Jens U. Quistgaard,Tim Etchells,Gregory Paul Darlington,Charles S. Desilets
申请号：
US11027498
公开号：
US08337407B2
申请日:
2004.12.29
申请国别(地区):
US
年份:
2012
代理人:
摘要：
A two-stage control system is disclosed being made of a first control means for providing command and control of a robotic arm, and a second control means for the control and movement of a therapy device, such as an ultrasound transducer. The therapy device is positioned within a therapy head. The therapy head is attached to the distal end of the robotic arm. The two-stage control system provides for a macro and micro level of control for the therapy device during a therapy procedure.
