Robotic arm for patient positioning assembly

Patent metadata

Field	Value
Publication number	US-10745253-B2
Application number	US-201213417003-A
Country	US
Kind code	B2
Filing date	Mar 9, 2012
Priority date	Apr 6, 2004
Publication date	Aug 18, 2020
Grant date	Aug 18, 2020

Abstract

A robotic patient positioning assembly including a patient treatment couch, and a robotic arm coupled to the patient treatment couch. The robotic arm is configured to move the patient treatment couch along five rotational degrees of freedom and one substantially vertical, linear degree of freedom.

First claim

What is claimed:

1. An apparatus comprising:
a patient treatment couch; and
a robotic arm coupled to the patient treatment couch, the robotic arm comprising a wrist assembly, an elbow assembly, a shoulder assembly, and a track mount assembly configured to move the patient treatment couch along five rotational degrees of freedom, each of the five rotational degrees of freedom having a different rotational axis, and one substantially vertical, linear degree of freedom, wherein the robotic arm comprises a plurality of assemblies configured to move the robotic arm in a two-dimensional horizontal plane.

2. The apparatus of claim 1 , wherein the patient treatment couch is made of radiolucent material.

3. The apparatus of claim 1 , further comprising at least one of a tilt sensor coupled to the patient treatment couch and an accelerometer.

4. The apparatus of claim 1 , further comprising a mounting plate coupled to the robotic arm and the patient treatment couch at an off-center position.

5. The apparatus of claim 4 , further comprising a dampener having dampening material coupled to the mounting plate and the patient treatment couch.

6. The apparatus of claim 1 , wherein the five degrees of freedom comprise:
two rotational axes for translational movements of the patient treatment couch along mutually orthogonal horizontal coordinate x- and y-axes; and
three rotational axes for roll-, pitch-, and yaw-rotational movements about the x-axis, the y-axis, and a z-axis, respectively.

7. The apparatus of claim 6 , wherein the one substantially vertical, linear degree of freedom comprises a substantial linear axis for translational movements of the patient treatment couch along a substantially vertical line in the z-axis substantially perpendicular to the horizontal coordinate x- and y-axes.

8. The apparatus of claim 1 , wherein:
the wrist assembly is rotatably mounted to a mounting plate;
the elbow assembly is coupled to the wrist assembly;
the shoulder assembly is coupled to the elbow assembly;
the track mount assembly is coupled to the shoulder assembly of the robotic arm; and wherein the robotic arm further comprises:
a track coupled to the track mount assembly.

9. The apparatus of claim 8 , wherein the track is vertically oriented.

10. The apparatus of claim 9 , wherein the track is coupled to a vertical side of a column.

11. The apparatus of claim 8 , wherein the wrist assembly comprises:
a tool-yaw joint coupled to the mounting plate;
a tool-pitch joint coupled to the tool-yaw joint; and
a tool-roll joint coupled to the tool-pitch joint.

12. The apparatus of claim 11 , wherein the tool-yaw joint is coupled to rotate the patient treatment couch along a z-axis, wherein the tool-pitch joint is coupled to rotate the patient treatment couch along a y-axis, and wherein the tool-roll joint is coupled to rotate the patient treatment couch along a x-axis.

13. The apparatus of claim 12 , wherein the elbow assembly comprises:
a first drive shaft coupled to the tool-yaw joint;
a first motor coupled to the first drive shaft, the first motor configured to drive rotational movement of the tool-yaw joint of the robotic arm in a first rotational axis of the five degrees of freedom of the robotic arm;
a second drive shaft coupled to the tool-pitch joint;
a second motor coupled to the second drive shaft, the second motor configured to drive rotational movement of the tool-pitch joint of the robotic arm in a second rotational axis of the five degrees of freedom of the robotic arm;
a third drive shaft coupled to the tool-roll joint; and
a third motor coupled to the third drive shaft, the third motor configured to drive rotational movement of the tool-roll joint of the robotic arm in a third rotational axis of the five degrees of freedom of the robotic arm.

14. The apparatus of claim 13 , further comprising:
an elbow joint coupled to the elbow assembly and the shoulder assembly, wherein the elbow joint comprises an elbow gearbox configured to drive rotational movement of elbow assembly of the robotic arm in a fourth rotational axis of the five degrees of freedom of the robotic arm; and
a shoulder joint coupled to the shoulder assembly and the track mount assembly, wherein the shoulder joint comprises a shoulder gearbox configured to drive rotational movement of the robotic arm in a fifth rotational axis of the five degrees of freedom of the robotic arm.

15. The apparatus of claim 8 , wherein the robotic arm is configured to move the patient treatment couch along an additional degree of freedom.

16. The apparatus of claim 15 , wherein the five degrees of freedom and the additional degree of freedom comprise:
three rotational axes for translations along mutually orthogonal x-, y-, and z-coordinate axes; and
three rotational axes for roll-, pitch-, and yaw-rotations about x-, y-, and z-axes, respectively.

17. The apparatus of claim 16 , wherein the one substantially vertical, linear degree of freedom comprises a substantial linear axis for translational movement of the patient treatment couch along a substantially vertical line in the z-axis substantially perpendicular to the horizontal x- and y-axes.

18. The apparatus of claim 17 , further comprising:
a plate member rotatably mounted on the track mount assembly and the shoulder assembly;
a first shoulder joint coupled to the shoulder assembly and the plate member, wherein the first shoulder joint comprises a first shoulder gearbox configured to drive a fifth rotational axis of the six degrees of freedom of the robotic arm; and
a second shoulder joint coupled to the plate member and the track mount assembly, wherein the second shoulder joint comprises a second shoulder gearbox configured to drive a sixth rotation axis of the six degrees of freedom of the robotic arm.

19. A method, comprising:
providing a patient treatment couch coupled to a robotic arm comprising a wrist assembly, an elbow assembly, a shoulder assembly, and a track mount assembly; and
moving the patient treatment couch along five rotational degrees of freedom, each of the five rotational degrees of freedom having a different rotational axis, and one substantially vertical, linear degree of freedom using the robotic arm, wherein the robotic arm comprises a plurality of assemblies and wherein moving the patient treatment couch further comprises moving the robotic arm in a two-dimensional horizontal plane.

20. The method of claim 19 , wherein the five rotational degrees of freedom comprise two rotational axes for translational movements and three rotational axes for rotational movements including a yaw axis, a pitch axis and a roll axis.

21. The method of claim 20 , further comprising moving the patient treatment couch along the substantially vertical, linear axis throughout substantially an entire range of motion of the patient treatment couch without moving the patient treatment couch along the five rotational degrees of freedom.

22. The method of claim 20 , wherein moving the patient treatment couch further comprises:
rotating the patient treatment couch along the z-axis using a tool-yaw joint of the robotic arm;
rotating the patient treatment couch along the y-axis using a tool-pitch joint of the robotic arm;
rotating the patient treatment couch along the x-axis using a tool-roll joint of the robotic arm;
rotating the patient treatment couch along the two horizontal rotational axes using an elbow joint and a shoulder joint; and
translating the pat

Assignees

• Saracen Michael J
• Carrano Aaron W
• Henderson Toby D
• Accuray Inc

Inventors

• Saracen Michael J
• Carrano Aaron W
• Henderson Toby D

Classifications

• Y10T74/20335

  Wrist · CPC title

• A61N5/1049

  for verifying the position of the patient with respect to the radiation beam · CPC title

• A61N5/107

  in real time, i.e. during treatment · CPC title

• A61B6/548

  Remote control of the apparatus or devices · CPC title

• A61B6/0487

  Motor-assisted positioning · CPC title