WO2007078512A3 - Articulated arm for delivering a laser beam - Google Patents

Articulated arm for delivering a laser beam Download PDF

Info

Publication number
WO2007078512A3
WO2007078512A3 PCT/US2006/046284 US2006046284W WO2007078512A3 WO 2007078512 A3 WO2007078512 A3 WO 2007078512A3 US 2006046284 W US2006046284 W US 2006046284W WO 2007078512 A3 WO2007078512 A3 WO 2007078512A3
Authority
WO
WIPO (PCT)
Prior art keywords
articulated arm
laser
delivering
laser beam
support structure
Prior art date
Application number
PCT/US2006/046284
Other languages
French (fr)
Other versions
WO2007078512A2 (en
Inventor
Joseph L Dallarosa
Original Assignee
Reliant Technologies Inc
Joseph L Dallarosa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Reliant Technologies Inc, Joseph L Dallarosa filed Critical Reliant Technologies Inc
Priority to EP06838951A priority Critical patent/EP1969415A4/en
Publication of WO2007078512A2 publication Critical patent/WO2007078512A2/en
Publication of WO2007078512A3 publication Critical patent/WO2007078512A3/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/201—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser with beam delivery through a hollow tube, e.g. forming an articulated arm ; Hand-pieces therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/0046—Dental lasers

Abstract

A laser assembly includes a laser and an articulated arm having a plurality of couplers arranged to receive a laser-beam from the laser. The assembly is mounted on a support structure, and is rotatable on the support structure in two axes perpendicular to each other. Six degrees of freedom of motion of the end of the articulated arm can be accomplished with one less coupler in the arm than would be necessary without rotation of the assembly on the support structure.
PCT/US2006/046284 2005-12-21 2006-12-04 Articulated arm for delivering a laser beam WO2007078512A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP06838951A EP1969415A4 (en) 2005-12-21 2006-12-04 Articulated arm for delivering a laser beam

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US75285005P 2005-12-21 2005-12-21
US60/752,850 2005-12-21
US11/566,092 US9371957B2 (en) 2005-12-21 2006-12-01 Articulated arm for delivering a laser beam
US11/566,092 2006-12-01

Publications (2)

Publication Number Publication Date
WO2007078512A2 WO2007078512A2 (en) 2007-07-12
WO2007078512A3 true WO2007078512A3 (en) 2008-04-10

Family

ID=38255198

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/046284 WO2007078512A2 (en) 2005-12-21 2006-12-04 Articulated arm for delivering a laser beam

Country Status (3)

Country Link
US (1) US9371957B2 (en)
EP (1) EP1969415A4 (en)
WO (1) WO2007078512A2 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10299871B2 (en) 2005-09-30 2019-05-28 Restoration Robotics, Inc. Automated system and method for hair removal
US7962192B2 (en) 2005-09-30 2011-06-14 Restoration Robotics, Inc. Systems and methods for aligning a tool with a desired location or object
US7922688B2 (en) 2007-01-08 2011-04-12 Restoration Robotics, Inc. Automated delivery of a therapeutic or cosmetic substance to cutaneous, subcutaneous and intramuscular tissue regions
US8036448B2 (en) 2007-04-05 2011-10-11 Restoration Robotics, Inc. Methods and devices for tattoo application and removal
US8723074B2 (en) * 2008-10-10 2014-05-13 Ipg Microsystems Llc Laser machining systems and methods with vision correction and/or tracking
US9414889B2 (en) 2009-09-04 2016-08-16 Restoration Robotics, Inc. Follicular unit harvesting tool
US9433736B2 (en) * 2013-07-03 2016-09-06 JettStream, Inc. Positionable elongated members with multi-axis joints
WO2015081208A1 (en) * 2013-11-27 2015-06-04 Convergent Dental, Inc. Systems and methods for grounding or isolating a dental hand piece
CN114948213A (en) 2016-01-26 2022-08-30 网络牙科(美国)公司 Automated dental treatment system
US11058857B2 (en) 2016-11-28 2021-07-13 Set Point Solutions, LLC Method of imprinting tattoo designs
CN108254935B (en) * 2018-01-12 2020-06-05 合肥工业大学 Method and equipment for adjusting alignment of visual line of polaroid and MSE (mean Square error) diagnostic system
US11215552B2 (en) * 2018-06-14 2022-01-04 The Boeing Company Apparatus and method for bond inspection with limited access
US10807311B2 (en) 2018-09-10 2020-10-20 Rebecca Metcalf Additive manufacturing device with IR targeting and related methods
CN109188369B (en) * 2018-10-25 2022-05-20 阿波罗智能技术(北京)有限公司 Support device, method for manufacturing the same, and control method, apparatus, device, and medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4539462A (en) * 1983-01-24 1985-09-03 Westinghouse Electric Corp. Robotic laser beam delivery apparatus
US4623229A (en) * 1983-09-29 1986-11-18 Photon Sources, Inc. Articulated laser arm
US5820623A (en) * 1995-06-20 1998-10-13 Ng; Wan Sing Articulated arm for medical procedures

Family Cites Families (14)

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Publication number Priority date Publication date Assignee Title
US4122853A (en) 1977-03-14 1978-10-31 Spectra-Med Infrared laser photocautery device
US4760583A (en) * 1983-05-06 1988-07-26 Coherent, Inc. Laser delivery system
DE3406676A1 (en) 1984-02-24 1985-09-05 Fa. Carl Zeiss, 7920 Heidenheim DEVICE FOR CORRECTING THE POSITION OF A LASER BEAM GUIDED BY A JOINT OPTICS
US4575610A (en) * 1984-03-12 1986-03-11 Cincinnati Milacron Inc. Laser shielding device
US4661681A (en) * 1986-10-06 1987-04-28 Cincinnati Milacron Inc. Robotic marking machine
US4917083A (en) 1988-03-04 1990-04-17 Heraeus Lasersonics, Inc. Delivery arrangement for a laser medical system
US5342352A (en) * 1991-04-02 1994-08-30 Franken Peter A Laser debridement of wounds
JPH05209731A (en) * 1992-01-31 1993-08-20 Fanuc Ltd Optical-axis adjusting method for laser robot
US5413555A (en) 1993-04-30 1995-05-09 Mcmahan; William H. Laser delivery system
DE19814630B4 (en) 1998-03-26 2011-09-29 Carl Zeiss Method and apparatus for manually controlled guiding a tool in a predetermined range of motion
US6519860B1 (en) 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
JP2003038663A (en) 2001-08-03 2003-02-12 Nidek Co Ltd Laser treatment apparatus
DE10333456A1 (en) 2003-07-22 2005-02-24 Kuka Schweissanlagen Gmbh Method and device for laser machining of workpieces
US7372606B2 (en) 2003-12-31 2008-05-13 Reliant Technologies, Inc. Optical pattern generator using a single rotating component

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4539462A (en) * 1983-01-24 1985-09-03 Westinghouse Electric Corp. Robotic laser beam delivery apparatus
US4623229A (en) * 1983-09-29 1986-11-18 Photon Sources, Inc. Articulated laser arm
US5820623A (en) * 1995-06-20 1998-10-13 Ng; Wan Sing Articulated arm for medical procedures

Also Published As

Publication number Publication date
WO2007078512A2 (en) 2007-07-12
US9371957B2 (en) 2016-06-21
EP1969415A4 (en) 2010-01-20
EP1969415A2 (en) 2008-09-17
US20090230269A1 (en) 2009-09-17

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