Patent ID: 7813838
Filing Date: 2010-10-12
Classification: A61B,B25J

Abstract:
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, and wherein the external position-determination system is disposed on the tool and in the room.