CROSS REFERENCE TO RELATED APPLICATIONS  
       [0001]    This application is based on provisional application serial number 60-365,787, filed on Feb. 26, 2002. 
     
    
     
       STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT  
         [0002]    Not Applicable  
         DESCRIPTION OF ATTACHED APPENDIX  
         [0003]    Not Applicable  
         BACKGROUND OF THE INVENTION  
         [0004]    1. Field of the Invention  
           [0005]    The present invention relates to a device which takes the place of a doctor or therapist in operating various normally handheld therapeutic modalities, more specifically a device which is computer automated and programmable.  
           [0006]    2. Discussion of Prior Art  
           [0007]    Numerous therapeutic devices have been developed over the years to treat a variety of conditions. The most common of these devices are usually handheld manually operated devices controlled by a doctor or therapist.  
           [0008]    Some handheld devices such as massagers are controlled by the user themselves, can be applied to any area of the body, but are difficult to use and tedious. Effective massaging with handheld devices requires repetitious manual movement of the applicator for extended periods of time which counteracts much of the relaxation effects. Furthermore, certain areas of the body cannot easily be reached by a person applying the applicator for self-massage. To obtain effective relaxing massage to cover all areas of the body, a second individual is required. Examples of manually assisted devices are described in Laroche et al, U.S. Pat. No. 5,167,22; and Isabelle et al U.S. Pat. No. 5,203,322.  
           [0009]    Various devices disclosed in the prior art reveal numerous attempts to remove the need for a second person in providing therapy to a body or a part of a body. Several difficulties and disadvantages are apparent in the prior art. A doctor or therapist can pick and choose from a variety of therapeutic modalities for a variety of treatments or injuries. Such devices described by Raffel et al Pat. No. WO9715264; Kawakami, Pat No. EP064132; Laroche et al, U.S. Pat. No. 5, 167, 226; Cutone, U.S. Pat. No. 4,875,470; Hengl, U.S. Pat. No. 4,721,100; Wintoniw, U.S. Pat. No. 4,041,938; Isabelle et al, U.S. Pat. No. 5,203,322; Cutter et al, I.P.N. WO 98/05288; and Persaud, U.S. Pat. No. 4,984,568 are limited in their choice or diversity of therapy lacking in adaptability to a large variety of support surfaces, conditions or body regions to be treated.  
           [0010]    A doctor or therapist can easily transport a variety of modalities for use in different rooms however, a lack or portability is seen in such devices as described in Cutone, U.S. Pat. No. 4,875,470; Hengl U.S. Pat. No. 4,721,100; Skovira, U.S. Pat. No. 5,456,656; Lipowitz, U.S. Pat. No. 5,083, 552; and Wintoniw, U.S. Pat. No. 4,041,938. Many of these devices take up a significant amount of room and can&#39;t be easily stored making them both less practical and less cost effective especially in a clinical or business setting where it would be very difficult to use the room or patient table for other forms of treatment.  
           [0011]    In the case of some semi-portable units such as described in Persaud, U.S. Pat. No. 4,984,568; Isabelle et al U.S. Pat. No. 5,203,322; and Laroche et al, U.S. Pat. No. 5,167,226; which require being clamped to a bed or connected to a support arm which is either clamped to a bed or wall, it would make access to using both sides of a bed limited which also then limits the scope of uses for the bed. Many professionals such as chiropractors, physiotherapists and massage therapists need to work from both sides of the bed so constantly moving and replacing such devices would be impractical. Many beds, therapy tables or other body support surfaces are constructed in numerous fashions and these devices would lack compatibility to most support surfaces.  
           [0012]    With automated therapeutic devices difficulties arise in following body contours. Lipowitz, U.S. Pat. No. 5,083,552; describes a complicated computer and sensor system requiring constant feedback to prevent binding or jamming of the applicator on a person. This is made more difficult because the applicator can&#39;t tip, which does not allow more of its surface area to conform with the body surface. Programming the vertical component is difficult as this parameter can change constantly simply with breathing.  
           [0013]    Skovira, U.S. Pat. No. 5,456,656; Cutone, U.S. Pat. No. 4,875, 470; and Wintoniw U.S. Pat. No. 4,041,938; describe massaging devices where the bulk of the working mechanism and the massaging apparatus are positioned directly above the user&#39;s body. This places more weight above the user and requires the base or supporting system to be much heavier and less portable. It also poses a greater risk of injury to the user if sensors and lift of the mechanism were to fail.  
           [0014]    Persaud, U.S. Pat. No. 4,984,568 describes a device with a pivotally mounted transverse arm or activating rod which provides reciprocal parallel linear movement for a massaging implement pivotally secured on the distal end of the actuating rod. As the massaging implement is moved longitudinally the arm moves about the pivot in a circumferential fashion requiring constant change in the acutating rod length to compensate for alignment of the implement over the body. Unfortunately, because of the circumferential movement of the massaging implement it will not remain parallel with the alignment of a body except at the very midline of it&#39;s arc. The massaging implement itself would have to rotate to compensate for this circumferential motion. A remote control joystick is available for the user however, this would require constant operation and would not seem overly relaxing. The implement only pivots as it moves transversely across the body and not longitudinally which can cause jamming or binding on the body due to contour changes which can lead to greater chance of injury.  
