Manipulator arrangement and movement device
First Claim
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1. A movement device being a centrifuge, a medical centrifuge or a training centrifuge, the movement device comprising:
- a carrier element;
at least one fixing device for accommodating, laying on and/or fixing a human or animal body, said at least one fixing device disposed on said carrier element being disposed rotatably around a main axis;
a manipulator configuration being suitable for contact and/or invasive examination or treatment of the human or animal body under an influence of permanently increased and/or changing acceleration, wherein said manipulator configuration having a functional head, wherein the increased and/or the changing acceleration being defined as a state of acceleration in which said manipulator configuration experiences increased or changing acceleration forces, and as a result of movement and as a result of a change in the movement, the acceleration forces act on said manipulator configuration and on said functional head, and the acceleration forces diverging from acceleration forces of surroundings; and
said manipulator configuration further containing a base and drive devices and at least one of said drive devices is a force-limited drive device having a pressure valve, wherein said functional head being movable relative to said base along a plurality of degrees of freedom movable by said drive devices, wherein a position and/or a contact force of said functional head touching the body is variable with respect to the body under an influence of the increased and/or changing acceleration, wherein a contact force is systemically limited, whereby inadvertent injuries to the body due to said functional head and/or said manipulator configuration are prevented.
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Abstract
A movement device and a manipulator configuration are provided for contact and/or invasive examination or treatment of the human or animal body under the influence of increased and/or changing acceleration. Wherein a functional head can be moved relative to a base along a plurality of degrees of freedom movable by drive devices and at least one drive device is constituted as a force-limited drive device.
7 Citations
18 Claims
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1. A movement device being a centrifuge, a medical centrifuge or a training centrifuge, the movement device comprising:
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a carrier element; at least one fixing device for accommodating, laying on and/or fixing a human or animal body, said at least one fixing device disposed on said carrier element being disposed rotatably around a main axis; a manipulator configuration being suitable for contact and/or invasive examination or treatment of the human or animal body under an influence of permanently increased and/or changing acceleration, wherein said manipulator configuration having a functional head, wherein the increased and/or the changing acceleration being defined as a state of acceleration in which said manipulator configuration experiences increased or changing acceleration forces, and as a result of movement and as a result of a change in the movement, the acceleration forces act on said manipulator configuration and on said functional head, and the acceleration forces diverging from acceleration forces of surroundings; and said manipulator configuration further containing a base and drive devices and at least one of said drive devices is a force-limited drive device having a pressure valve, wherein said functional head being movable relative to said base along a plurality of degrees of freedom movable by said drive devices, wherein a position and/or a contact force of said functional head touching the body is variable with respect to the body under an influence of the increased and/or changing acceleration, wherein a contact force is systemically limited, whereby inadvertent injuries to the body due to said functional head and/or said manipulator configuration are prevented. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification