U.S. patent application number 09/784627 was filed with the patent office on 2002-05-30 for apparatus for light beam guided biopsy.
Invention is credited to Bendiksen, Jan Martin, Brabrand, Knut, Eriksen, Ole Henrik, Hansen, Dag Almar, Lag, Orjan, Smastuen, Steinar.
Application Number | 20020065462 09/784627 |
Document ID | / |
Family ID | 19911837 |
Filed Date | 2002-05-30 |
United States Patent
Application |
20020065462 |
Kind Code |
A1 |
Brabrand, Knut ; et
al. |
May 30, 2002 |
Apparatus for light beam guided biopsy
Abstract
An apparatus for assisting percutaneous light beam guided
biopsy, having means for rotating a laser device about first and
second rotation axis, said laser device providing its laser beam
along an axis intersecting an intersection point between said first
and second rotation axis and at right angles thereto. Inclinometers
are installed for providing signal values as a function of two- or
three-dimensional orientation directions of said laser device
relative to direction of gravitation. Encoder means provide
feedback of rotary position information of the laser device.
Comparator means compare set calculated instrument insertion angle
values, provided from an input device, with encoder feedback
signals and inclinometer signals and inhibits rotation operation of
said laser devise upon reaching specific threshold values.
Inventors: |
Brabrand, Knut; (Rasta,
NO) ; Eriksen, Ole Henrik; (Oslo, NO) ; Lag,
Orjan; (Oslo, NO) ; Bendiksen, Jan Martin;
(Drammen, NO) ; Hansen, Dag Almar; (Sandefjord,
NO) ; Smastuen, Steinar; (Oslo, NO) |
Correspondence
Address: |
LAW OFFICE OF BARRY R LIPSITZ
755 MAIN STREET
MONROE
CT
06468
US
|
Family ID: |
19911837 |
Appl. No.: |
09/784627 |
Filed: |
February 15, 2001 |
Current U.S.
Class: |
600/427 ;
606/130 |
Current CPC
Class: |
A61B 90/13 20160201;
A61B 2090/067 20160201; A61B 90/50 20160201; A61B 17/3403 20130101;
A61B 2018/2025 20130101; A61B 90/10 20160201 |
Class at
Publication: |
600/427 ;
606/130 |
International
Class: |
A61B 006/00 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 24, 2000 |
NO |
20005975 |
Claims
1. An apparatus for assisting percutaneous light beam guided
surgical activity into a human or animal body based on calculated
craniocaudal and transverse related insertion angles for an
injection instrument, such as a syringe needle or biopsy means,
relative to a target inside said body, said apparatus having means
for providing at least a laser beam from a laser device in a laser
unit for assisting guided instrument injection into said body, said
laser unit having a housing being positionable along a laser unit
supporting means and lockable thereto, said laser unit having means
for adjusting the direction of said laser beam relative to said
body based on said calculated insertion angles, wherein said
apparatus further comprises within said laser unit housing: first
attachment means on said laser unit housing for rotatably
supporting a first rotation member of said laser unit, first
rotation means attached to said first attachment means for rotating
said first rotation member relative to said first attachment means
about a first rotation axis, second attachment means attached to
said first rotation member for rotatably supporting a second
rotation member, said second rotation member having a second
rotation axis at right angles to the first rotation axis, second
rotation means mounted on said first rotation member for rotating
said second rotation member relative to said second attachment
means, first and second inclinometer supporting means mounted at
right angles to each other and attached to a surface of said second
rotation member at right angles thereto, said laser unit having
said laser device attached to said second rotation member in such a
way that the laser beam is along an axis intersecting an
intersection point between said first and second rotation axis and
at right angles thereto, first inclinometer means installed on said
first inclinometer supporting means and second inclinometer means
installed on said second inclinometer supporting means, said
inclinometer means providing signal values as a function of two- or
three-dimensional orientation directions of said laser unit housing
relative to direction of gravitation, first and second encoder
means cooperative with said first and second rotation means,
respectively for feedback of rotary position information thereof,
and comparator means for comparing set calculated instrument
insertion angle values, provided from an input device, with encoder
signal values derived from said feedback information and said
inclinometer signal values, said comparator means inhibiting an
operation of said first and second rotation means when said encoder
signal values and said inclinometer signal values reach threshold
values, respectively related to said set insertion angle values and
direction of gravitation.
