a movement of a linkage in response to the input displacement so that the first link of the first manipulator returns toward the initial positional relationship relative to the platform, the linkage supporting the platform and the platform supporting the first manipulator;
driving the linkage per the calculated movement so that the platform follows the first link; and
treating tissue at the surgical site by driving the first manipulator.
15. A system for robotic surgery, the system comprising:
a platform supporting a base of a first manipulator and a base of a second manipulator;
the first and second manipulators supported by the platform, each manipulator having a manipulator linkage including a first link and a drive system operatively coupled to the manipulator linkage so as to drive the first link during surgery;
a support structure supporting the platform, the support structure including a support linkage including a base and a drive system operatively coupled to the support linkage so as to drive the platform relative to support structure base;
a processor coupling the manipulators to the support structure, the processor having a platform movement mode, the processor in the platform movement mode configured to calculate a set-up command in response to a manual movement of the first link of the first manipulator relative to the platform and to transmit a platform movement command to the support structure so as to move the platform and the manipulators, the processor configured to enter the platform movement mode after sensing a movement of a set-up joint linkage supporting the first manipulator or second manipulator to within a threshold of a range of motion limit of the set-up joint linkage, the threshold of the range of motion limit of the set-up joint linkage being less than a total range of motion of the set-up joint linkage.
16. The system of claim 15, wherein the processor comprises non-transitory machine readable code embodying instructions for determining an input displacement of the first link of the first manipulator from a first positional relationship relative to the platform to a second positional relationship relative to the platform, the input displacement resulting from the manual movement of the first link, and for calculating the movement command so as to effect a desired movement of the support structure using the input displacement so that the orienting platform moves while manually moving the first link.
17. The system of claim 16, further comprising a manually articulatable linkage disposed between the platform and the first manipulator, wherein the processor in the platform movement mode allows manual articulation of the manually articulatable linkage and inhibits articulation of the first manipulator and drives the support structure so that the manipulator moves as a substantially rigid body and the platform follows the first link during the manual movement of the first link.
18. The system of claim 15, wherein the processor is configured to calculate the movement of the linkage using a velocity of the first link relative to the orienting platform, so that the driving of the linkage of the set-up structure reduces the relative velocity.
19. The system of claim 18, wherein the processor is configured to calculate the movement command so that the velocity of the first link relative to the orienting platform is reduced by a saturation velocity when the velocity of the first link relative to the orienting platform exceeds the saturation threshold.
20. The system of claim 18, wherein the processor is configured to calculate the movement command so that, when the velocity of the first link relative to the orienting platform moves the set-up structure toward an undesirable motion-limiting configuration of a set-up joint linkage between the manipulator and the orienting platform, the movement of the set up structure is resiliently urged away from the undesirable configuration.
21. A system for robotic surgery, the system comprising:
a platform supporting a base of a first manipulator and a base of a second manipulator;
the first and second robotic manipulators supported by the platform, each manipulator having a manipulator linkage including a first link and a drive system operatively coupled to the manipulator linkage so as to drive the first link during surgery;
a support structure supporting the platform, the support structure including a support linkage including a base and a drive system operatively coupled to the support linkage so as to drive the platform relative to support structure base;
a processor coupling the manipulators to the support structure, the processor having a platform movement mode, the processor in the platform movement mode configured to calculate a set-up command in response to a manual movement of the first link of the first manipulator relative to the platform and to transmit a platform movement command to the support structure so as to move the platform and the manipulators;
wherein each of the manipulators includes an instrument holder and is configured to support an associated surgical instrument mounted to the instrument holder relative to a manipulator base, insert the associated surgical instrument along an insertion axis into a patient through an associated remote center of manipulation (RC), rotate the instrument holder around a first manipulator axis that intersects the associated RC, and rotate the instrument holder around a second manipulator axis that intersects the associated RC, each of the first and second manipulator axes being transverse to the insertion axis, the second manipulator axis being transverse to the first manipulator axis;
wherein the set-up structure linkage comprises:
a mounting base;
a column slideably coupled with the mounting base and selectively positionable relative to the mounting base along a first support axis that is vertically oriented;
a boom base member rotationally coupled to the column through a shoulder joint operable to selectively orient the boom base member relative to the column member around a second support axis that is vertically oriented;
an extendable boom member slideably coupled with the boom base member through a boom joint operable to selectively position the extendable boom member relative to the boom base member along a third support axis that is horizontally oriented, the orienting platform being rotationally coupled to the extendable boom member; and

wherein the first link comprises or is adjacent to the instrument holder, wherein the calculated movement comprises a movement of a plurality of joints of the set-up structure linkage, and wherein the plurality of joints are driven per the calculated movement so that the first link of the first manipulator has the preferred positional relationship relative to the manipulator base.
