Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1995-07-11
1997-02-18
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449003, 33 1M, 2481241, 901 16, 901 23, B25J 910, G05G 1100
Patent
active
056032439
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
THE PRESENT INVENTION relates to alignment apparatus. The invention will be described with reference to alignment apparatus used in the context of a medical apparatus and, in particular, to a robotically-controlled medical apparatus, but it is to be understood that the alignment apparatus of the invention may find different applications.
SUMMARY OF THE INVENTION
Two embodiments of alignment apparatus will be described, one comprising an apparatus intended to align an X-ray image with predetermined axes, and the other comprising an apparatus to align an end operator with a predetermined direction and a predetermined point in three dimensional space.
DESCRIPTION
According to one aspect of this invention there is provided an alignment apparatus for aligning X-ray images with a predetermined set of axes, comprises means defining the said set of axes, said means comprising a support arrangement adapted to support, at predetermined positions in space, located in at least two predetermined planes, a plurality of elements which are substantially opaque to extradiation.
Preferably the apparatus comprises two components, the components being located in orthogonal planes, each component supporting a plurality of said elements.
Conveniently each component is made of a material which is substantially transparent to ex-radiation.
Advantageously each component supports a plurality of said elements in a regular orthogonal array within the component.
Preferably the said elements are present, within each component, as a plurality of rows of evenly spaced elements.
Advantageously within each component there are four rows of elements which, when viewed axially, are located at the corners of a square or rectangle, there being at least three elements in each row.
Conveniently the said elements are of different size, different density relative to absorption of extradiation and/or of different shape to enable the images of the members to be identified.
Advantageously the first of said planes is horizontal and the second of said planes is vertical, means being provided to take an X-ray photograph both vertically and horizontally through said elements.
According to another aspect of this invention there is provided an apparatus for aligning an end effector or guide for an end effector with a predetermined point in space at a predetermined orientation, said apparatus comprising a first guide frame and a second guide frame, the first guide frame comprising two substantially vertically extending guide members, a respective carriage present for sliding movement along each of the guide members and a substantially horizontal cross-member inter-connecting the carriages, there being a further carriage mounted for horizontal movement on said second horizontal cross-member and a second frame of similar design spaced from the first frame but being in a plane parallel thereto, the second frame comprising two substantially vertical members each provided with a respective carriage for vertical sliding movement on the respective vertical member, the two carriages being inter-connected by a second horizontal cross-member having thereon a second carriage for horizontal sliding movement on said second horizontal cross-member, the two carriages mounted for horizontal movement supporting guide means or an end effector.
Preferably drive means are provided to drive the carriages to selected positions.
Conveniently the drive means for the carriages are computer controlled.
The computer may be provided with data from an alignment apparatus of the type broadly described above.
DESCRIPTION OF THE DRAWINGS
In order that the invention may be more readily understood, and so that further features thereof may be appreciated, the invention will now be described, by way of example, with reference to the accompanying drawings in which:
FIG. 1 is a diagrammatic prospective view of one embodiment of an alignment apparatus in accordance with the invention, and
FIG. 2 is a diagrammatic perspective view of an alternative form of ali
REFERENCES:
patent: 4566346 (1986-01-01), Petiteau
patent: 5107839 (1992-04-01), Houdek et al.
patent: 5165296 (1992-11-01), Yanagisawa
"Bio-Engineering Approach to Sterotactic Surgery of the Brain," Proceedings of the Institution of Mechanical Engineers, B. H. Dawson et al, vol. 183, No. 15, 1968, pp. 281-292.
Armstrong Projects Limited
Herrmann Allan D.
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