Articulating Arm Limiter to Prevent Ultrasound Transducer Recoil
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Solution Overview
Problem
Existing ultrasound therapy systems for Histotripsy and Lithotripsy face challenges in precise control and safety due to the sensitivity of acoustic cavitation parameters and the potential for sudden jerks from weight compensators, which can lead to tissue damage or inefficiency in treatment.
Innovation Solution
An articulating arm system with a weight compensator and arm limiter is introduced, featuring a rotating joint and adjustable arm limiter to restrict rotation and prevent recoil, ensuring controlled movement and positioning of ultrasound therapy transducers and imaging systems, thereby enhancing safety and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an articulating arm with weight compensator is used to support ultrasound therapy systems, then the ease of operation is improved by reducing user load, but the reliability deteriorates due to potential sudden jerks from weight compensator recoil
Solution Approach 1:
The arm limiter is configured to prevent the articulating arm from reaching positions that would cause weight compensator recoil. By establishing mechanical rotation limits before harmful motion can occur, the system proactively counteracts the potential harmful effect of sudden jerks while maintaining the weight compensator's load-reducing function throughout the safe range of motion.
2Adaptability or versatility
If the articulating arm is allowed full range of motion for positioning flexibility, then the adaptability is improved, but the safety deteriorates due to risk of uncontrolled movement and tissue damage
Solution Approach 1:
The arm limiter establishes predetermined rotation limits that prevent the articulating arm from entering unsafe positions. This preliminary restriction blocks harmful movements before they can occur, while the system maintains full adaptability within the defined safe operating envelope through the adjustable nature of the rotation limits.
Solution Approach 2:
The arm limiter acts as an intermediary mechanical device between the articulating arm's motion and the ultrasound therapy system. It mediates the range of motion by allowing safe movements while blocking potentially harmful ones, thus protecting the patient from tissue damage due to uncontrolled arm movement.
3Object-affected harmful factors
If arm rotation limits are set to prevent harmful motion, then the safety is improved, but the adaptability deteriorates due to restricted positioning range
Solution Approach 1:
The arm limiter features adjustable rotation limits that can be dynamically configured based on the specific procedure and patient anatomy. This dynamic adjustability allows the system to optimize the balance between safety and adaptability for each unique situation, expanding the positioning range when safe and restricting it when necessary.
Data Source
AI summary
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.