           [0015]    Skovira, U.S. Pat. No. 5,456,656; discloses a device which uses an off the shelf shiatsu type modality and that other modalities could be interchanged. For a device to be more effective and valuable this modality exchange needs to be quick and simple.  
           [0016]    Some of these aforementioned automated devices have a pivoting mechanism for the therapy implement however, they are located well above the contact surface again leading to greater binding forces and greater risk of injury. Safety is a concern whereby the user should be able to easily exit from treatment in case of panic, pain, or other emergency even if the device is operating and without greater risk of injury.  
         OBJECTS AND ADVANTAGES OF THE INVENTION  
         [0017]    Accordingly several objects and advantages of the invention are:  
           [0018]    a) to provide a machine that can safely take the place of a doctor or therapist in operating a variety of normally hand-held therapeutic modalities  
           [0019]    b) to provide a machine where various modalities can be interchanged quickly and easily.  
           [0020]    c) to provide a machine having an onboard programmable computer with hand-held controller capable of setting a multitude of parameters to suit a variety of modalities, which can be operated by the user with one hand while totally relaxed in any of a variety of positions for treatment such as prone, supine, side posture or sitting.  
           [0021]    d) to provide a machine which has a built in program which can be altered at any time by the doctor, therapist or user to suit the type of modality used, the type of therapy needed, the area to be treated or user preference.  
           [0022]    e) to provide a machine that is not tedious to operate but is rather safe, quick and easy to learn to operate for most people from children to seniors.  
           [0023]    f) to provide a machine that uses a simple but effective mechanical system to conform to the various body contours, overcome obstacles such as clothing or belts etc. as the user may be clothed and prevent binding with skin of an unclothed user, without the need for an elaborate sensor and feed back system.  
           [0024]    g) to provide a machine that is very safe whereby user programming mistakes or machine failure does not result in injury and the user can exit or shutdown the machine safely and easily anytime in case of panic or emergency even while the machine is operational.  
           [0025]    h) to provide a machine that has a simple but safe method for increasing or decreasing modality pressure on a body, without the need of hydraulics, motors and complicated pressure sensors while maintaining the easy escape feature even if the device is operating.  
           [0026]    i) to provide a machine with a power supply that will shut down if overloaded and drive motors that have a built in stall for safety.  
           [0027]    j) to provide a machine with a convertible power supply of either 110V-60 Hz or 220V-50 Hz which supplies a 12V power transformer to supply the controllers and drive motors for a safer system.  
           [0028]    k) to provide a machine with a programmable controller capable of pulse width motor control allowing cooler running of the power transistor, and reversing motor direction.  
           [0029]    l) to provide a machine with a variety of support bases including a height adjustable wall mounted swing arm system and a portable compact yet very stable base which resists tipping in any normal use and where these bases allow the device to be used in conjunction with almost any bed, bench, professional therapy table, couches, chairs etc.  
           [0030]    m) to provide a machine that is built in compact ergonomically designed components for ease of manufacture, service, installation, changing support bases, transport, set up or storage which also allows a doctor or therapist to use existing treatment rooms for multiple purposes.  
           [0031]    n) to provide a machine that self adjusts to a combination of size, shape, and support surface height.  
           [0032]    o) to provide a machine which reduces the transference of unwanted forces from modalities with there own built in action such as vibration, percussion, etc back to the machine.  
           [0033]    p) to provide a machine with high user satisfaction, comfort and therapeutic value making it both clinically and economically valuable.  
           [0034]    Further objects and advantages of the present invention will become apparent from the following descriptions, taken in connection with the accompanying drawings, wherein, by way of illustration and example, an embodiment of the present invention is disclosed.  
         SUMMARY OF THE INVENTION  
         [0035]    Briefly stated the invention is an automated multiaxis guidance device which safely takes the place of a doctor or therapist in the operation of a variety of normally handheld therapeutic modalities. The system includes an onboard programmable computer with handheld controller, interchangeable support bases providing superior versatility and portability, an automated vertically adjustable mast to compensate for varying body and support surface heights, a boom providing automated reciprocal longitudinal travel, an arm combining a double four bar mechanism with a modality receptacle providing superior adaptability of a variety of therapeutic modalities to varying body contours, while preventing binding or jamming on a body, clothes, or belts etc.  
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0036]    The drawings constitute a part of this specification and include exemplary embodiments to the invention, which may be embodied in various forms. It is to be understood that in some instances various aspects of the invention may be shown exaggerated or enlarged to facilitate an understanding of the invention.  
         [0037]    The foregoing summary, as well as the following detailed description of the presently preferred embodiments of the invention will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the invention, there is shown in the drawings, an embodiment which is presently preferred. It should be understood, however, that the present invention is not limited to the particular arrangement and instrumentality shown in the drawings:  
         [0038]    [0038]FIG. 1 is a side view of an automated multiaxis guidance device for automating therapeutic modalities;  
         [0039]    [0039]FIG. 2 is a front view of the automated multiaxis guidance device shown in FIG. 1, with the boom motor cover removed;  
         [0040]    [0040]FIG. 3 is a top plan view of the device shown in FIG. 1;  
         [0041]    [0041]FIG. 4 is a rearview look at the boom motor and electronics with the boom motor cover removed;  
         [0042]    [0042]FIG. 5A is a cross-sectioned view of the boom and arm carrier taken along lines  5   a - 5   a  of FIG. 3;  
         [0043]    [0043]FIG. 5B is a longitudinal crossectional view of the boom and arm carrier taken along lines  5   b - 5   b  of FIG. 3;  
         [0044]    [0044]FIG. 6A is a frontal view of an alternative embodiment of the optional adjustable wall mounted swing-arm support system.  
