Alignment of articulated arms -- MEDICA - World Forum for Medicine



Alignment of articulated arms

A typical articulated beam delivery arm comprises of a series of hollow tubes connected to rotational mirror knuckles. A laser beam travels through the tubes and is directed by the reflected mirrors along the tube axis. Connecting several knuckles and tubes allows for multiple degrees of freedom, which are built by rotating each tube in respect to each other. An articulated arm with multiple degrees of freedom can deliver a laser beam to a working volume by hand moving the end tip of the arm. Building a robotic beam delivery arm is a very challenging task due to the alignment problems of the rotating mirrors in the knuckles.
The AlignMeter can serve as an accurate and simple device for the alignment routine of robotic arms or articulated arms.
The instrument can measure both the positional and angular beam runout of articulated arms used as part of the laser beam delivery system on several of medical laser products.
The design process of the AlignMeter was specifically targeted to solve these problems, and allows fast and accurate alignment. The alignment process is based on the alignment of each knuckle from the first (closest one to the laser) to the last, and is performed by replacing the downstream mirrors with the AlignMeter system to align the non-replaced mirrors.

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