Articulating arm

• US 20060161039A1
• Filed: 01/20/2005
• Published: 07/20/2006
• Est. Priority Date: 01/20/2005
• Status: Active Grant

• Current Assignee: Neuronetics, Inc.
• Original Assignee: Neuronetics, Inc.
• Inventors: Juliana, Vincent A., Riehl, Mark Edward, Pillutla, Ravi
• Granted Patent: US 8,088,058 B2
• Time in Patent Office: Days
• US Class Current: 600/9
• CPC Class Codes: A61B 2090/504 with a counterweight
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61N 2/006 for magnetic stimulation of nerve tissue

Abstract

Just one embodiment of the invention includes a device, method and system for positioning a treatment instrument with respect to a patient. The novel device includes a holder for securing the treatment instrument (e.g., a magnetic stimulation device used for transcutaneous magnetic stimulation treatment of depression). The holder allows the treatment instrument to move about the patient. The device also includes a first arm that is coupled to the holder, and a vertical support that is coupled to the first arm. The first arm is substantially transverse to the vertical support, and may rotates about the vertical support in a horizontal axis. Such rotation, as well as movement and rotation of other components with respect to each other may be facilitated by a ball bearing construction.

Claims

1. A device for positioning a treatment instrument with respect to a patient, comprising:

a holder for securing the treatment instrument, wherein the holder allows the treatment instrument to move about the patient;

a first arm coupled to the holder; and

a vertical support coupled to the first arm, wherein the first arm is substantially transverse to the vertical support.

2. The device of claim 1, further comprising a counterbalance coupled to the first arm.

3. The device of claim 2, wherein the counterbalance is affixed to the first arm at a position opposite the holder.

4. The device of claim 2, wherein the counterbalance holds the treatment instrument in a substantially constant position with respect to the patient.

5. The device of claim 1, wherein the treatment component comprises a magnetic stimulation device used for transcutaneous magnetic stimulation treatment of the patient.

6. The device of claim 5, wherein the magnetic stimulation device comprises an arc-shaped core spanning an angle of less than three hundred sixty degrees, and wherein the core comprises a highly saturable magnetic material having a magnetic saturation of at least 0.5 Tesla.

7. The device of claim 1, wherein the first arm rotates about the vertical support in a horizontal axis.

8. The device of claim 5, wherein the rotation is facilitated by a ball bearing construction.

9. The device of claim 1, wherein the first arm has a center of gravity point that is coupled to the vertical support.

10. The device of claim 9, wherein the center of gravity point allows the first arm to rotate in a horizontal axis about the vertical support.

11. The device of claim 10, wherein the rotation is facilitated by a ball bearing construction.

12. The device of claim 9, wherein the center of gravity point allows the first arm to rotate in a vertical axis about the vertical support.

13. The device of claim 1, further comprising a headrest.

14. The device of claim 13, wherein the headrest is coupled to a mobile cart.

15. The device of claim 13, wherein the headrest is coupled to the vertical support.

16. The device of claim 13, wherein the headrest is adjustable in a vertical and horizontal axis.

17. The device of claim 1, wherein the holder has a center of gravity along one end of the first arm.

18. The device of claim 1, wherein the holder comprises a curved portion.

19. The device of claim 1, wherein the holder comprises a rotating assembly.

20. The device of claim 19, wherein the holder comprises a downrod that connects the rotating assembly to the first arm.

21. The device of claim 19, wherein the holder comprises a curved portion that moves in an arcuate motion through the rotating assembly.

22. The device of claim 19, wherein the rotating assembly rotates 360 degrees with respect to the first arm.

23. The device of claim 22, wherein the rotation is facilitated by a ball bearing construction.

24. The device of claim 18, wherein the curved portion has a radius greater than a patient'"'"'s head.

25. The device of claim 24, wherein the greater radius of the arc prevents the curved portion from contacting the patient'"'"'s head.

26. The device of claim 18, wherein the curved portion is locked as it moves through the rotating assembly.

27. The device of claim 1, wherein the vertical support moves in horizontal plane with respect to the patient.

28. The device of claim 13, wherein the vertical support moves in horizontal plane with respect to the headrest.

29. The device of claim 1, wherein the vertical support is contoured to allow viewing of a display viewed between the vertical support and the holder.