         [0045]    [0045]FIG. 6B is a top plan view of an alternative embodiment of the optional swing arm support system shown in FIG. 6A;  
         [0046]    [0046]FIG. 7 is a perspective view of the handheld control mouse.  
         [0047]    [0047]FIG. 8 is an overall block diagram of the various components making up the computer and electronics portion of the system;  
         [0048]    FIGS.  9 A- 9 E is a flow diagram illustrating the operation of the system of FIG. 8  
         [0049]    [0049]FIG. 10 schematically illustrates the programmable controller circuit board and electronics of the system of FIG. 8 
     
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT  
       [0050]    Detailed descriptions of the preferred embodiment are provided herein. It is to be understood, however, that the present invention may be embodied in various forms. Therefore, specific details disclosed herein are not to be interpreted as limiting, but rather as a basis for the claims and as a representative basis for teaching one skilled in the art to employ the present invention in virtually any appropriately detailed system, structure or manner.  
         [0051]    While the invention has been described in connection with a preferred embodiment, it is not intended to limit the scope of the invention to the particular form set forth, but on the contrary, it is intended to cover such alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims.  
         [0052]    Referring now to the drawings in detail, wherein like numerals indicate like elements throughout, there is shown in FIG. 1, a preferred embodiment of a device, generally designated  11 , for automating various normally hand held modalities (not shown) in accordance with the present invention.  
         [0053]    Referring now to FIGS.  1 - 3  in the present embodiment it is preferred that the automated multiaxis guidance device  11  has a portable base assembly  12  comprising a mast foot  13  and distal foot  14  joined at their posterior aspects by a cross beam  15  fastened by welds. Lockable casters  16  are affixed with bolts to the undersurface of mast foot  13  and distal foot  14 . It is understood by those skilled in the art that the particular joining of parts may be done by various means without departing from the spirit and scope of the invention. The mast foot  13  has a retractable stablizing leg  18  which slides in and out of the posterior aspect of mast foot  13 . The stabilizing leg  18  extends posteriorly for safety to prevent backward tipping of device  11  and retracts into mast foot  13  for easier transport or more compact storage of device  11 . Mast foot  13  and distal foot  14  are spaced well apart and are positioned forward relative to the more forward operating center of gravity of device  11 . The unique design is similar to that of a human stance preparing a stable balanced posture for lifting, working and for using a modality on another person. This unique design of portable base assembly  12  allows device  11  to be positioned properly for a multiple of modality therapies on a patient who may be prone, supine, side posture or sitting on a variety of body support surfaces (not shown) such as professional therapy tables, benches, couches, beds, chairs etc.  
         [0054]    Now referring to FIGS. 1 and 2 mast support post  20  extends vertically and is welded to the top of portable base assembly  12 . Mast assembly  22  sits vertically on base  12 , and is affixed in position by the mast support bracket  32  which wraps around mast support post  20  with mast anchor bolt  28  passing through mast platform  27  and mast assembly  22 .  
         [0055]    Mast assembly  22  has an outer housing  47  and a lid  45  which encase the working components of mast assembly  22 . Mast mounting plate  46  slides into mast assembly  22  and provides attachment for mast drive motor  38   a , mast idler sprocket  34 , upper limit switch  30   a  mast circuit interface  31   a , lower limit switch  30   b  and mast end sprocket  26 . Upper mast guide plate  44  is attached with standard nuts and bolts (not shown) to the upper end of mast mounting plate  46 . Lower mast guide plate  42  is welded to the lower end of mast  24 .  
         [0056]    A series of rollers  40  and mutlirollers  49  are mounted to upper mast guide plate  44  and lower mast guide plate  42 . As mast  24  moves vertically up or down it moves through the stationary upper mast guide plate  44  contacting rollers  40  and multirollers  49  for smooth fluent travel. Lower mast guide plate  42  travels vertically up and down with mast  24  while its rollers  40  and multirollers  49  contact mast mounting plate  46  and housing  47  providing fluid tracking of mast  24 .  
         [0057]    Mast drive chain  36  loops around mast drive sprocket  72 , mast idler sprocket  34  and mast end sprocket  26 . Mast drive sprocket  72  is powered by mast drive motor  38   a . A u-chain bracket  68  is welded to the back side of mast  24  within housing  47  and facing mast drive chain  36 . U-chain bracket  68  attaches mast  24  to mast drive chain  36  with a standard nut and bolt (not shown).  