22. The system of claim 15, wherein the first manipulator has an orienting platform movement input mounted thereon or adjacent thereto, the movement input normally in a first state and manually actuatable to a second state, and wherein the processor is configured to inhibit movement of the orienting platform in response to movement of the first link when the movement input is in the first state.
23. The system of claim 22, further comprising a cannula configured to mount to the first manipulator, wherein the processor is configured to inhibit movement of the orienting platform in response to the mounting of the cannula.
24. The system of claim 23, wherein the support structure linkage has a plurality of joints, and wherein the processor is configured to inhibit movement along each joint of the set-up structure linkage with an associated joint brake in response to the movement input being in the first state or in response to the cannula being mounted to the first manipulator.
25. The system of claim 1, further comprising, after entering the platform movement mode, detecting the set-up joint linkage moved to the range of motion limit of the set-up joint linkage and, in response to detecting the set-up joint linkage moved to the range of motion limit of the set-up joint linkage, driving the set-up structure to move the orienting platform relative to the set-up joint linkage to move the set-up joint linkage away from the range of motion limit of the set-up joint linkage.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. An integrated optical circuit comprising:
an input waveguide;
an imaging multimode interference device adapted to substantially remove all modes but a fundamental mode of an optical signal received from said input waveguide; and
an optical power splitter structure in optical communication with said imaging multimode interference device;
wherein said multimode interference device includes a primary output in optical communication with said optical power splitter structure and a secondary output in optical communication with a dump port.
2. The optical circuit of claim 1, wherein said multimode interference device includes two said secondary output, of which is in optical communication with a respective said dump port.
3. A method for suppressing propagating lateral waveguide field oscillations at the input of an optical power splitter structure comprising,
fabricating an imaging multimode interference device in optical communication with said optical power splitter structure, wherein said multimode interference device includes a primary output in optical communication with said optical power splitter structure and a secondary output in optical communication with a dump port; and
receiving an error signal from said dump port and monitoring said error signal for a substantial change.
4. The method of claim 3 wherein said optical power splitter structure is a component of a interferometric modulator.
5. The method of claim 4 wherein said interferometric modulator is a Mach-Zehnder modulator.
6. The method of claim 3, wherein said multimode interference device includes two said secondary output, each of which is in optical communication with a respective said dump port, said method further comprising receiving an error signal from each of said dump ports and monitoring said error signal for a substantial change.
7. An integrated optical circuit comprising:
a waveguide device;
an angle output, the angle of which is non-perpendicular with respect to the direction of optical propagation;
an imaging multimode interference device between said waveguide device and said angle output; and
an angled input, the angle of which is non-perpendicular with respect to the direction of multimode interference device and said integrated optical circuit further comprises a second imaging multimode interference device between said wave guide device and said angled input, the first and second imaging multimode interference device adapted to substantially remove all modes but a fundamental mode of an optical signal received by the devices.
