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US 11,110,302 B2Granted
Multi-robotic arm apparatus for intraoperative radiotherapy
AssigneeCancer Hospital, Chinese Academy of Medical Sciences
InventorsJianrong Dai, Chuanmeng Niu, Pan Ma, Minghui Li
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Abstract
A multi-robotic arm apparatus for intraoperative radiotherapy is provided. The apparatus may comprise a chassis, a main robotic arm mounted on the chassis for moving a radiation head installed at an end thereof, a first robotic arm mounted on the chassis having a first robotic arm end gripper for gripping an imaging device or a treatment applicator; and a second robotic arm mounted on the chassis having a second robotic arm end gripper for gripping a simulation applicator.
Claims14
A multi-robotic arm apparatus for intraoperative radiotherapy comprising:
- a chassis;
- a main robotic arm mounted on the chassis for moving a radiation head installed at an end of the main robotic arm;
- a first robotic arm mounted on the chassis having a first robotic arm end gripper for gripping an imaging device or a treatment applicator;
- and
- a second robotic arm mounted on the chassis having a second robotic arm end gripper for gripping a positioning applicator,
- wherein the positioning applicator is positioned to align to a to-be-irradiated area in an operative field in a positioning simulation stage so as to determine a position of the positioning applicator, and the treatment applicator is placed into the positioning applicator in a radiotherapy stage.
3 more elements
Dependencies are inferred from the claim text.