Patent ID: 8655429

Claim:
An apparatus, comprising: a linear accelerator (LINAC); and a robotic arm coupled to the LINAC, the robotic arm configured to move the LINAC along five degrees of freedom (DOF), wherein the five DOF comprise four rotational DOF and one substantially linear DOF, wherein the substantially linear DOF is a substantially vertical, linear DOF having a substantially linear axis for translational movements of the LINAC along a substantially vertical line in the z-axis substantially perpendicular to the mutually orthogonal horizontal coordinate x- and y-axes, and wherein the robotic arm comprises: a wrist assembly rotatably mounted to a mounting plate; an elbow assembly coupled to the wrist assembly, the elbow assembly comprising one or more elbow gearboxes; a shoulder assembly coupled to the elbow assembly, the shoulder assembly comprising one or more shoulder gearboxes; and a track and a track mount assembly coupled to the shoulder assembly to provide the substantially linear axis and configured to support a load of the LINAC up to 500 lbs while enabling movement of the robotic arm using smaller gearboxes than capable without the track and track mount assembly.