8. The integrated optical circuit of claim 7 wherein the waveguide device comprises a semiconductor optical amplifier.

1. A down-hole assembly for locating a plurality of lateral well bore windows in a main well bore, comprising:
a running tool having an upper section, a middle section, a lower section and an internal cavity section with a cavity floor, said running tool including a window locator assembly for locating said plurality of lateral well bore windows, said window locator assembly pivotally positioned within said cavity of said running tool and including a window locator and a stopshear block, said window locator including a selectively reciprocating shear rod operatively associated with said stopshear block, said shear rod having a proximal end, a distal end, and an outer surface including a plurality of shoulders, said stopshear block including a shear rod engaging surface, a tapered surface, a shear surface, and a stop shoulder;
a guide member having an upper section, a middle section and a lower section, said guide member having a wedged-shaped outer surface for diverting a down-hole tool through one of said plurality of lateral well bores and into a lateral well bore;
wherein said lower section of said running tool and said upper section of said guide member are each shaped to receive the other in mating relationship; and
wherein said lower section of said running tool and said upper section of said guide member are capable of being detachably connected, and when detachably connected, said running tool and said guide member are in fluid communication.
2. The down-hole assembly according to claim 1, wherein said window locator further includes a first spring means operatively connected to said shear rod, said spring means biasing said shear rod in a direction towards said stopshear block.
3. The down-hole assembly according to claim 2, wherein said first spring means is operatively connected to said proximal end of said shear rod.
4. The down-hole assembly according to claim 3, wherein said window locator further includes a spring-loaded bushing surrounding a first portion of said shear rod, said spring-loaded bushing including a second spring means.
5. The down-hole assembly according to claim 4, wherein said window locator further includes a dog assembly having an upper section, a lower section and an internal section containing a dog, said lower section positioned external of said window locator, said internal section operatively associated with a second portion of said shear rod, said dog selectively engaging one of said shoulders of said shear rod to prevent said shear rod from being reciprocated in said direction of said stopshear block by said first spring means.
6. The down-hole assembly according to claim 5, wherein said dog assembly is movably positioned within a recess in said window locator.
7. The down-hole assembly according to claim 6, wherein said second spring means of said spring-loaded bushing biases said spring-loaded bushing into operative engagement with said dog assembly.
8. The down-hole assembly according to claim 7, wherein said window locator further includes a floating plate and a plurality of spring means, said floating plate and said plurality of spring means each contained within said recess of said window locator, said plurality of spring means biasing said floating plate into operative engagement with said upper section of said dog assembly.
9. The down-hole assembly according to claim 8, wherein said window locator further includes a shear bushing surrounding a third portion of said shear rod, said shear bushing positioned adjacent to said stopshear block.
10. The down-hole assembly according to claim 9, wherein said shear rod engaging surface of said stopshear block includes an adjustable calibration plate, said calibration plate capable of calibrating the point at which said dog selectively engages one of said shoulders of said shear rod.
11. The down-hole assembly according to claim 10, wherein said running tool further includes a calibration hole directly over said dog, said calibration hole capable of allowing a user to view the point at which said dog selectively engages one of said shoulders of said shear rod.
12. The down-hole assembly according to claim 9, wherein said stopshear block includes a U-shaped catcher for receiving said shear rod and retaining a sheared piece of said shear rod, said catcher positioned between said stop shoulder and said shear surface of said stopshear block.
13. The down-hole assembly according to claim 12, wherein said catcher includes a V-shaped surface capable of allowing said sheared piece of said shear rod to travel in only one direction.
14. The down-hole assembly according to claim 13, wherein said running tool further includes a pocket operatively connected to said stopshear block for storing said sheared piece of said shear rod.
15. The down-hole assembly according to claim 14, wherein said outer surface of said shear rod also includes a plurality of shear grooves.
16. The down-hole assembly according to claim 15, wherein said stopshear block further includes an inspection window for viewing the alignment of said shear bushing with said plurality of shear grooves on the surface of said shear rod.
