US 5,846,081 A · Computerized instrument platform positioning system

Abstract

A precision instrumentation platform carrying a tool, such as a scanner or drill, on a computer-controlled robotic arm is controlled by a robotic type positioning system. The scanner of the platform makes a three dimensional tomographic type scan of the area being diagnosed and a computer image is formed. A drill, or other treatment modality of the instrumentation platform, is controlled to treat the affected area. In the preferred embodiment of the invention, computer-controlled hydraulic pumps control vertical movement and rotation of the robotic arm and the instrumentation platform. These pumps adjust fluid volummes in various chambers to position the platform either for the purpose of making the scan or performing the treatment. As fluid volummes change, pistons move, and the platform follows a computer-directed path. Positional sensors, along with connecting torque systems and control systems create a multi-loop servo-system that guides the platform.

Claims18

Dependent claims

A system for positioning a tool in a first plane and in a direction generally orthogonal to said first plane relative to a three-dimensional object to be worked on by the tool comprising:

a mount for supporting a tool;
a first support generally parallel to said first plane;
first positioning means associated with said first support for moving said mount in said first plane relative to said first support;
a second support extending in said orthogonal direction to which said first support is coupled;
second positioning means associated with said second support to move said second support and said first support coupled thereto in said orthogonal direction;
third positioning means associated with said second support to rotate said second support and said first support coupled thereto;
and
control means comprising a computer for setting the movement of said first, second and third positioning means to position the tool supported on said mount to a selected position of said first plane and at a selected distance from said first plane in said orthogonal direction on or into the object being worked on by the tool corresponding to locations on a tomographic image of the object.

5 more elements

A system for positioning a tool in a first plane and in a direction generally orthogonal to said first plane relative to an object being worked comprising:

a mount for supporting a tool;
a first support comprising an elongated arm generally parallel to said first plane;
first positioning means comprising a slide associated with said first support for moving said mount in said first plane in either direction along said first support and a fluid chamber on each side of said slide;
a second support extending in said orthogonal direction to which said first support is coupled;
second positioning means associated with said second support to move said second support and said first support coupled thereto in said orthogonal direction;
third positioning means associated with said second support to rotate said second support and said first support coupled thereto;
and
control means operating to establish the fluid volume in said chambers to position said slide and said mount along said arm for setting the movement of each of said first positioning means and for setting the position of said second and third positioning means to position said mount and the supported tool to a selected position of said first plane and at a selected distance from said first plane in said orthogonal direction.

5 more elements

Dependencies are inferred from the claim text.

Computerized instrument platform positioning system

Life of this patent

Computerized instrument platform positioning system

Life of this patent

Abstract

Claims18