CPC F21V 21/28 (2013.01) [A61B 90/35 (2016.02); F21S 8/08 (2013.01); F21V 9/14 (2013.01); F21V 21/108 (2013.01); F21S 6/004 (2013.01); H04N 13/239 (2018.05); H04N 13/254 (2018.05); H04N 13/271 (2018.05)] | 20 Claims |
1. An optical alignment system comprising:
an optical payload having a planar distal surface;
a plurality of articulated segments having at least three pivot joints associated therewith, said plurality of articulated segments and pivot joints forming a yoke for controlling the orientation of said optical payload;
wherein said optical payload is mechanically coupled to a distal pivot joint of said pivot joints, said distal pivot joint having a distal pivot axis that is perpendicular to said planar distal surface such that:
said optical payload is axially directed at a distal target when the distal pivot axis of said distal pivot joint is directed toward the distal target; and
said optical payload is rotatable about the distal pivot axis, via the distal pivot joint, in a direction of rotation that is perpendicular to the distal pivot axis, while remaining axially directed at the distal target;
wherein said at least three pivot joints are configured such that, for any given pivot joint, a respective rotation axis associated therewith passes sufficiently close to a respective center of mass of a respective distalward portion of said optical alignment system beyond said given pivot joint, such that a position and orientation of said optical payload is maintained in the absence of external forces; and
wherein a proximal end of said optical alignment system is connectable to a positioning arm for controlling the position of the optical payload such that said distal pivot joint resides remote from the positioning arm.
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