17. A down-hole assembly for locating a plurality of lateral well bore windows in a main well bore, comprising:
a running tool having an upper section, a middle section, a lower section, and an internal cavity section with a cavity floor, said running tool including a window locator assembly for locating said plurality of lateral well bore windows, said window locator assembly pivotally positioned within said cavity of said running tool and including a window locator and a stopshear block, said window locator comprising a pivoting arm, a window locating head, and a selectively reciprocating shear rod operatively associated with said stopshear block, said shear rod having a proximal end, a distal end, and an outer surface including a plurality of shoulders, said stopshear block including a shear rod engaging surface, a tapered surface, a shear surface, and a stop shoulder, said running tool further including a biasing means operatively associated with said window locator, said biasing means exerting a force on said pivoting arm of said window locator to bias said window locator head in a direction external of said running tool;
a guide member having an upper section, a middle section, and a lower section, said guide member having a wedge-shaped outer surface for diverting a down-hole tool through one of said plurality of lateral well bore windows and into a lateral well bore;
wherein said lower section of said running tool and said upper section of said guide member are each shaped to receive the other in mating relationship; and
wherein said lower section of said running tool and said upper section of said guide member are capable of being detachably connected, and when detachably connected, said running tool and said guide member are in fluid communication.
18. The down-hole assembly according to claim 17, wherein said window locator further includes:
a first spring means operatively connected to said shear rod, said spring means biasing said shear rod in a direction towards said stopshear block;
a spring-loaded bushing surrounding a first portion of said shear rod, said spring-loaded bushing including a second spring means;
a recess in said window locating heads;
a dog assembly movably positioned within said recess of said window locating head, said dog assembly having an upper section, a lower section, and an internal section containing a dog, said lower section positioned external of said window locator, said internal section operatively associated with a second portion of said shear rod, said dog selectively engaging a shoulder of said shear rod to prevent said shear rod from being reciprocated in said direction of said stopshear block by said first spring means;
a floating plate and a plurality of spring means, said floating plate and said plurality of spring means each contained within said recess of said window locating head, said plurality of spring means biasing said floating plate into operative engagement with said upper section of said dog assembly; and
a shear bushing surrounding a third portion of said shear rod, said shear bushing positioned adjacent to said stopshear block.
19. The down-hole assembly according to claim 18, wherein said first spring means is operatively connected to said proximal end of said shear rod.
20. The down-hole assembly according to claim 19, wherein said second spring means of said spring-loaded bushing biases said spring-loaded bushing into operative engagement with said dog assembly.
21. The down-hole assembly according to claim 20, wherein said shear rod engaging surface of said stopshear block includes an adjustable calibration plate, said calibration plate capable of calibrating the point at which said dog selectively engages a shoulder of said shear rod.
22. The down-hole assembly according to claim 21, wherein said running tool further includes a calibration hole directly over said dog, said calibration hole capable of allowing a user to view the point at which said dog selectively engages a shoulder of said shear rod.
23. The down-hole assembly according to claim 16, wherein said stopshear block further includes a catcher for receiving said shear rod and retaining a sheared piece of said shear rod, said catcher positioned between said stop shoulder and said shear surface of said stopshear block.
24. The down-hole assembly according to claim 23, wherein said catcher includes a V-shaped surface capable of allowing said sheared piece of said shear rod to travel in only one direction.
25. The down-hole assembly according to claim 24, wherein said running tool further includes a pocket for storing said sheared piece of said shear rod, said pocket operatively connected to said stopshear block for passage of said sheared piece from said catcher to said pocket.
26. The down-hole assembly according to claim 25, wherein said outer surface of said shear rod also includes a plurality of shear grooves.
27. The down-hole assembly according to claim 26, wherein said stopshear block further includes an inspection window for viewing the alignment of said shear bushing with said plurality of shear grooves on the surface of said shear rod.