2. Apparatus according to claim 1, comprising a line laser unit
having a line laser device which provides a laser beam created line
for aligning said laser unit housing relative to a craniocaudal
direction of a movable bed supporting said body.
3. Apparatus according to claim 1, wherein said laser device is
mounted on said first or second inclinometer supporting means.
4. Apparatus according to claim 2, wherein said line laser device
is mounted on said first or second inclinometer supporting
means.
5. Apparatus according to claim 3 and 4, wherein said laser device
and said line laser device are mechanically interconnected as a
rigid unit.
6. The apparatus of claim 1 or 2, wherein said first and second
rotation member have a fixed radius of curvature over at least a
substantial part of a circumference thereof, respectively, wherein
said first and second rotation means each comprises an electric
motor means and a shaft thereof, said shaft capable of being in
rotational, frictional engagement with said at least substantial
part of said circumference.
7. The apparatus of claim 6, wherein said shaft is provided with a
friction creating material.
8. The apparatus of claim 6 or 7, wherein said at least substantial
part of said circumference is provided with a friction creating
material.
9. The apparatus of claim 6, 7 or 8, wherein said frictional
engagement is adjustable or maintained through said shaft
resiliently bearing against said at least substantial part of said
circumference.
10. The apparatus of claim 1 or 2, wherein said first and second
rotation members have a fixed radius of curvature over the full
circumference thereof, respectively, wherein said first and second
rotation means each comprises an electric motor means and a shaft
thereof, said shaft capable of being in rotational, frictional
engagement with a belt in contact with a substantial part of said
circumference.
11. The apparatus of claim 1 or 2, wherein said first and second
rotation members have a fixed radius of curvature over at least a
substantial part of a circumference thereof and have gearteeth 64
extending therealong, respectively, wherein said first and second
rotation means each comprises an electric motor means and a shaft
thereof, said shaft 66 having a gear capable of being in
rotational, frictional engagement with said gear teeth 64.
12. The apparatus of claim 1 or 2, wherein said first and second
rotation members are each directly connected to a shaft of an
electric motor.
13. The apparatus of claim 6, 10, 11 or 12, wherein said electric
motor means is a stepper motor.
14. The apparatus of claim 1, wherein said first and second
inclinometer supporting means are circuit board members mounted at
right angles to each other and attached to a surface of said second
rotation member at right angles thereto, one of said circuit board
members having hole means for laser beam exit from said laser
device.
15. The apparatus of claim 2 or 14, wherein said first and second
inclinometer supporting means are circuit board members mounted at
right angles to each other and attached to a surface of said second
rotation member at right angles thereto, one of said circuit board
members having hole means for laser beam exit from said line laser
device.
16. The apparatus of claim 2, wherein said line laser device is
attached to said second rotary member or to one of said
inclinometer supporting means.
17. An apparatus for assisting percutaneous light beam guided
surgical activity into a human or animal body based on calculated
craniocaudal and transverse related insertion angles for an
injection instrument, such as a syringe needle or biopsy means,
relative to a target inside said body, said apparatus having means
for providing a laser beam from at least one laser unit for
assisting guided instrument injection into said body, said laser
unit having a housing being positionable along a housing supporting
means and lockable thereto, said laser unit having means for
adjusting the direction of said laser beam relative to said body
based on said calculated insertion angles, wherein said apparatus
further comprises: releasable brake means within said laser unit
housing, said brake means in the form of roller means rotatably
bearing against and position-fixable relative to a profiled face of
said laser unit housing supporting means, and position adjustment
means for fine adjustment of a position of said laser unit housing
on said supporting means.
18. The apparatus of claim 17, wherein said laser unit housing
supporting means comprises: a movable base member, said base member
being position lockable relative to a floor, an upright, first
housing supporting member extending upwardly from said base member,
a second housing supporting member extending from a top of said
first housing supporting member at right angles thereto, and a
curved transition member extending between said first and second
laser unit housing supporting members for supporting the laser unit
and its housing in movement between said first and second head
supporting means, whereby said laser unit housing is movable along
said first and second head supporting members and selectively
lockable thereto.