30. The device of claim 1, further comprising a second arm coupled to the vertical support and to the holder.

31. The device of claim 30, wherein the second arm maintains the treatment instrument in a substantially constant vertical plane.

32. The device of claim 1, further comprising a locking mechanism.

33. The device of claim 32, wherein the locking mechanism prevents movement of at least one of the following:

the treatment instrument, the curved portion, the rotating assembly, the vertical support, the first arm.

34. The device of claim 32, wherein the locking mechanism is activated by a single activation movement.

35. The device of claim 33, wherein the single activation movement comprises releasing a pushbutton.

36. The device of claim 33, wherein the single activation movement comprises a user releasing the treatment instrument.

37. The device of claim 32, wherein the locking mechanism is activated by a device in proximity to a location that a user grips the treatment instrument.

38. The device of claim 32, wherein the locking mechanism comprises electric relays.

39. The device of claim 38, wherein the wiring for the electric relays is concealed by at least one of the following:

the treatment instrument, the curved portion, the rotating assembly, the vertical support, the first arm.

40. The device of claim 32, wherein the locking mechanism is activated by a more than one activation movement.

41. The device of claim 1, wherein the vertical support is coupled to a mobile cart.

42. The device of claim 1, wherein the vertical support rotates about a vertical axis.

43. The device of claim 42, wherein the rotation is facilitated by a ball bearing construction.

44. The device of claim 1, further comprising a first handle attached to the treatment instrument, wherein the first handle extends out from the treatment instrument along an axis defining a center of the treatment instrument.

45. The device of claim 44, wherein the first handle conforms to the shape of a hand.

46. The device of claim 1, further comprising a second handle, wherein the second handle extends above the plane of the treatment instrument.

47. The device of claim 46, wherein the second handle conforms to the shape of a hand.

48. The device of claim 1, wherein the treatment instrument a non-transcranial magnetic stimulation device.

49. The device of claim 1, wherein the device is manufactured, at least in part, from metal.

50. The device of claim 1, wherein the device is manufactured, at least in part, from plastic.

51. The device of claim 1, wherein a patient sits in a chair.

52. The device of claim 1, wherein the device permits movement of the treatment instrument with six degrees of freedom.

53. The device of claim 1, wherein the first arm does not extend beyond a plane of a mobile cart.

54. The device of claim 1, further comprising an adjustment structure that is capable of adjusting the device to each patient.

55. The device of claim 54, wherein the adjustment structure comprises a malleable material to mold to the patient'"'"'s head.

56. The device of claim 54, wherein the adjustment structure prevents movement of the treatment instrument during treatment.

57. The device of claim 54, wherein at least a portion of the adjustment structure spans the patient'"'"'s nose.

58. The device of claim 54, wherein the adjustment structure is reusable.

59. The device of claim 54, wherein the adjustment structure is rendered unusable following treatment of the patient.

60. The device of claim 54, wherein the adjustment structure is a head strap comprising measurement marks to indicate a position relative to a patient'"'"'s head.

61. The device of claim 54, wherein the adjustment structure to substantially maintains the position of the treatment instrument relative to the patient.

62. The device of claim 1, wherein the device is moved robotically.

63. The device of claim 1, further comprising a video display monitor for graphically indicating the position of the treatment instrument with respect to the patient.

64. The device of claim 1, further comprising a computing device for processing a position of the treatment instrument with respect to the patient.

65. The device of claim 1, further comprising a computing device for storing a position of the treatment instrument with respect to the patient.

66. The device of claim 65, wherein the computing device provides the stored position data for subsequent patient treatment.

67. The device of claim 65, wherein the computing device provides the stored position data to a video display monitor.

68. A system device for positioning a treatment instrument with respect to a patient, comprising:

an articulating arm device, comprising;

a holder for securing the treatment instrument, wherein the holder allows the treatment instrument to move about the patient,

a first arm coupled to the holder, and

a vertical support attached to the first arm, wherein the first arm is substantially transverse to the vertical support;

a treatment instrument locator device, comprising;

fiducial reflectors located on the treatment instrument and the patient,

a video camera for determining the position of the treatment instrument and the position of the patient, wherein the video camera determines the positions as a function of detecting the location of the fiducial reflectors;

wherein the video camera maintains a line of sight to at least one fiducial reflector while the articulating arm is in operation.