28. A method of locating a plurality of lateral well bore windows in a main well bore, comprising the steps of:
(a) deploying a tubular down said main well bore, said tubular containing a down-hole assembly, said down-hole assembly including a running tool having an upper section, a middle section, a lower section, and an internal cavity section with a cavity floor, said running tool including a window locator assembly for locating said plurality of lateral well bore windows, said window locator assembly pivotally positioned within said cavity of said running tool and including a window locator and a stopshear block, said window locator including a pivoting arm, a window locating head, and a selectively reciprocating shear rod operatively associated with said stopshear block, said shear rod having a proximal end, a first distal end, and an outer surface including a plurality of shoulders, said stopshear block including a shear rod engaging surface, a tapered surface, a shear surface, and a stop shoulder; a guide member having an upper section, a middle section, and a lower section, said guide member having a wedge-shaped outer surface for diverting a down-hole tool through one of said plurality of lateral well bore windows and into a lateral well bore; wherein said lower section of said running tool and said upper section of said guide member are each shaped to receive the other in mating relationship; wherein said lower section of said running tool and said upper section of said guide member are capable of being detachably connected, and when detachably connected, said running tool and said guide member are in fluid communication; and wherein as deployed, said reciprocating shear rod is maintained in a non-reciprocating position so that said first distal end of said shear rod does not engage said shear rod engaging surface of said stopshear block;
(b) running said down-hole assembly to a first area in said main well bore having a first internal diameter that causes said window locating head to move inward relative to said cavity of said running tool releasing said shear rod from said non-reciprocating position to a reciprocating position wherein said first distal end of said shear rod engages said shear rod engaging surface of said stopshear block;
(c) running said down-hole assembly to a second area in said main well bore having a second internal diameter that causes said window locating head to move further inward relative to said cavity of said running tool;
(d) running said down-hole assembly to a first lateral well window in said main well bore that causes said window locating head to move outward relative to said cavity of said running tool to a first window locating position wherein said first distal end of said shear rod upwardly traverses said shear rod engaging surface of said stopshear block, said tapered surface of said stopshear block, and engages said stop shoulder;
(e) determining an upper edge or a lower edge of said first lateral well bore window;
(f) positioning said down-hole assembly to a third area in said main well bore having a third internal diameter that causes said window locating head to move inward relative to said cavity of said running tool wherein said first distal end of said shear rod is sheared by said shear surface of said stopshear block resulting in a second distal end of said shear rod, said second distal end of said shear rod downwardly traversing said tapered surface of said stopshear block and said shear rod engaging surface of said stopshear block;
(g) running said down-hole assembly to a second lateral well bore window in said main well bore that causes said window locating head to move outward relative to said cavity of said running tool to a second window locating position wherein said second distal end of the shear rod upwardly traverses said shear rod engaging surface of said stopshear block, said tapered surface of said stopshear block, and engages said stop shoulder;
(h) determining an upper edge or a lower edge of said second lateral well bore window.
29. The method according to claim 28, wherein said stopshear block includes a catcher for receiving said distal end of said shear rod and retaining a sheared first distal end of said shear rod, the method further including the step of:
(i) retaining said sheared first distal end of said shear rod in said catcher.
30. The method according to claim 29, further comprising the step of:
(j) repeating steps (f) through (h) one to five additional times to locate a third, a fourth, a fifth, a sixth, or a seventh lateral well bore window in said main well bore.
31. The method according to claim 30, wherein said running tool includes a pocket for storing said sheared first distal end of said shear rod, the method further including the step of:
(k) causing said sheared first distal end of said shear rod retained by said catcher to be deposited in said pocket for storage.
32. The method according to claim 31, wherein said outer surface of said stopshear block also includes a plurality of shear grooves, and wherein said first distal end of said shear rod is sheared at one of said plurality of shear grooves by said shear surface of said stopshear block.
33. The method according to claim 32, wherein said catcher includes a V-shaped surface capable of allowing said sheared first distal end of said shear rod to travel in only one direction.
34. The method according to claim 32, further comprising a calibration step before step (a), wherein said shear rod engaging surface includes an adjustable calibration plate, and wherein said running tool further includes a calibration hole disposed over said plurality of shoulders on said shear rod, said calibration step comprising:
(1) calibrating said reciprocating position of said shear rod by replacing said calibration plate with a second calibration plate having a different diameter than said calibration plate or by inserting one or more shims behind said calibration plate;
(2) observing through said calibration hole the position of said shoulders in said reciprocating position; and
(3) repeating step (1) as necessary to achieve the desired reciprocating position.
35. The method according to claim 34, further comprising an alignment step before step (a), wherein said stopshear block further includes an inspection window, said alignment step comprising, and wherein said window locator further includes a shear bushing surrounding a portion of said outer surface of said shear rod:
(1) observing through said inspection window the position of said shear bushing in relation to said first distal end and one of said plurality of shear grooves on said shear rod; and
(2) aligning said shear bushing with said one of said plurality of shear grooves by adjusting the position of said shear bushing.
36. The method according to claim 28, further comprising the steps of:
(i) positioning said guide member adjacent to one of said first or second lateral well bore windows;
(j) anchoring said guide member in said main well bore;
(k) detaching said running tool from said guide member;
(l) pulling said running tool out of said main well bore; and
(m) deploying a second tubular containing said down-hole tool down said main well bore, through said one of said first or second lateral well bore windows, and into said lateral well bore, said wedge-shaped outer surface of said guide member acting to divert said down-hole tool from said main well bore, through said one of said first or second lateral well bore windows, and into said lateral well bore.
37. The method according to claim 36, further comprising the step of:
(n) causing said down-hole tool to perform remedial work on said lateral well bore.
38. The method according to claim 37, further comprising the steps of:
(o) deploying a third tubular containing a fishing tool down said main well bore;
(p) connecting said fishing tool to said guide member;
(q) disengaging said guide member from said main well bore; and
(r) pulling said guide member out of said main well bore.
39. The method according to claim 28, wherein said main well bore is a cased well bore.
40. The method according to claim 28, wherein said tubular is a work string, drill pipe, or coiled tubing.
41. The method according to claim 40, wherein said tubular is a coiled tubing and wherein said down-hole assembly further comprises an indexing tool.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A method of assessing travel service fees for a travel transaction, the method comprising:
retrieving, by the computer, a previously stored passenger name record PNR or creating a passenger name record (PNR);
retrieving, by the computer, a price scheme applicable to said PNR, wherein said price scheme is associated to a set of rules and to a set of unitary fees;
creating, by the computer, at least one associated transitional stored ticket (TST);
creating, by the computer, associated service fee records (SFR);
retrieving, by the computer, the data of TST and SFR associated to the PNR;
computing, by the computer, travel fares and a plurality of service fee elements with a fee calculator based on the set of rules and the set of unitary fees associated to the applicable price scheme, and on the data of the PNR and the data of the TST;
determining, by the computer, travel fares and travel service fees of more than one travel option with the fee calculator comprising combining the plurality of service fee elements into said travel service fees;
displaying said travel fares of the more than one travel option;
displaying said travel service fees of the more than one travel option; and
inserting, by the computer, said travel service fees into said SFR, thereby ending assessment of said travel service fees related to said PNR.
2. The method of claim 1, further comprising:
storing said set of unitary fees in a price scheme database;
storing said set of rules in the price scheme database; and
establishing price scheme records associating said set of unitary fees and said set of rules.
3. The method of claim 2, wherein the plurality of service fee elements comprises at least one of:
a booking process fee element;
a ticketing fee element; and
a contextual fee element.
4. The method of claim 2, further comprising:
browsing entries of said price scheme database through a price scheme manager;
updating obsolete price scheme database entries, by updating said set of unitary fees and updating said set of rules;
checking said set of rules, by accessing a dictionary of rule syntaxes; and
saving said price scheme database entries.
5. The method of claim 2, further comprising:
browsing entries of said price scheme database through a price scheme manager;
adding new price scheme database entries, by adding new set of unitary fees; and adding new set of rules;
checking said new set of rules, by accessing a dictionary of rule syntaxes; and
saving said price scheme database entries.
6. The method of claim 2, further comprising:
browsing entries of said price scheme database through a price scheme manager; and
deleting price scheme database entries.
7. The method of claim 1, wherein the displaying of said travel fares and said travel service fees includes ranking said more than one travel option on the basis of the amount of travel service fees, thereby enabling a choice according to a given travel office policy.
