Laser delivery system

• US 4,896,015 A
• Filed: 07/29/1988
• Issued: 01/23/1990
• Est. Priority Date: 07/29/1988
• Status: Expired due to Fees

• Current Assignee: Refractive Laser Research and Development, Inc.
• Original Assignee: Refractive Laser Research & Development Program, Ltd.
• Inventors: Taboada, John, Poirier, Robert H.
• Primary Examiner(s): Albritton, C. L.
• Application Number:
  US07/226,287
• Time in Patent Office: 543 Days
• Field of Search: 219/121.6, 219/121.85, 219/121.78, 219/121.74, 219/121.84, 219/121.8, 219/121.63, 219/121.64, 219/121.67, 219/121.72, 219/29, 384/12, 384/13
• US Class Current: 219/121.78
• CPC Class Codes: A61B 18/201 with beam delivery through a hollow tube, e.g. forming an articulated arm through a flexible conduit A61B18/22; Hand-pieces therefor
• CPC Class Codes: B23K 26/08 Devices involving relative movement between laser beam and workpiece
• CPC Class Codes: B23K 26/0884 in at least in three axial directions, e.g. manipulators, robots

Abstract

A laser delivery system comprises a light weight hollow boom having a bearing intermediate its ends which permits the distal end of the boom to move longitudinally and rotationally relative to the proximal end of the boom. The bearing supports the distal end without supporting physical contact, e.g. by a layer of fluid. The proximal end of the boom is carried by a boom support for movement about two axes, and includes a fork journalled in a base. In one embodiment, the shaft has a portion offset from the axis thereof, and a beam direction changer, such as a prism, is located along the shaft axis between spaced bearings journalling the shaft and carried by the base. In a second embodiment, a light conducting passage extends completely through the shaft. A handpiece is connected to the distal end of the boom for rotation about the boom axis. The boom is counterbalanced by a first counterweight in offset relation to the boom axis relative to the shaft axis, and on the opposite side from the boom of the pivotal axis transverse to the boom. A second smaller counterweight is between the boom support and the boom bearing, with its center of gravity on the boom axis, and a third counterweight smaller than the second is between the boom bearing and the handpiece, on the opposite side of the boom axis from the handpiece.

Claims

1. A laser delivery system comprising:

(a) a hollow base comprising an opening for receiving a beam,

(b) a boom support adjacent said base,

(c) means for mounting said boom support for rotation on a first axis extending through said base, and for rotation on a second axis transverse to said first axis comprising;

i. a pair of spaced bearings in said based,

ii. a shaft journalled in said bearings,

iii. a fork carried by said shaft, and

iv. bearing means for journalling said boom support on said fork,

(d) a hollow linear boom having a proximal end and a distal end,

(e) means for attaching the proximal end of said boom to said boom support,

(f) said boom comprising boom bearing means permitting axial and rotational movement of said distal end relative to said proximal end,

(g) a handpiece,

(h) means for connecting said handpiece to said boom distal end for rotation about an axis transverse of the boom axis, and

(i) means for conducting a beam from said opening into and through said boom and into said handpiece in all positions of said boom and handpiece.

2. The laser delivery system of claim 1, and further comprising counterweight means for counterbalancing said handpiece comprising a mass having the center of gravity thereof offset from the boom axis oppositely to said handpiece.

3. The laser delivery system of claim 1, and further comprising counterweight means for counterbalancing a part of said boom and said handpiece comprising a first mass on said boom between said boom support and said boom bearing means.

4. The laser delivery system of claim 3, said mass having the center of gravity thereof substantially at the axis of said boom.

5. The laser delivery system of claim 1, and counterweight means for counterbalancing said boom comprising a first mass on the opposite side of said first and second axes from said boom.

6. The laser delivery system of claim 5, and further comprising counterweight means for counterbalancing a part of said boom and said handpiece comprising a second mass smaller than said first mass on said boom between said boom support and said boom bearing means.

7. The laser delivery system of claim 6, said mass having the center of gravity thereof substantially at the axis of said boom.

8. The laser delivery system of claim 5, and further comprising counterweight means for counterbalancing said handpiece comprising a third mass having the center of gravity thereof offset from the boom axis oppositely to said handpiece.

9. The laser delivery system of claim 8, said boom comprising inner and outer telescopic tubular elements, and bearing means for providing a layer of fluid between said inner tubular element and said outer tubular element for supporting said inner tubular element in radially spaced relation to said outer tubular element.

