Patent ID: 8352073

Claim:
A mobile robotic apparatus comprising: a source for radiating a specimen, wherein said apparatus is configured to move along a controlled trajectory to observe, from different positions, radiation emitted from an irradiated area of the specimen which is either mobile or fixed; a mobile surface ( 10 ), a first shelf ( 12 ) and a central shaft ( 11 ) coupled therebetween the mobile surface and first shelf, the central shaft being mechanically, electrically or manually movable and configured to move the first shelf ( 12 ) vertically along a z-axis with respect to the mobile surface, a second shelf mounted over said first shelf and configured to slidably move horizontally along an x-axis and y-axis with respect to the first shelf ( 12 ) by mechanical gears and guides which are controlled manually or electrically; and three robots ( 14 , 15 , 16 ) including a central robot ( 15 ) and two external robots ( 14 , 16 ) which are arranged to define a mobile virtual goniometer, each said robot being configured to move along a predetermined and controlled trajectory and comprising a base ( 17 ) coupled to the second shelf, a lower arm ( 18 ) extending from the base, and an upper arm ( 18 ′) having a proximate end joined through a joint ( 19 ) to the lower arm, the joint being configured to rotate the upper arm ( 18 ′) with respect to the lower arm ( 18 ), and the upper arm ( 18 ′) having a free end opposite to the joint ( 19 ), wherein the free end of one of the two external robots supports the source of radiation ( 20 ), the free end of the other external robot supports a detector ( 21 ), and wherein the free end of the upper arm of the central robot ( 15 ) supports a pointing system with a centring window ( 22 ).