Motorized stand
AssigneeCarl-Zeiss-Stiftung
InventorsJurgen Schweizer, Hartmut Gartner, Joachim Luber
Life of this patent
Estimating the term…
Abstract
A motorized stand for positioning medical therapeutic or diagnostic instruments is mechanically coarsely balanced by weights. A defined positioning of the medical instrument is determined by means of several drive units with integrated angle transducers. Operating safety is additionally ensured, in the event of failure of a drive unit, by the use of two angle transducers per drive unit. One angle transducer is coupled to the drive motor of each drive unit. The other angle transducer is independent of the drive motor.
Claims39
Motorized stand for positioning medical instruments, comprising a multi-joined mechanism having integrated angle transducers and individual drive units for individual joints of said multi-jointed mechanism, and a control unit, said multi-jointed mechanism being balanced at lest coarsely by mechanical balancing means, said mechanical balancing means comprising balancing weights and coordinated gear frictions of said drive units.
Motorized stand for positioning medical instruments, comprising a multi-jointed mechanism having integrated angle transducers and individual drive units for individual joints of said multi-jointed mechanism, and a control unit, said multi-jointed mechanism being balanced at least coarsely by mechanical balancing means,
- said multi-jointed mechanism comprising a plurality of axes about which driven rotation of said individual joints is arranged,
- further comprising a drive unit for each of said axes, each of said drive units including a drive motor with gears, a brake, a speed transducer and two angle transducers.
Motorized stand for positioning medical instruments, comprising a multi-jointed mechanism having integrated angle transducers and individual drive units for individual joints of said multi-jointed mechanism, and a control unit,
- said multi-jointed mechanism being balanced at least coarsely by mechanical balancing means,
- wherein each of said drive units comprises an incremental angle transducer coupled to a drive motor of each drive unit and an angle transducer independent of said drive motor for supplying absolute angle values.
Motorized stand for positioning medical instruments, comprising a multi-jointed mechanism having integrated angle transducers and individual drive units for individual joints of said multi-jointed mechanism, and a control unit,
- said multi-jointed mechanism being balanced at least coarsely by mechanical balancing means,
- wherein each of said drive units includes a motor drive,
- further comprising a stand member arranged on a vertical support column and movable by one of said motor drives about a vertical axis, a parallelogram linkage together with at least one balancing weight arranged on said stand member or displacement by at least one of said motor drives about at least one horizontal axis, a first support arm with a longitudinal axis, arranged on said parallelogram linkage and movable by one of said motor drives about a second axis, a second support arm with a free end, arranged on said first support arm as an extension of said first support arm and movable by one of said motor drives about a third axis perpendicular to said longitudinal axis of said first support arm, a third support arm with a longitudinal axis and a free end, arranged at said free end of said second support arm and movable by one of said motor drives about its longitudinal axis, and an interface for a medical instrument arranged at said free end of said third support arm,
- wherein a drive unit is provided for each axis about which driven rotation is arranged, and each of said drive units includes a drive motor with gears, a brake, a speed transducer, and two angle transducers.
Motorized stand for positioning medical instruments, comprising a multi-jointed mechanism having integrated angle transducers and drive units for individual joints of said multi-jointed mechanism, and a control unit,
- said multi-jointed mechanism being balanced at least coarsely by mechanical balancing means,
- wherein each of said drive units includes a motor drive,
- further comprising a stand member arranged on a vertical support column and movable by one of said motor drives about a vertical axis, a parallelogram linkage together with at least one balancing weight arranged on said stand member for displacement by at least one of said motor drives about at least one horizontal axis, a first support arm with a longitudinal axis, arranged on said parallelogram linkage and movable by one of said motor drives about a second axis, a second support arm with a free end, arranged on said first support arm as an extension of said first support arm and movable by one of said motor drives about a third axis perpendicular to said longitudinal axis of said first support arm, a third support arm with a longitudinal axis and a free end, arranged at said free end of said second support arm and movable by one of said motor drives about its longitudinal axis, and an interface for a medical instrument arranged at said free end of said third support arm,
- wherein a drive unit is provided for each axis about which driven rotation is arranged, and each of said drive units includes a drive motor with gears, a brake, a speed transducer, and two angle transducers,
- further comprising a foot portion with rollers and a motor drive for extending and retracting said rollers, wherein said vertical support column is arranged on said foot portion.
Dependencies are inferred from the claim text.