19. The apparatus of claim 17 or 18, wherein said first laser unit
housing supporting member is pivotable about its axis relative to
said base member, and lockable thereto.
Description
[0001] The present invention relates to an apparatus for assisting
percutaneous light beam guided surgical activity into a human or
animal body based on calculated craniocaudal and transverse related
insertion angles for an injection instrument, such as a syringe
needle or biopsy means, relative to a target inside said body, said
apparatus having means for providing at least a laser beam from a
laser device in a laser unit for assisting guided instrument
injection into said body, said laser unit having a housing being
positionable along a laser unit supporting means and lockable
thereto, said laser unit having means for adjusting the direction
of said laser beam relative to said body based on said calculated
insertion angles.
[0002] Prior art apparatus of this type are known from e.g. U.S.
Pat. No. 5,628,327 (Unger et al) and U.S. Pat. No. 6,021,342
(Brabrand).
[0003] U.S. Pat. No. 5,628,327 describes a device which is
complicated to operate due to risk of angle errors relative to
craniocaudal direction and transverse direction as well as
direction of gravity.
[0004] U.S. Pat. No. 6,021,342, relative to which the present
invention is an improvement, provides an apparatus for manually
adjusting insertion angles. The apparatus has no means for
compensating any laser device direction deviations away from
direction of gravity, which in certain cases could cause insertion
angle problems.
[0005] The present invention intends to provide an apparatus which
based on calculated, craniocaudal and transverse related insertion
angles or the injection instrument is capable of fully
automatically direct the laser beam of the laser device along the
correct laser beam direction, thus indicating in the first hand the
insertion point on the body of the patient, and secondly upon
placing the point of the instrument needle thereat, pointing the
beam at a rear end of the instrument for the laser beam guided
insertion. Further, based on the set calculated instrument
insertion angle values, provided from an input device, the
insertion angle values being calculated by e.g. a computed
tomography unit or a magnetic resonance tomography unit, it is the
intention of the invention that the apparatus is able of using such
input values to cause the laser device to provide accurately the
positioning of the laser beam without any risk of errors caused
e.g. by errors due to deviations from directions of gravitation of
the laser unit housing.
[0006] According to the invention, the apparatus comprises within
said laser unit housing:
[0007] first attachment means on said laser unit housing for
rotatably supporting a first rotation member of said laser
unit,
[0008] first rotation means attached to said first attachment means
for rotating said first rotation member relative to said first
attachment means about a first rotation axis,
[0009] second attachment means attached to said first rotation
member for rotatably supporting a second rotation member, said
second rotation member having a second rotation axis at right
angles to the first rotation axis,
[0010] second rotation means mounted on said first rotation member
for rotating said second rotation member relative to said second
attachment means,
[0011] first and second inclinometer supporting means mounted at
right angles to each other and attached to a surface of said second
rotation member at right angles thereto,
[0012] said laser unit having said laser device attached to said
second rotation member in such a way that the laser beam is along
an axis intersecting an intersection point between said first and
second rotation axis and at right angles thereto,
[0013] first inclinometer means installed on said first
inclinometer supporting means and second inclinometer means
installed on said second inclinometer supporting means, said
inclinometer means providing signal values as a function of two- or
three dimensional orientation directions of said laser unit housing
relative to direction of gravitation,
[0014] first and second encoder means cooperative with said first
and second rotation means, respectively for feedback of rotary
position information thereof, and comparator means for comparing
set calculated instrument insertion angle values, provided from an
input device, with encoder signal values derived from said feedback
information and said inclinometer signal values, said comparator
means inhibiting an operation of said first and second rotation
means when said encoder signal values and said inclinometer signal
values reach threshold values, respectively related to said set
insertion angle values and direction of gravitation.
[0015] According to the invention a line laser unit having a line
laser device is provided, said line laser device providing a laser
beam created line for aligning said laser unit housing relative to
a craniocaudal direction of a movable bed supporting said body.