10. The laser delivery system of claim 1, said boom comprising inner and outer telescopic tubular elements, and bearing means for providing a layer of fluid between said inner tubular element and said outer tubular element for supporting said inner tubular element in radially spaced relation to said outer tubular element.

11. The laser delivery system of claim 1, said shaft having first and second aligned portions and an axially offset intermediate portion therebetween, said beam conducting means comprising means in alignment with said opening and said aligned shaft portions for changing the direction of said beam.

12. The laser delivery system of claim 11, said beam conducting means further comprising second and third means carried by said fork for changing the direction of said beam.

13. The laser delivery system of claim 1, a said bearing being in said opening, said beam conducting means comprising a passage through said shaft.

14. The laser delivery system of claim 13, said beam conducting means further comprising first and second means carried by said fork for changing the direction of said beam.

15. A laser delivery system comprising:

a linearly extending hollow boom having proximal and distal ends,

means for mounting said boom at the proximal end thereof for rotation about a first axis transverse to the axis of said boom, and a second axis spaced from said boom axis and transverse to said first axis and in a plane perpendicular to said first axis,

a linear handpiece at the distal end of said boom,

means for connecting said handpiece to the distal end of said boom for rotation about a first axis perpendicular to said handpiece axis and to the boom axis,

bearing means for enabling said connecting means and said handpiece to rotate about the axis of said boom,

first counterweight means for counterbalancing said boom comprising a first mass on the opposite side of said first and second axes from said boom,

second counterweight means for counterbalancing a portion of said boom and said handpiece comprising a second mass smaller than said first mass,

third counterweight means for counterbalancing a portion of sid boom and said handpiece comprising a third mass smaller than said second mass and further from said first axis than said second mass and having the center of gravity thereof offset from the boom axis oppositely to said handpiece, and

means for conducting a beam sequentially along said second and first axes, said boom, and into said handpiece.

16. The laser delivery system of claim 15, said first counterweight means comprising means for adjusting the position of said first mass relative to said first axis.

17. The laser delivery system of claim 16, said second counterweight means comprising means for adjusting the position of said second mass relative to said first axis.

18. The laser delivery system of claim 15, said second counterweight means comprising means for adjusting the position of said second mass relative to said first axis.

19. The laser delivery system of claim 15, said second counterweight means comprising means for positioning the center of gravity of said second mass substantially at the boom axis.

20. The laser delivery system of claim 19, said second counterweight means comprising means for adjusting the position of said second mass along said boom axis.

21. The laser delivery system of claim 15, said third counterweight means comprising means for adjusting the position of said third mass along the boom axis.

22. The laser delivery system of claim 21, said third counterweight means further comprising means for adjusting the position of said third mass about said boom axis.

23. The laser delivery system of claim 15, said first counterweight means comprising means for adjusting the position of said first mass relative to said first axis, said second counterweight means comprising means for adjusting the position of said second mass relative to said first axis, the center of gravity of said second mass being substantially at the boom axis, and said third counterweight means further comprising means for adjusting the position of said third mass about said boom axis.

24. A laser delivery system comprising:

a linearly extending hollow boom having proximal and distal ends,

a handpiece,

means for connecting said handpiece to said boom distal end for rotation about the axis of said boom, and

counterweight means for counterbalancing said handpiece comprising a mass having the center of gravity thereof offset from the boom axis oppositely to said handpiece.

25. The laser delivery system of claim 24, said counterweight means comprising means for adjusting the position of said mass along the boom axis.

26. The laser delivery system of claim 25, said counterweight means further comprising means for adjusting the position of said mass about said boom axis.

27. A laser delivery system comprising:

a tubular boom having a distal end and a proximal end,

a handpiece at the distal end,

means for conducting a beam into said proximal end, through said boom and into said handpiece,

means for connecting said distal end of said tubular boom to said proximal end of said tubular boom for axial and rotational movement relative thereto comprising inner and outer telescopic tubular elements, and

means for providing a layer of fluid between said inner tubular element and said outer tubular element for supporting said inner tubular element in radially spaced relation to said outer tubular element.

28. The laser delivery system of claim 27, wherein said bearing means comprises axially and circumferentially distributed apertures through said outer element and means to supply fluid under pressure to said openings.

29. The laser delivery system of claim 28, said last mentioned means comprising means providing a plenum chamber radially outwardly of said outer element and the apertures therein, and having inlet means for fluid thereinto.

