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1. An apparatus comprising:
a patient treatment couch; and a robotic arm coupled to the patient treatment couch, the robotic arm configured to move the patient treatment couch along five rotational degrees of freedom and one substantially vertical, linear degree of freedom, wherein the robotic arm comprises:
a wrist assembly rotatably mounted to a mounting plate;an elbow assembly coupled to the wrist assembly;a shoulder assembly coupled to the elbow assembly;a track mount assembly coupled to the shoulder assembly of the robotic arm; anda track coupled to the track mount assembly, wherein the wrist assembly comprises:
a tool-yaw joint coupled to the mounting plate;a tool-pitch joint coupled to the tool-yaw joint; anda tool-roll joint coupled to the tool-pitch joint, wherein the tool-yaw joint is coupled to rotate the patient treatment couch along a z-axis, wherein the tool-pitch joint is coupled to rotate the patient treatment couch along a y-axis, and wherein the tool-roll joint is coupled to rotate the patient treatment couch along a x-axis, wherein the elbow assembly comprises:
a first drive shaft coupled to the tool-yaw joint;a first motor coupled to the first drive shaft, the first motor configured to drive rotational movement of the tool-yaw joint of the robotic arm in a first rotational axis of the five degrees of freedom of the robotic arm;a second drive shaft coupled to the tool-pitch joint;a second motor coupled to the second drive shaft, the second motor configured to drive rotational movement of the tool-pitch joint of the robotic arm in a second rotational axis of the five degrees of freedom of the robotic arm;a third drive shaft coupled to the tool-roll joint; anda third motor coupled to the third drive shaft, the third motor configured to drive rotational movement of the tool-roll joint of the robotic arm in a third rotational axis of the five degrees of freedom of the robotic arm.
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