Thereby, it may be established that e.g. a substantially horizontal
laser unit supporting means is extending in direction exactly
transverse to said craniocaudal direction. Suitably, said laser
device is mounted on said first or second inclinometer supporting
means. Further, said line laser device can be mounted on said first
or second inclinometer supporting means. Preferably, but not
necessarily, said laser device and said line laser device are
mechanically rigidly interconnected.
[0016] In one embodiment of the present invention, said first and
second rotation members have suitably a fixed radius of curvature
over at least a substantial part of a circumference thereof,
respectively, wherein said first and second rotation means each
comprises an electric motor and a shaft thereof, said shaft capable
of being in a rotational, frictional engagement whit at least a
substantial part of said circumference. In order to provide for
such an embodiment, said shaft may be provided with a friction
creating material. As an alternative or as an added feature, said
substantial part of said circumference may be provided with a
friction creating material.
[0017] Suitably, said frictional engagement is adjustable or
maintained through said stepper motor shaft resiliently bearing
against said substantial part of the circumference.
[0018] In an alternative, said first and second rotation members
have a fixed radius of curvature over the full circumference
thereof, respectively, wherein said first and second rotation means
each comprises an electric motor and a shaft thereof, said shaft
capable of being in rotational, frictional engagement with a belt
in contact with a substantial part of said circumference.
[0019] In a further alternative, said first and second rotation
members have a fixed radius of curvature over at least a
substantial part of a circumference thereof and have gear teeth
extending therealong, respectively, wherein said first and second
rotation means each comprises an electric motor and a shaft
thereof, said shaft having a gear, capable of being in rotational,
frictional engagement with said gear teeth. In still another
alternative, said first and second rotation members are each
directly connected to a stepper motor shaft.
[0020] Suitably, said first and second inclinometer supporting
means are circuit board members mounted at right angles to each
other and attached to a surface of said second rotation member at
right angles thereto, one of said circuit board members having hole
means for laser beam exit from said laser device.
[0021] Said line laser device is suitably attached to said second
rotary member or to one of said inclinometer supporting means.
[0022] Said electric motor means is suitably a stepper motor.
[0023] In another aspect of the invention, the apparatus further
comprises releasable brake means within said laser unit housing,
said brake means being in the form of roller means rotatably
bearing against and position-fixable relative to a profiled face of
said laser unit housing supporting means, and position adjustment
means for fine adjustment for a position of said laser unit housing
on said supporting means.
[0024] In still a further embodiment said laser unit housing
supporting means comprises a movable base member, being position
lockable relative to a floor, an upright, first housing supporting
member extending upwardly from said base member, and a second
housing supporting member extending from a top of said first
housing supporting member at right angles thereto, and a curved
transition member extending between said first and second laser
unit housing supporting members for supporting the laser unit and
its housing in movement between said first and second head
supporting means, whereby said laser unit housing is movable along
said first and second head supporting members and selectively
lockable thereto.
[0025] Suitably said first laser unit housing supporting member is
pivotable about its vertical axis relative to said base member, and
lockable thereto.
[0026] The invention is now to be further described with reference
to the drawings showing non-limiting, preferred embodiments of the
present invention.
[0027] FIG. 1 shows the overall apparatus, according to the
invention in a preferred embodiment thereof.
[0028] FIG. 2 shows a laser unit with a laser unit housing,
according to the invention.
[0029] FIGS. 3, 4 and 5 show applications of the present
invention.
[0030] FIG. 6 shows in a partly sectional view part of the laser
unit housing and a laser unit supporting means.
[0031] FIG. 7 is a block diagram showing operational components
used in carrying out the invention.
[0032] FIG. 8 is a block schematic diagram showing feedback loops
for use with the apparatus, according to the invention.
[0033] FIG. 9 is an exploded view of the laser unit and its
housing, according to the invention.
[0034] FIG. 10 shows in a greater detail a chassis part of the
laser unit, according to the invention.
[0035] FIGS. 11, 12, 13, 14, 15, and 16 are perspective view from
above, bottom plan view, top plan view, front view, view from one
side, and view from other side of the laser unit carrying laser
device.
