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A laser irradiation apparatus is provided with a laser oscillator, an articulated beam propagator in which a plurality of pipes are connected to each other in an articulated portion, and a course change means of a laser beam in the articulated portion. At least one pipe of the plurality of pipes inc

A laser irradiation apparatus is provided with a laser oscillator, an articulated beam propagator in which a plurality of pipes are connected to each other in an articulated portion, and a course change means of a laser beam in the articulated portion. At least one pipe of the plurality of pipes includes a transfer lens for suppressing stagger of a laser beam in a traveling direction, in each pipe. The articulated portion produces degree of freedom in disposition of a laser oscillator, and the transfer lens enables suppression of change in beam profile.

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1. A laser irradiation apparatus comprising: a laser oscillator; andan articulated beam propagator configured to propagate a laser beam produced by the laser oscillator,an optical system configured to shape a beam shape of the laser beam emitted from an end of the articulated beam propagator into a

1. A laser irradiation apparatus comprising: a laser oscillator; andan articulated beam propagator configured to propagate a laser beam produced by the laser oscillator,an optical system configured to shape a beam shape of the laser beam emitted from an end of the articulated beam propagator into a linear shape on an irradiation surface;wherein the articulated beam propagator comprises: at least first and second articulated portions;a plurality of pipes, wherein one end of a first one of the plurality of pipes is connected to one end of a second one of the plurality of pipes through the first articulated portion, and wherein the other end of the first one of the plurality of pipes is connected to one end of a third one of the plurality of pipes through the second articulated portion;at least first and second course changers of the laser beam, the first and second course changers located in the first and second articulated portions respectively; anda lens included inside the first one of the plurality of pipes,wherein the lens is disposed so that the first and second course changers are conjugated to each other. 2. The laser irradiation apparatus according to claim 1 further comprising: a means for moving a position of the optical system; anda means for relatively scanning the laser beam which passed through the optical system, with respect to an object to be irradiated with the laser beam. 3. The laser irradiation apparatus according to claim 1 further comprising: a means for moving a position of the optical system;a means for relatively scanning the laser beam which passed through the optical system, with respect to an object to be irradiated which is irradiated with the laser beam;a camera for obtaining positional information of a marker formed over the object to be irradiated; anda means for determining an irradiation position of the laser beam based on the marker. 4. The laser irradiation apparatus according to claim 1, wherein a joint is located in each of the first and second articulated portions,wherein the joint is rotatable with respect to a plane by which each of the first and second articulated portions and each of the plurality of pipes are connected to each other. 5. The laser irradiation apparatus according to claim 1, wherein each of the first and second course changers is a mirror or a prism. 6. The laser irradiation apparatus according to claim 1, wherein the optical system include an imaging lens, andwherein the imaging lens is disposed so that one of the first and second course changers by which the laser beam is finally reflected, and the irradiation surface which is irradiated with the laser beam, are conjugated to each other. 7. A laser irradiation apparatus comprising: a laser oscillator;an articulated beam propagator configured to propagate a laser beam produced by the laser oscillator; andan optical system configured to shape a beam shape of the laser beam emitted from an end of the articulated beam propagator into a linear shape on an irradiation surface;wherein the articulated beam propagator comprises: first, second, and third pipes;a first articulated portion connected to one end of the first pipe and one end of the second pipe;a second articulated portion connected to the other end of the first pipe and one end of the third pipe;a slit provided in the other end of the third pipe from which the laser beam is emitted;a first course changer of the laser beam, the first course changer located in the first articulated portion;a second course changer of the laser beam, the second course changer located in the second articulated portion; andfirst and second lenses included inside the first and second pipes respectively,wherein the optical system is provided between the slit and the irradiation surface,wherein the second lens is disposed so that an emission opening of the laser oscillator and the first course changer are conjugated to each other, andwherein the first lens is disposed so that the first course changer and the second course changer are conjugated to each other. 8. The laser irradiation apparatus according to claim 7 further comprising: a means for moving a position of the optical system; anda means for relatively scanning the laser beam which passed through the optical system, with respect to an object to be irradiated with the laser beam. 9. The laser irradiation apparatus according to claim 7 further comprising: a means for moving a position of the optical system;a means for relatively scanning the laser beam which passed through the optical system, with respect to an object to be irradiated which is irradiated with the laser beam;a camera for obtaining positional information of a marker formed over the object to be irradiated; anda means for determining an irradiation position of the laser beam based on the marker. 10. The laser irradiation apparatus according to claim 7, wherein the articulated beam propagator further comprises a third lens disposed so that the slit and an irradiated surface with the laser beam are conjugated to each other. 11. The laser irradiation apparatus according to claim 7, wherein a joint is located in each of the first and second articulated portions,wherein the joint is rotatable with respect to a plane by which each of the first and second articulated portions and each of the first, second, and third pipes are connected to each other. 12. The laser irradiation apparatus according to claim 7, wherein each of the first course changer and the second course changer is a mirror or a prism. 13. The laser irradiation apparatus according to claim 7, wherein the optical system include an imaging lens, andwherein the imaging lens is disposed so that one of the first course changer and the second course changer by which the laser beam is finally reflected, and the irradiation surface which is irradiated with the laser beam, are conjugated to each other. 14. The laser irradiation apparatus according to claim 7, further comprising a third lens adjacent to the laser oscillator, wherein the third lens is configured to change a diameter of the laser beam produced by the laser oscillator. 15. A laser irradiation apparatus comprising: a plurality of laser oscillators; anda plurality of articulated beam propagators, each of the plurality of articulated beam propagators configured to propagate a laser beam produced by each of the plurality of laser oscillators respectively; anda plurality of optical systems, each of the plurality of optical systems configured to shape a beam shape of the laser beam emitted from an end of each of the plurality of articulated beam propagator into a linear shape on an irradiation surface;wherein each of the plurality of articulated beam propagators comprises: at least first and second articulated portions;a plurality of pipes, wherein one end of a first one of the plurality of pipes is connected to one end of a second one of the plurality of pipes through the first articulated portion, and wherein the other end of the first one of the plurality of pipes is connected to one end of a third one of the plurality of pipes through the second articulated portion;first and second course changers of the laser beam, the first and second course changers located in the first and second articulated portions respectively; anda lens included inside the first one of the plurality of pipes,wherein the lens is disposed so that the first and second course changers are conjugated to each other. 16. The laser irradiation apparatus according to claim 15 further comprising: a means for moving a position of each of the plurality of optical systems; anda means for relatively scanning the laser beam which passed through each of the plurality of optical systems, with respect to an object to be irradiated with the laser beam. 17. The laser irradiation apparatus according to claim 15 further comprising: a means for moving a position of each of the plurality of optical systems;a means for relatively scanning the laser beam which passed through each of the plurality of optical systems, with respect to an object to be irradiated which is irradiated with the laser beam;a camera for obtaining positional information of a marker formed over the object to be irradiated; anda means for determining an irradiation position of the laser beam based on the marker. 18. The laser irradiation apparatus according to claim 15, wherein a joint is located in each of the first and second articulated portions,wherein the joint is rotatable with respect to a plane by which each of the first and second articulated portions and each of the plurality of pipes are connected to each other. 19. The laser irradiation apparatus according to claim 15, wherein each of the first and second course changers is a mirror or a prism. 20. The laser irradiation apparatus according to claim 15, wherein the optical system include an imaging lens, andwherein the imaging lens is disposed so that one of the first and second course changers by which the laser beam is finally reflected, and the irradiation surface which is irradiated with the laser beam, are conjugated to each other.