         [0058]    Referring now to FIGS. 1,2 &amp;  8 , onboard computer  50  supplied by power cord  54 , is surrounded by casing  55 , covered on top by lid  45 , on the bottom by pan  57  and is attached to the outside of mast assembly  22  with standard screws(not shown). Onboard computer  50  comprises a programmable controller circuit board  51 , DC Power supply  52 , AC relay  53 , handheld controller  172 , encoder  81 , and a series of limit switches  30   a - e . Handheld controller  172  connects to onboard computer  50  via controller cable  62  which plugs into computer port  60 . Arm limit switch  30   e  connects to onboard computer  50  via arm wiring  66  which plugs into arm wiring port  58 . An emergency shutoff  64   a  located on onboard computer  50  is available in the event the operator forgets how to use the handheld controller or panics. An override shutoff  64   b  is located on the back of mast assembly  22  which can overide the operator using handheld controller  172 .  
         [0059]    Referring now to FIG. 2 &amp;7, handheld controller  172  is connected to onboard computer  50  via controller cable  62  which plugs into controller port  200  located on the side of handheld controller  172 . Handheld controller  172  comprises speed control  202 , start/stop button  204 , reverse limit button  206 , pause button  208  and forward limit button  210  which are used to set the parameters of treatment desired by the operator of device  11  or by the doctor or therapist for parameters required for a specific modality or a specific type of therapy.  
         [0060]    Referring now to FIG. 8 block diagram of device electronics describing the components within the 12 volt DC maximum voltage, and those components outside the 12 volt DC maximum voltage. Drive motors  38   a - b , handheld controller  172 , limit switches  30   a - e , encoder  81  and emergency shutoff  64   a  all connect to programmable controller circuit board  51  within the 12 volt DC maximum voltage. DC power supply  52 , AC relay  53 , and the modality remain outside the 12 volt maximum voltage with the modality connecting to AC relay  53  which in turn connects to both programmable controller circuit board  51  and DC power supply  52  with DC power supply  52  also connecting to programmable controller circuit board  51 .  
         [0061]    Referring now to FIGS.  2  to  4  boom assembly  74  attaches to the top of mast  24  with boom anchor bolts  92 . Boom assembly  74  is aligned horizontally and parallel to the floor and perpendicular to mast  24 . Boom  78  makes up the structural core of boom assembly  74  and is covered for both safety and esthetics at one end by boom motor cover  76  and cover plate  77  while boom housing  75  covers the rest of boom  78 . Boom motor cover  76  houses several components including boom drive motor  38   b , which turns boom drive sprocket  82 , in turn powering boom chain  88 . Boom idler sprocket  86  is positioned between boom chain  88  providing proper alignment and tracking of boom chain  88 . Encoder sprocket  84  is in contact with boom chain  88  and is rotated according to forward or reverse movement of boom chain  88 . These rotations are counted by encoder  81  attached to encoder sprocket  84  for determining position of arm assembly  102  on boom  78  and the soft limits of travel for arm assembly  102  programmed in onboard computer  50 . Boom end sprocket  90  is located at the distal end of boom  78 . End sprocket adjustment screw  89  adjusts boom end sprocket  90  to set proper tension of boom chain  88 . Proximal limit switch  30   c  and distal limit switch  30   d  determine the hard limits of travel for arm carrier  94  and attached arm assembly  102  as they travel along boom  78 . Encoder  81 , proximal limit switch  30   c  and distal limit switch  30   d  are wired to the boom circuit interface  31   b  attached to the back side of boom  78  within boom motor cover  76 . Boom wiring port  158  is mounted on boom circuit interface  31   b . Wiring bundle  70  connects boom wiring port  158  and boom drive motor  38   b  to onboard computer  50 .  
         [0062]    Referring now to FIGS. 3, 5A &amp;  5 B, boom chain  88  attaches to arm carrier  94  via motor side boom chain anchor  168  and outboard boom chain anchor  166  with standard nuts and bolts (not shown). A switch tripping tab  170  is located on motor side boom chain anchor  168 . Arm carrier  94  rolls smoothly back and forth along boom  78  due to a series of bearings mounted to arm carrier  94  with standard bolt  163 , large washer  162  and standard nut  164 . Arm mounting bolts  103  are for attachment of arm assembly  102 .  
         [0063]    Referring now to FIGS. 1, 2,  3 , arm assembly  102  is mounted to arm carrier  94  with arm mounting bolts  103  passing through arm carrier  94  and lower arm bracket  104  of arm assembly  102  and affixed with arm mounting nuts  105 . If optional locking arm hinge  98  is used then shorter bolts and nuts (not shown) are used to affix arm hinge  98  to arm carrier  94 . Arm mounting bolts  103  can then attach arm assembly  102  to arm hinge  98 .  
         [0064]    Arm assembly  102  includes a double four bar mechanism comprised of four bar mechanism A  96  mounted perpendicular to and attached to arm carrier  94  of boom assembly  74  and four bar mechanism B  100 , mounted to upper arm bracket  130  of four bar mechanism A  96  at its superior end of links  132  with bearing shoulder bolts  136  which pass through long bearing bushing  142  within upper arm bracket  130  and though small washer  143  before threading into links  132 . Arm assembly  102  also includes modality receptacle  138  attached at its inferior end to the inferior end of links  132  with bearing shoulder bolts  136  passing through bearing dowels  134  within links  132  and threading into the inferior end of modality receptacle  138 . Receptacle spring  140  connects between modality receptacle  138  at its top corner and the upper end of upper arm bracket  130  with receptacle spring anchors  141 . Receptable spring  140  is expanded building rebound tension as modality receptacle  138  and respective modality tips either direction around its axis following body contours with the resulting tension aiding this smooth contouring action and reducing binding forces. Receptacle weights  139  may be attached to or removed from modality receptacle  138  as one method of easily varying modality pressure without altering the safety of the double four bar mechanism of arm assembly  102 . It would be understood by those skilled in the art that this is an example of one method that has many variations without departing from the spirit and scope of the invention. For example the weighting could also be attached to or built into the modality adaptor or a sliding weight system built into upper arm tube  106  of four bar mechanism A  96 . Four bar mechanism A  96  has upper arm tube  106  and lower arm tube  114  connecting lower arm bracket  104  and upper arm bracket  130 . Arm pins  108  slide through upper arm tube  106 , lower arm tube  114  and short bushings  110  found within each side of lower arm bracket  104  and upper arm bracket  130  providing proper movement of four bar mechanism A  96 .  
         [0065]    Arm locking pin  112  locks arm assembly  102  in its upper most position when not in use for more compact storage or easier transportation. Arm locking pin  112  comprises a spring loaded mechanism (not shown) within upper arm tube  106  however this mechanism is well understood by those skilled in the art and represents only one of many methods that may be used for this purpose without departing from the spirit and scope of the invention.  
         [0066]    Arm assembly  102  includes an adjustable modality counterweighting spring mechanism  116  located within lower arm tube  114 . The components comprising the adjustable modality counterweight spring mechanism  116  include expansion spring  116  connected at each end to eye bolts  118 , with the distal eyebolt  118  passing through L-bracket anchor  122  and locked in place with adjusting nut  120 . L-bracket anchor  122  wraps around arm pain  108  to anchor it&#39;s position in place. Proximal eyebolt  118  passes through spring link  128  and locks in position with adjusting nut  120 . Springlink  128  is attached to arm rest  124  with a standard nut and bolt (not shown). Arm rest  124  exits a recess cut out of the top proximal end of lower arm tube  114 , enters the proximal end of upper arm tube  106  wrapping around arm pin  108  to lock in place.  
         [0067]    Modality counterweighting spring mechanism  116  is adjustable for tension by tightening adjusting nuts  120  on eye bolts  118  to compensate for varying weights of modalities or pressure desired. A slight positive lift on arm assemble  102  and the respective modality by modality counterweighting spring mechanism  116  is often desirable to assist the smooth body contouring action of device  11 .  
         [0068]    Referring now to FIGS. 1 &amp; 2 modality adaptor  145  connects to modality receptacle  138  with receptacle lock  144  yet allows rotation of modality adaptor  145 , 90 degrees which is important as some modalities provide a different pattern of therapy by simply rotating them. Rotational stop  148  is attached to mounting bracket  146  of modality adaptor  145  providing a stopping point at either end of the 90 degree rotation pattern. The receptacle lock  144  is demonstrating one method of quick attachment for various modality adaptors  145  however, it would be understood by those skilled in the art that several means of quick attachment of the various modality adaptors (not shown) could be configured to provide the same end result without departing from the spirit and scope of the invention.  
         [0069]    Modality adaptor  145  has a mounting bracket  146  to which are attached handle brackets  150   a  and  150   b  with small bolts(not shown) and rubber bushings  152  positioned between mounting bracket  146  and handle brackets  150   a  and  150   b . Rubber handle bushing  154  are positioned within handle brackets  150   a  and  150   b  to conform and grip the handle and finger space of a specific modality when tightened down by handle locks  156 . Rubber bushing  152  and rubber handle bushing  154  of modality adaptor  145  minimize the transference of unwanted vibrational forces from self powered modalities to the user or to the device  11 .  
         [0070]    It should be noted that the modality adaptor  145  described herein is specific to a modality commonly used in the health care field, however it would be understood by those skilled in the art that although the basic features described herein may be used in adaptors for many other modalities, the size, shape, weight, positioning and/or materials used in construction of the different modality adaptors may vary due to the varying features of each modality and the type of treatment produced without departing from the spirit and scope of the invention.  
         [0071]    Referring now to FIGS.  9 A- 9 E representing a flow diagram which illustrates the operation of the electrical components of device  11  as represented in FIG. 8. The resultant function is displayed following initiation of start/stop button  204 , speed control  202 , pause button  208 , forward limit button  210 , reverse limit button  206 , the triggering of arm limit switch  30   e  and encoder  81 .  
         [0072]    Referring now to FIG. 10, showing a detailed electrical schematic of programmable controller circuit board  51  and its connection to AC relay  53 , mast drive motor  38   a , boom drive motor  38   b , limit switches  30   a - e , encoder  81 , handheld controller  172  and its respective speed control  202 , start/stop button  204 , reverse limit button  206 , pause button  208  and forward limit button  210 .  
         [0073]    [0073]FIG. 6A &amp;  6 B—Additional Embodiments.  
         [0074]    Additional embodiments are shown in FIG. 6A &amp; 6B showing an alternative mounting system for device  11  other than portable base assembly  12 . Swing arm system  174  is an optional adjustable wall mounted support system which mounts to wall  176  with mounting screws or bolts  182  passing through mounting plate  178  and anchoring to the structural supports of wall  176 . Lower swing arm  184   a  and upper swing arm  184   b  are joined in the middle by large bearing  180  and its attached positioning discs  186 . A second large bearing  180  and positioning discs  186  join the proximal end of lower swimg arm  184   a  and mounting plate  178 . A third large bearing  180  and positioning discs join the distal end of upper swimg arm  184   b  with vertical track  192 . Each large bearing  180  has two positioning discs  186 , one with a number of positioning holes  188  while the opposing disc has a single hole through which passes positioning pin  190  which is attached to one side of large bearing  180  and one of the opposing positioning discs  186 . Mast platform  27  and attached mast support  20  are affixed to vertical rail  194  which can slide up or down in a vertical fashion within vertical track  192  then locked into the desired height position by positioning pin  190 .  
         [0075]    It should be noted that various design changes could be used in the afformentioned swing arm system  174  without departing from the spirit and scope of the invention. For example, positioning pins  190  show a spring loaded pin mechanism however any number of position locking systems such as electromagnetic locks could be used. The wall mounted swing arm system  174  could also be designed with the arms and bearings rotated  90  degrees so the bending action is in the vertical plane as long as the mast attachments are rotated to keep the mast vertical. An additional design for a wall mounting system is a dual four bar parallel mechanism in which two separate four bar mechanisms are joined end to end with the proximal end of the first four bar mechanism attached to a wall mounting plate while the distal end of the second four bar mechanism attaches to the mast mounting components whereby such a design always keeps mast platform  27  level and mast  24  vertical.  
         [0076]    Mast assembly  22  of device  11  can be quickly switched back and forth between mast platform  27  of portable base assembly  12  and mast platform  27  of swing arm system  174 .  
         [0077]    Advantages—From the description above a number of advantages of the automated multiaxis guidance device become evident:  
         [0078]    a) The device is extremely portable and can easily be moved from room to room, or from storage position to operating position and back.  
         [0079]    b) The device is versatile in that it can accommodate a variety of modalities, compensate for varying body types and sizes, provide a wide array of therapies, treat numerous areas on a body and treat a person in various postures such as prone supine, side posture or sitting while on a variety of support surfaces.  
         [0080]    c) The device is compact and can be moved and stored out of the way while a therapy room is used for other therapies or treatments.  
         [0081]    d) The device can take the place of a doctor or therapist in operating a variety of normally handheld modalities.  
         [0082]    e) A doctor or therapist can attend to more patients as some patients may be getting a pre or post therapy using the device.  
         [0083]    f) A variety of modalities can be interchanged quickly and easily.  
         [0084]    g) The user can be clothed for many of the massaging type therapies as the unique body contouring action reduces binding forces and prevents snagging or catching on clothing without the need of an elaboratge sensor and feedback system.  
         [0085]    h) The unique design and programming allows the user to control and or change the program parameters with a minimum amount of time or effort allowing for greater relaxation and therapeutic benefit.  
         [0086]    i) The device is extremely safe where system failure or programming mistakes cannot lead to added forces placed upon the user and the user can exit from the device safely even during operation if an emergency or panic situation were to arise.  
         [0087]    j) The variety of device mounting support surfaces such as the portable base and the wall mounted swing arm system add a unique advantage to the device as the interchangability is quick and easy with one support being more portable while the other support can adapt the device to tables and benches of greater height although the portable system can adjust to most combinations of standard tables or benches and varying body sizes.  
         [0088]    k) The device has a built in convertable power supply between 110v-60 Hz or 220v-50 Hz making it readily saleable in many countries.  
         [0089]    Operation FIGS. 1, 2,  3 ,  7 ,  9 A-E  
         [0090]    The operation of the automated multiaxis guidance device begins with choosing the desired modality and fitting it to the appropriate modality adaptor  145 . In the example described the modality handles are placed between the rubber handle bushings  154  and tightened with handle locks  156 . Modality adaptor  145  is then attached to modality receptacle  138  with receptacle lock  144 . The modality can be rotated 90 degrees which is desirable for some modalities and therapies. This is done by slightly loosening receptacle lock  144  and rotating modality adaptor  145  until it contacts the rotation stop  148 , then simply retighten receptacle lock  144 .  
         [0091]    Device  11  is rolled into position for use on lockable casters  16  with boom  78  usually aligned parallel to the users body or part of the body being treated. For accurate positioning arm assembly  102  is lowered by pulling up on arm locking pin  112  and the modality is positioned over the area to be treated before locking in casters  16 . Before turning on device  11  retractable stabilizing leg  18  is extended for added safety.  
         [0092]    Before device  11  will operate, the power switch of the attached modality must be in the on position with the modality plugged into modality power outlet  56 , power cord  54  must be plugged in and both emergency shut off  64   a  and override shut off  64   b  must be in the on position. If device  11  was stopped for any reason during its operation by either unplugging it, using emergency shut off  64   a  or override shut off  64   b , device  11  stops in its position immediately and when restarted will first return to its home position ready for operation. Now either a doctor, therapist or the operator of device  11  may start therapy by pushing start/stop button  204  of handheld controller  172  toggling device  11  to the on mode. With arm assembly  102  unlocked it sits just below a horizontal position and rests on arm limit switch  30   e . When start/stop button  204  is depressed, arm carrier  94  moves along boom  78  to the starting position for the preprogrammed pattern where it stops and waits as mast drive motor  38   a  engages to lower mast  24  until the modality contacts a body or part of a body to be treated raising arm assembly  102  to approximate horizontal and lifting it off arm limit switch  30   e . At this time mast drive motor  38   a  stops and boom drive motor  38   b  is engaged moving arm carrier  94  back and forth along boom  78  in the preprogrammed pattern while at the same time power to the modality is initiated through AC relay  53  turning on the modality.  