[0036] FIGS. 17, 18, and 19 show variants of the embodiment shown
on FIGS. 11-16.
[0037] FIG. 1 shows a typical apparatus for assisting percutaneous
light ray guided surgical activity into a human or animal body
based on craniocaudal and transverse related insertion angles for
an injection instrument calculated from computed tomography or
magnetic resonance tomography based tests using a CT or MR
apparatus or any similar type of apparatus. As noted on FIG. 1 the
apparatus, denoted by reference numeral 1 has a movable base member
2 movable on casters 3, said casters having a locking mechanism 4
for locking relative to a floor 5. The apparatus has an upright
first housing supporting member 6 extending upwardly from the base
member 2, and a second housing supporting member 7 extending from a
top region 6' of the first housing supporting member and at right
angles thereto, and a curved transition member 8 which extends
between the first and second laser unit housing supporting members
6, 7 for supporting a laser unit and its housing, denoted by
reference numeral 9 in a movement between the first and second head
supporting means 6, 7. Thereby, as indicated by e.g. FIGS. 3 and 4,
the laser unit housing 9 will be movable along said first and
second head supporting members, suitably via said transition
member, and being selectively lockable thereto. As shown on FIG. 5,
the first laser unit housing supporting member 6 is suitably
pivotable about its axis relative to the base member 2 and lockable
thereto. This means, as shown, that the apparatus may be stored
using a minimum of available space.
[0038] Further, it should be noted, as shown on FIG. 4 that by
moving the laser unit housing 9 from the supporting member 7 down
to the supporting member 6, it will be possible to have a guiding
laser beam 10 pointing to a side of patient 11 instead of having to
always use an insertion from above, as indicated by the laser line
10'.
[0039] FIG. 6 illustrates a chassis of the laser unit housing 9,
said chassis denoted by reference numeral 12. It will be noted both
from FIG. 2 and from FIG. 6, as well as from FIGS. 9 and 10, that
said chassis is provided with suitably two sets 13, 14 of rollers
which enable the housing 9 to move smoothly along e.g. the
supporting member 7, as clearly visualized from viewing FIG. 6.
Releasable brake means 15 are provided within said laser unit
housing 9, as shown on FIG. 6, said brake means having a releasing
mechanism 15'. The brake means is in the form of roller means 15
rotatably bearing against and thus being position-fixable relative
to a profiled face 7' of e.g. said supporting means 7. Further,
adjustment means 16 is provided for fine adjustment of the position
of the laser unit housing along e.g. the supporting means 7 by
rotating the roller 15. The housing 9 may be provided with a touch
pad 17 for selecting the types of the insertion angle values to be
successively entered, and to be displayed on a display 18. Such a
touch pad could be of any suitable kind. There is e.g. provided an
angle value setting knob 20, e.g. of a pulse counting type in order
to adjust to the respective insertion angle values and display such
values on the display 18. The housing 9 has a laser beam
transparent dome 21 in order that a laser beam from a laser device
22 in the laser unit 23 may exit. On FIG. 9, reference numeral 24
denotes a battery of rechargeable or non-chargeable type.
[0040] Suitably, at least some of the rollers 13 and 14 are spring
loaded, e.g. using springs 13', 14' as shown on FIG. 10. Spring
means 25 may also be provided for the releasable brake means
15.
[0041] FIG. 7 illustrates the various operational elements which
are included in the apparatus, according to the present invention.
Mainly there is provided sensors and controls 26, a mother board
27, a control and laser system 28, a drive system 29 in addition to
battery 30 with the possibility of a battery charger 31. As
mentioned above insertion angle values are in the craniocaudal
direction and transverse direction using a CT or MR tomography
machine. By e.g. using the touch pad 17 and the value adjuster 20,
it is possible to indicate the various selector key settings for
different planes and directions, i.e. X/Y coordinates, Z
coordinates and possibly gravity coordinate. The signals from the
angle selector and the selector keys 17 are fed via lines 20', 17'
into a processor 32 (CPU).
