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Medical examination and treatment apparatus

  • US 7,813,838 B2
  • Filed: 08/29/2005
  • Issued: 10/12/2010
  • Est. Priority Date: 08/31/2004
  • Status: Active Grant
First Claim
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1. A medical examination and treatment apparatus, the apparatus comprising:

  • a robot operable to move a tool, the robot comprising an adjusting element attached to the tool;

    an internal position-determination system to measure a position of the tool by determining a setting of the adjusting element of the robot, the internal position-determination system being internal to the robot in a same room as the tool and robot;

    an external position-determination system to measure directly the position of the tool while the tool is in a same location when the internal position-determination system measures the position of the tool, the external position-determination system being independent of the robot; and

    a position monitoring system to compare the position of the tool determined by the internal position-determination system with the position of the tool determined by the external position-determination system,wherein a mobility of the tool is restricted by restricting the movement of the adjusting element of the robot if an adjustable threshold relating to a deviation between position measurements determined by the comparison is exceeded, andwherein the external position-determination system is disposed on the tool and in the room.

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