         [0093]    The modality will continue on this preprogrammed pattern unless parameters are changed using handheld controller  172 . To change the forward limit of travel hold down forward limit button  210  until the desired end point of travel is reached and release forward limit button  210 . If arm carrier  94  is moving away from the present reverse limit setting at the time of setting the forward limit then arm carrier  94  will reverse its direction of travel back toward the reverse limit when forward limit button  210  is pressed and released setting a new forward limit parameter. If arm carrier  94  is moving toward the present reverse limit setting at the time of pressing and releasing forward limit button  210 , arm carrier  94  will stop reverse slightly, briefly testing this new forward limit parameter, before reversing again to move in its original direction toward the reverse limit setting.  
         [0094]    To set the reverse limit of travel the procedures are the same as for setting the forward limits described above except the pattern is reversed in direction with reverse limit button  206  being used.  
         [0095]    Pause button  208 , is used stop the modality in a specific area for a more localized or concentrated treatment if desired. Simply press and release the pause button  208  to stop the travel of arm carrier  94 . To resume travel of arm carrier  94  simply press and release pause button  208  once again and arm carrier  94  will resume moving within the parameters that were last programmed prior to pausing. Speed of travel of arm carrier  94  and the respective modality can be increased or decreased as desired with speed control  202 .  
         [0096]    During operation, four bar mechanism A  96  of arm assembly  102  compensates for varying heights of the body or part of a body being treated as the modality travels along its course. In some cases where there is a large variation such as a person with a large chest size and small waist size the modality may drop down enough causing four bar mechanism A  96  to again contact arm limit switch  30   e  engaging mast drive motor  38   a  further lowering mast  24  until four bar mechanism A  96  is off arm limit switch  30   e  stopping mast drive motor  38   a . This resets mast  24  height to provide a good average range of up and down travel of four bar mechanism A  96  as determined by body shape and size which also helps provide maximum modality to body surface area contact.  
         [0097]    As a modality moves along a body or part of a body the up and down action of four bar mechanism A  96  maintains modality level while raising and lowering the modality according to height of the body surface. As the modality travels along a body or part of a body four bar mechanism B  100  provide a tilting and tipping action of the modality compensating for various curves or slopes of a body or part of a body thereby maintaining maximum modality to surface area contact and reduced binding forces of a modality on skin or clothing. Four bar mechanism B  100  achieves this operation by moving the effective pivot point of the modality to below the contact surface with the body.  
         [0098]    In order to stop the operation of device  11  simple press and release start/stop button  204  which will shut off power to the modality, engage mast drive motor  38   a  to raise mast  24  to maximum height lifting arm assembly  102  and respective modality off the operator and then engage boom drive motor  38   b  to return arm carrier  94  to the home position. If either emergency shut off  64   a  or override shutoff  64   b  are engaged during operation device  11  will immediately stop in its present position overiding handheld controller  172 . If during operation the operator exits therapy without stopping device  11  or if device  11  is turned on without anyone lying under it, mast  24  will lower until it contacts lower limit switch  30   b  which then begins the shutdown process of device  11  returning it to the home position and turning off.  
         [0099]    Operation of Additional Embodiments FIG. 6A &amp; 6B  
         [0100]    Swing arm system  174  is an alternative mounting system for device  11 . To position device  11  for therapy using swing arm system  174  release positioning pins  190  and extend upper swimg  184   b  and lower swing arm  184   a  while rotating vertical track  192  to align boom  78  parallel to the body and the modality directly over the area to be treated. When the desired position is achieved engage positioning pins  190  into positioning holes  188 . If a higher or lower position of mast assemly  22  is desired simply release positioning pin  190  on vertical track  192  and slide vertical rail  194  up or down to a desired level and lock into position by engaging positioning pin  190 .  
       CONCLUSIONS, RAMIFICATIONS AND SCOPE  
       [0101]    Accordingly the reader will see that the automated multiaxis guidance device of this invention can be used to automate numerous therapeutic modalities, has a variety of support bases, is extremely portable and can accommodate the user in a variety of postures on various body support surfaces. In addition the modalities can be interchanged quickly and easily providing the ability to accommodate numerous types of therapy with one device.  
         [0102]    Furthermore the automated multiaxis guidance device has the additional advantages in that:  
         [0103]    it&#39;s compact design allows for easy transportability and storage.  
         [0104]    it can be programmed easily by the user as well as the doctor or therapist and because the programming is simple to operate the user can maintain a very relaxed state throughout the course of treatment maximizing the therapeutic benefits.  
         [0105]    it provides an extreme level of safety in that programming errors do not result in increased pressure or binding forces placed on the body of the user therefore will not lead to injury and if the user exits the device during operation they will not hurt themselves or damage the device.  
         [0106]    modular design of the device allows for easy assembly or disassembly of the various components so the device is more amenable to shipping or repairs if needed.  