[0042] As shown on FIGS. 15 and 16 there is in connection with
motor means 19, 33 provided angle measurement means, suitably in
the form of a first and second potentiometer 19', 33'. If the motor
19, 33 is e.g. a stepper motor, then such a double set of
potentiometer angle measurement devices 19', 33' may be considered
redundant. However, it is according to a preferred embodiment of
the invention provided such a set of potentiometers for providing
coordinate values via signal lines 34, 35, 36, 37 into the
processor 32 and to provide for accurate feedback signals. In order
to recognize on which housing supporting means the laser unit
housing 9 is present, a position sensor chip 38 is provided,
delivering signals to the processor 32 via line 39. A reset button
40 is provided for resetting previously set values in order to be
able to insert new values through use of the angle selector 20 and
the selector keys 17. Further, in order to keep the apparatus in a
standby state, a standby button 41 is suitably provided.
[0043] On FIG. 7 it will be denoted that there is an aligning
button 72. Pushing said button 72 will trigger the line laser 49 to
emit a laser light plane and thus create a laser line along said
bed 54. Both the reset button 40, the standby button 41 and the
line laser button 72 communicate with the processor 32 via
respective lines 40', 41' and 72'. Also, there is within the mother
board 27 provided a power unit 73 which receives power from the
battery cell 30 and can be turned on and off by means of a button
74 communicating with the power unit 73 via line 74'. The battery
cell 30 communicates with the power unit 73 via lines 30'. Further,
the mother board receives power directly from the battery cell 30
via line 30".
[0044] On FIG. 8 there is shown schematically a feedback loop for
rotational mechanical relationship and mechanical relationship with
gravitation. It will be noted that a plane selector and angle
selector input is provided from the previously described means 17,
20 and input to a comparator amplifier 32' forming part of the
processor 32. A potentiometer data memory table 32" is provided
also within said processor 32 and when the motor drive system 29
operates, the potentiometers 19' and 33' will operate in order to
provide a feedback information about the turning of the motors 19,
33. Further, the inclinometers 50, 51, will carry out an angle
measurement relative to gravity and the signal outputs from the
devices 19', 33', 50 and 51 are input to the comparator amplifier
32' and compared with the inputs from the selectors 17, 20.
Further, the potentiometer data memory table could contain any
required pre-settings and adjustment values. As soon as the
processor 32 detects certain threshold values reached, the motor
drive system will suitably be brought to a halt.
[0045] With reference to FIGS. 11-16, there are provided first
attachment means 42 on the laser unit housing 9, the assembly shown
on FIG. 11 constituting the laser unit 23. The attachment means 42
supports a first rotation member 19 in the form of a motor 19.
Further, the first rotation member 43 supports a second rotation
means 33 in order to enable rotation of a second rotation member 44
relative to a second attachment means 45 attached to the first
rotation member 43. The second rotation member 45 has second
rotation axis 45' at right angles to the first rotation axis 43'.
First and second inclinometer supporting means 46, 47 are mounted
at right angles to each other and attached to a surface of the
second rotation member 44 at right angles thereto. The laser unit
23 has an insertion point laser 48 as well as suitably a line laser
device 49 forming a line laser unit. The laser device is suitably
attached to the second rotation member 44 in such a way that the
laser beam 48' will lie along an axis intersecting an intersection
point between said first and second rotation axis 43, 45' and at
right angles thereto. First inclinometer means 50 is installed on
first inclinometer supporting means 46 and second inclinometer
means 51 is installed on the second inclinometer supporting means
47. The inclinometer 50, 51 provide signal values via lines 52, 53
to the processor 32 as a function of two- or three-dimensional
orientation direction of the laser unit housing relative to
direction of gravitation. The double set of potentiometers form
first and second encoder means which are cooperative with the
motors 19, 33, respectively, for feedback of rotary position
information to the processor 32. Within the processor 32 there is
provided comparator means for comparing set calculated instrument
insertion angle values provided from the input device 17, 20 and
18, with encoder signal values derived as feedback information from
the devices 19', 33' and the inclinometer signal values on lines 52
and 53. The comparator means within the processor 32 will suitably
be capable of inhibiting an operation of the motors 19 and 33 when
the encoder signal values and the inclinometer signal values reach
threshold values, respectively, related to said insertion angle
values and any deviations away the direction of gravitation. It is
important in the embodiment as shown on e.g. FIG. 1 to have in
particular the supporting means 7 at right angles to the
craniocaudal direction. For such purpose, the line laser device 49
provides a laser beam created line for aligning the laser unit
housing relative to a craniocaudal direction of a movable bed 54
supporting the body 11 of e.g. a human being, the laser created
line being labelled by reference numeral 55 in FIG. 3 and reference
numeral 56 in FIG. 4. It will be appreciated that in effect, the
line laser device really provides a light plane created by the
laser device as denoted by reference numerals 55' and 56',
respectively. Such a light plane 55' is also schematically
indicated on FIG. 1.
