Articulating arm limiter for cavitational ultrasound therapy system
Methods and devices for manipulating an articulating arm of an ultrasound therapy system are provided. In one embodiment an articulating arm comprises a first articulating arm link, a second articulating arm link, a rotating joint configured to rotationally connect the first articulating arm link to the second articulating arm link so that the first and second articulating arm links are substantially perpendicular, and an arm limiter attached to the second articulating arm link, the arm limiter being configured to limit rotation of the second articulating arm link along the rotating joint with respect to the first articulating arm link. An ultrasound therapy transducer and imaging system can be mounted on the articulating arm. Methods for performing manipulating the arm and system are also provided.
1. An articulating arm, comprising:
a first articulating arm link;
a second articulating arm link;
a rotating joint configured to rotationally connect the first articulating arm link to the second articulating arm link so that the first and second articulating arm links are perpendicular;
an arm limiter attached to the second articulating arm link, the arm limiter being configured to limit rotation of the second articulating arm link along the rotating joint with respect to the first articulating arm link; and
a weight compensator attached to the first articulating arm link and configured to reduce a load on the articulating arm, wherein the arm limiter is set to an appropriate angle in order to prevent undesirable recoiling of the weight compensator and therefore jerk motion on the end of the articulating arm.
2. The articulating arm of claim 1 , the arm limiter further comprising a collar portion and a stop limiting portion, the collar portion and the stop limiting portion being configured to attach together around the second articulating arm link.
3. The articulating arm of claim 2 , wherein the stop limiting portion includes cutouts configured to engage with and conform to the first articulating link when a specified maximum rotation of the second articulating arm has been reached.
4. An ultrasound therapy system, comprising:
an articulating arm having a first articulating arm link, a second articulating arm link, a rotating joint configured to rotationally connect the first articulating arm link to the second articulating arm link so that the first and second articulating arm links are perpendicular, and an arm limiter attached to the second articulating arm link, the arm limiter being configured to limit rotation of the second articulating arm link along the rotating joint with respect to the first articulating arm link;
a weight compensator attached to the first articulating arm link and configured to reduce a load on the articulating arm, wherein the arm limiter is set to an appropriate angle in order to prevent undesirable recoiling of the weight compensator and therefore jerk motion on the end of the articulating arm;
an ultrasound therapy transducer mounted to the articulating arm; and
an imaging system mounted to the articulating arm.
5. The system of claim 4 , further comprising a handle portion coupled to the articulating arm, wherein manipulation of the handle portion adjusts the articulating arm from a locked configuration in which the articulating arm cannot be moved to an unlocked configuration in which the articulating arm can be moved and positioned.