Articulated arm for delivering a laser beam
View Patent ↗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.
1. A laser apparatus comprising:
a frame including a first side plate and a second side plate in a spaced parallel arrangement relative to the first side plate;
a laser attached to said first and second side plates of said frame, said laser configured to generate a laser beam;
an articulated arm attached to said frame, said articulated arm arranged relative to said laser to receive the laser beam; and
a support structure including a base, a first support post extending vertically from said base, and a second support post extending horizontally between said first and second side plates,
wherein said frame, said laser, and said articulated arm are attached as an assembly to said second support post for rotation relative to said first support post about a first axis of rotation, and said first support post is rotatable relative to said base about a second axis of rotation perpendicular to the first axis of rotation.
2. The apparatus of claim 1 , wherein said articulated arm includes an interconnected plurality of tubular members and an inlet aperture to said plurality of tubular members, and further comprising:
at least one mirror attached to said first and second side plates of said frame and arranged between said laser and said inlet aperture to direct the laser beam generated by said laser into said articulated arm.
3. The apparatus of claim 2 , further comprising:
first and second mirrors attached to said first and second side plates of said frame and arranged between said laser and said inlet aperture, said first and second mirrors configured to turn the laser beam generated by said laser though an angle of about 180 degrees before the laser beam is received by said articulated arm.
4. The apparatus of claim 3 further comprising:
a telescope mounted to said side plates of said frame and located between said second mirror and said inlet aperture to said articulated arm for shaping the laser beam before the laser beam is received by said articulated arm.
5. The apparatus of claim 1 , wherein said articulated arm includes a first tubular member, a second tubular member, and a coupler connecting said first and second tubular members such that said second tubular member is to rotatable relative to said first tubular member about two mutually perpendicular axes, said first tubular member being at a proximal end of said articulated arm and held in a fixed relationship with the laser and arranged to receive the laser beam, and said coupler providing that said second tubular member is rotatable on said first tubular member in two axes perpendicular to each other.
6. The apparatus of claim 5 , further comprising:
a handpiece attached to a distal end of said articulated arm and arranged to apply the laser beam to a surface to be treated by the laser beam.