         [0107]    it can provide a therapy or portion of a treatment without the doctor or therapist being present allowing the doctor or therapist to perform other treatments at the same time which makes the device not only therapeutically valuable but economically valuable as well.  
         [0108]    it&#39;s unique design with the double four bar mechanism of the arm assembly provides optimal modality contact, comfort and safety by it&#39;s ability to follow changes in body size and contours while minimizing any binding forces being applied to the body which allows the user to be clothed for many types of modalities if desired.  
         [0109]    Although the description above contains many specificities, these should not be construed as limiting the scope of the invention but as merely providing illustrations of some of the presently preferred embodiments of this invention. For example the device could have a motorized portable base; height extension for the mast; power lift for the arm assembly; powered rotation of the modality; parts made of different materials such as the boom which could be cast in aluminum instead of steel fabrication; a timer and coin operation etc.  
         [0110]    Thus, the scope of the invention should be determined by the appended claims and their legal equivalents, rather than by the examples given.  
                                             LIST OF REFERENCE NUMERALS                                    Automated multiaxis guidance device    11           Portable base assembly    12           Mast foot    13           Distal foot    14           Base cross beam    15           Lockable casters    16           Retractable stabilizing leg    18           Mast support post    20           Mast assembly    22           Mast    24           Mast end sprocket    26           Mast Platform    27           Mast anchor bolt    28           Mast - upper limit switch    30a           Mast - lower limit switch    30b           Boom - Proximal limit switch    30c           Boom - Distal limit switch    30d           Arm Limit switch    30e           Mast circuit interface    31a           Boom circuit interface    31b           Mast support bracket    32           Mast idler sprocket    34           Mast drive chain    36           Mast drive motor    38a           Boom drive motor    38b           Roller    40           Lower mast guide place    42           Upper mast guide plate    44           Lid    45           Mast mounting plate    46           Housing    47           Mast counterweight spring    48           Multi roller    49           Onboard computer    50           Programmable controller    51           Circuit board           D.C. Power Supply    52           A.C. Relay    53           Power cord    54           Casing    55           Modality power outlet    56           Pan    57           Arm wiring port    58           Computer port    60           Handheld controller cable    62           Emergency - shut off    64a           Override - shut off    64b           Arm wiring    66           U-chain Bracket    68           Wiring bundle-(boom motor    70           Encoder, limit switch)           Mast drive sprocket    72           Boom assembly    74           Boom Housing    75           Boom motor cover    76           Cover plate    77           Boom    78           Encoder    81           Boom drive sprocket    82           Encoder sprocket    84           Boom Idler sprocket    86           Boom chain    88           End sprocket adjustment screw    89           Boom end sprocket    90           Boom anchors(bolts)    92           Arm carrier    94           Four bar mechanism A    96           Optional locking arm hinge    98           Four bar mechanism B   100           Arm assembly   102           Arm mounting bolts   103           Lower arm bracket   104           Arm mounting nuts   105           Upper arm tube   106           Arm pins   108           Short brushings   110           Arm locking pin   112           Lower arm tube   114           Adjustable modality   116           counterweighting spring mechanism           Eye bolts   118           Adjusting nut   120           L-bracket anchor   122           Arm rest   124           Spring(expansion spring)   126           Spring link   128           Upper arm bracket   130           Links   132           Bearing dowels   134           Bearing shoulder bolts   136           Modality receptacle   138           Receptacle weight   139           Receptacle spring   140           Receptacle spring anchors   141           Long bearing bushings   142           Small washer   143           Receptacle lock   144           Modality adaptor   145           Mounting bracket   146           Rotation stop   148           Handle brackets   150a               150b           Rubber bushing   152           Rubber handle bushing   154           Handle locks   156           Boom Wiring port   158           Bearings   160           Large washer   162           Standart bolt   163           Standard nut   164           Outboard boom chain anchor   166           Motor side boom chain anchor   168           Switch tripping tab   170           Handheld controller   172           Swing arm system   174           Wall   176           Mounting plate   178           Large bearings   180           Mounting screws or bolts   182           Upper swing arm   184b           Lower swing arm   184a           Position adjustment discs   186           Position adjustment holes   188           Positioning Pin   190           Vertical track   192           Vertical rail   194           Controller port   200           Speed control   202           Start/stop button   204           Reverse limit button   206           Pause button   208           Forward limit button   210
A multiaxis guidance device which is automated and programmable safely taking the place of a doctor or therapist in operating a variety of normally handheld therapeutic modalities. The device includes a base comprising either a portable base or a wall mounted swing arm. A vertical mast which automatically raises when shut off for more compact storage or to accomodate an operator exiting the device and automatically lowers for appropriate modality operating height when turned on. A horizontal boom mounted to the mast providing reciprocal longitudinal axial travel of the modalities. An arm mounted perpendicular to the boom comprising a unique double four bar mechanism and receptacle for attaching a variety of modalities which automatically compensates for varying body contours by raising and lowering vertically while simultaneously tipping and rotating around the transverse axis. An onboard computer comprising various sensors and a handheld controller which determine starting mast height for best modality to body contact and can be preprogrammed or reprogrammed at any time for speed of modality travel and a multitude of longitudinal travel parameters.