Articulating arm for medical procedures
AssigneeLipoSonix, Inc.
InventorsJens U. Quistgaard, Tim Etchells, Gregory Paul Darlington, Charles S. Desilets
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Abstract
A two-stage control system is disclosed being made of a first control means for providing command and control of a robotic arm, and a second control means for the control and movement of a therapy device, such as an ultrasound transducer. The therapy device is positioned within a therapy head. The therapy head is attached to the distal end of the robotic arm. The two-stage control system provides for a macro and micro level of control for the therapy device during a therapy procedure.
Claims13
An apparatus for guiding the movement of an energy emitter over a patient body, the apparatus comprising:
- a movable therapy head having at least one energy emitter;
- a guide ring adapted to be placed on and moved over the patient body, wherein the guide ring is not fixed to the therapy head;
- and
- a tracking system for following the movement of the guide ring and keeping energy from the energy emitter of the therapy head substantially centered within the guide ring,
- wherein the tracking system causes the therapy head to follow the guide ring as the guide ring is moved over the patient body, and
- wherein the tracking system comprises:
- at least one optical emitter coupled to the therapy head;
- a plurality of optical reflectors on the guide ring;
- and
- a plurality of optical detectors coupled to the therapy head,
- wherein said at least one optical emitter transmits light toward said guide ring such that light is reflected or scattered back from the guide ring toward said detectors in a pattern that allows said tracking system to coordinate the center of the ring with a position of said movable therapy head.
Dependencies are inferred from the claim text.