8. The method of claim 7, wherein said travel office policy comprises maximizing travel office revenue.
9. The method of claim 7, further comprising:
creating new price scheme records associating a new set of unitary fees and a new set of rules, by:
creating said new set of unitary fees and storing said new set unitary fees in a price scheme database; and
creating said new set of rules and storing said new set rules in the price scheme database.
10. The method of claim 1, further comprising:
after displaying said travel fares and said travel service fees, requesting approval of said travel service fees, and determining there is no approval to adjust said service fees.
11. A computer program product for assessing travel service fees, comprising a computer readable non-transitory medium bearing computer program code embodied therein for use with a computer, the computer program code, when executed on the computer causing the computer to execute:
retrieving a previously stored passenger name record PNR or creating a passenger name record (PNR);
retrieving a price scheme applicable to said PNR, wherein said price scheme is associated to a set of rules and to a set of unitary fees;
creating at least one associated transitional stored ticket (TST);
creating associated service fee records (SFR);
retrieving the data of TST and SFR associated to the PNR;
computing travel fares and a plurality of service fee elements with a fee calculator based on the set of rules and the set of unitary fees associated to the applicable price scheme, and on the data of the PNR and the data of the TST;
determining travel fares and travel service fees of more than one travel option with the fee calculator comprising combining the plurality of service fee elements into said travel service fees;
displaying said travel fares of the more than one travel option;
displaying said travel service fees of the more than one travel option; and
inserting said travel service fees into said SFR, thereby ending assessment of said travel service fees related to said PNR.
12. The computer program product of claim 11, wherein the displaying includes ranking said more than one travel option on the basis of the amount of travel service fees, thereby enabling a choice according to a given travel office policy.
13. The computer program product of claim 12, comprising further code causing the computer to execute:
storing said set of unitary fees in a price scheme database;
storing said set of rules in the price scheme database; and
establishing price scheme records associating said set of unitary fees and said set of rules.
14. The computer program product of claim 13, wherein the plurality of service fee elements comprises at least one of:
a booking process fee element;
a ticketing fee element; and
a contextual fee element.
15. The computer program product of claim 13, comprising further code causing the computer to execute:
browsing entries of said price scheme database through a price scheme manager;
updating obsolete price scheme database entries, by updating said set of unitary fees and
updating said set of rules;
checking said set of rules, by accessing a dictionary of rule syntaxes; and
saving said price scheme database entries.
16. The computer program product of claim 13 comprising further code causing the computer to execute:
browsing entries of said price scheme database through a price scheme manager;
adding new price scheme database entries, by adding new set of unitary fees; and adding new set of rules;
checking said new set of rules, by accessing a dictionary of rule syntaxes; and
saving said price scheme database entries.
17. The computer program product of claim 13 comprising further code causing the computer to execute:
browsing entries of said price scheme database through a price scheme manager; and
deleting price scheme database entries.
18. The computer program product of claim 12, wherein said travel office policy comprises maximizing travel office revenue.
19. The computer program product of claim 12, comprising further code causing the computer to execute:
requesting approval of said travel service fees, and
determining these is no approval to adjust said travel service fees.
20. A computer travel system for assessing travel service fees, the computer travel system comprising:
a first communication network connected to a travel front office device, said front office device further comprising a display;
a second communication network connected to an administrator of said travel system;
a passenger name record (PNR) manager module configured to create and modify passenger name records (PNRs) and associated transitional stored tickets (TSTs) and service fee records (SFRs);
a storage device configured to store said PNRs with said associated TSTs and SFRs and a price scheme database containing sets of unitary fees and sets of rules;
a price scheme manager configured to manage said price scheme database by accessing said PNRs, SFRs and TSTs through a fee simulator module; and
a fee calculator module configured to apply said sets of rules and said sets of unitary fees obtained through said price scheme database to determine travel fares of more than one travel option for display on the display and to determine said travel service fees of the more than one travel option for display on the display.