30. The laser delivery system of claim 29, said fluid supply means further comprising an annular chamber of axial length less than said plenum chamber around said plenum chamber, and aperture means fluid connecting said annular chamber to said plenum chamber.

31. A structure for providing relative linear and rotational movement between tubular elements comprising:

an outer tubular element and an inner tubular element therein and substantially coaxial therewith,

bearing means for providing a layer of fluid between said inner tubular element and said outer tubular element for supporting said inner tubular element in radially spaced relation to said outer tubular element, said bearing means comprising axially and circumferentially distributed apertures through said outer element, and

means for supplying fluid under pressure to said apertures.

32. The structure of claim 31, said last mentioned means comprising means providing a plenum chamber radially outwardly of said outer element and the apertures therein, and having inlet means for fluid thereinto.

33. The structure of claim 32, said fluid supply means further comprising an annular chamber of axial length less than said plenum chamber around said plenum chamber, and aperture means fluid connecting said annular chamber to said plenum chamber.

34. A laser delivery system comprising:

(a) a hollow linear boom comprising an outer telescopic tubular element having a proximal end and an inner telescopic tubular element in said outer telescopic tubular element and having a distal end;

(b) a boom support;

(c) means for mounting said boom support for rotation on a first axis and for rotation on a second axis transverse to said first axis;

(d) means for attaching the proximal end of said boom to said boom support;

(e) said boom comprising boom bearing means for supporting said inner tubular element for axial and rotational movement thereof relative to said outer tubular element without supporting physical bearing engagement;

(f) a handpiece;

(g) means for connecting said handpiece to said boom distal end for rotation about an axis transverse of the boom axis; and

(i) means for conducting a beam through said boom and into said handpiece in all positions of said boom and handpiece.

35. The laser delivery system of claim 34, said bearing means comprising means for providing a layer of fluid between said first and second tubular elements for supporting said inner tubular element in radially spaced relation to said outer tubular element.

36. The laser delivery system of claim 35, wherein said beam conducting means comprises prisms.

37. The laser delivery system of claim 34, wherein said beam conducting means comprises prisms.

38. A laser delivery system comprising:

a linearly extending hollow boom having proximal and distal ends,

means for mounting said boom at the proximal end thereof for rotation about a first axis transverse to the axis of said boom, and a second axis spaced from said boom axis and transverse to said first axis and in a plane perpendicular to said first axis,

a linear handpiece at the distal end of said boom,

means for connecting said handpiece to the distal end of said boom for rotation about a first axis perpendicular to said handpiece axis and to the boom axis,

bearing means for enabling said connecting means and said handpiece to rotate about the axis of said boom,

first counterweight means for counterbalancing said boom comprising a first mass on the opposite side of said first and second axes from said boom,

second counterweight means for counterbalancing a portion of said boom and said handpiece comprising a second mass on said boom having the center of gravity thereof offset from the boom axis oppositely to said handpiece, and

means for conducting a beam sequentially along said boom and into said handpiece.

39. The laser delivery system of claim 38, said second counterweight means comprising means for adjusting the position of said second mass along the boom axis.

40. The laser delivery system of claim 39, said second counterweight means further comprising means for adjusting the position of said second means about said boom axis.

41. A laser delivery system comprising:

a tubular boom having a distal end and a proximal end,

means at the proximal end of said boom for supporting said boom for pivotal movement,

a handpiece at the distal end,

means for conducting a beam into said proximal end, through said boom and into said handpiece, and

means for connecting said distal end of said tubular boom to said proximal end of said tubular boom for axial and rotational movement relative thereto comprising inner and outer telescopic tubular elements and bearing means for supporting said inner tubular element in radially spaced relation to said outer tubular element without supporting physical engagement.

42. A laser delivery system of claim 41, wherein said bearing means comprises means for providing a layer of fluid between said inner tubular element and said outer tubular element comprising apertures through said outer member.

43. A structure for providing relative linear and rotational movement between tubular elements comprising:

an outer tubular element,

an inner tubular element,

means for holding one said tubular element,

means for supporting the other said tubular element substantially coaxially with said one tubular element and spaced therefrom without supporting physical engagement,

said structure being free of means to prevent both axial and rotational movement of said other tubular element relative to said outer tubular element,

whereby said inner tubular element may be caused to move linearly and to be rotated in said outer tubular element.