[0046] In a preferred, but non-limiting embodiment of the
invention, the laser device 48 is mounted on suitably the first of
the inclinometer supporting means 46, although it could equally
well have been installed on the second inclinometer supporting
means 47. In a preferred embodiment the laser device 48 and the
line laser device 49 are mechanically interconnected as a rigid
unit, suitably in a common mounting block 57. As shown on FIG. 7
both the point laser 48 and the line laser 49 have a laser driver
58 intermediate said processor 32 and the lasers 48, 49.
[0047] As shown on FIG. 7 the motors 19, 33 operate on the first
and second rotation members 43, 44, respectively. As shown on FIGS.
11, 14, 15, and 16 in particular, it is seen that said rotation
members have a substantially fixed radius of curvature over at
least a substantial part of a circumference thereof The motors 19,
33 have in a first embodiment a respective shaft 19", 33" capable
of being in rotational and frictional engagement with said at least
substantial part of the circumference of the respective rotation
member 43, 44. Suitably, said shaft 19"; 33" is provided with a
friction creating material. Alternatively, or in addition, said at
least substantial part of said circumference is provided with a
friction creating material. The frictional engagement is suitably
adjustable or maintained through said shaft resiliently bearing
against said at least substantial part of the circumference. The
way to provide such resiliency would be to have the motors 19, 33
resiliently installed in a respective motor housing 19'"; 33'".
[0048] In an alternative as shown on FIG. 17, the first and second
rotation members 58, 59 have a fixed radius of curvature over the
full circumference thereof, respectively. Motor means 19, 33 are
provided as shown and described in connection with FIG. 11 and the
shafts of the respective motors 19, 33 is capable of being in
rotational, frictional engagement with a belt 60, 61, respectively,
said belt 60 and 61 being in contact with a substantial part of
said circumference of said first and second rotation members 58,
59.
[0049] In further embodiment shown on FIG. 18, it will also be
noted that the first and second rotation members, here denoted by
reference numerals 62 and 63, have a fixed radius of curvature over
at least a substantial part of a circumference thereof, and have
gear teeth 64 extending therealong, respectively. The motor 19 is
shown having a shaft 66 with a gear at the end capable of being in
rotational, frictional engagement with said gear teeth 64.
Similarly, a shaft on the second motor 33 will similarly have a
gear (not shown) which is capable of being in rotational,
frictional engagement with gear teeth 65 on the second rotation
member 63.
[0050] In the embodiment shown on FIG. 19, the first motor 19 has
its shaft 67 directly connected to the rotation central axis of the
first rotation member 68. Similarly, the second rotation member,
here labelled 69, is directly connected to a shaft (not shown) of
an electric motor 70.
[0051] Although any suitable type of electric motor could be used,
it is preferred to use a stepper motor.
[0052] Suitably said first and second inclinometer supporting means
46, 47 are circuit board members mounted at right angles to each
other and attached to a surface of the second rotation member at
right angles thereto. As shown on FIG. 12, a hole is provided for
laser beam exit from the laser device 48 as well as from the line
laser device 49. Although the line laser device 49 is preferably
attached to either of the inclinometer supporting means 46, 47, in
the preferred embodiment attached to the means 46, said line laser
device could equally well be attached directly to the second rotary
member, such as member 44, 59, 63 or 69.
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