Articulating arm limiter for cavitational ultrasound therapy system

Abstract

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 .- 7 . (canceled) 
     
     
         8 . A method of manipulating a therapeutic treatment head mounted on a micromanipulator system having a plurality of articulating arms, comprising:
 controlling movement of the plurality of articulating arms in up to 6 degrees of freedom to adjust a position and/or orientation of the therapeutic treatment head;   reducing a load on one or more of the plurality of articulating arms with one or more weight compensators attached to the micromanipulator system; and   preventing undesirable recoiling of the one or more weight compensators and jerk motion of the micromanipulator system with an arm limiter.   
     
     
         9 . The method of  claim 8 , wherein the one or more weight compensators are spring-loaded. 
     
     
         10 . The method of  claim 8 , further comprising adjusting a tension of the one or more weight compensators. 
     
     
         11 . The method of  claim 10 , wherein adjust the tension comprises rotating an adjustment ring. 
     
     
         12 . The method of  claim 8 , wherein the one or more weight compensators reduce the load on the one or more of the plurality of articulating arms in the vertical direction. 
     
     
         13 . The method of  claim 8 , further comprising locking the micromanipulator in place. 
     
     
         14 . The method of  claim 13 , further comprising unlocking the micromanipulator, wherein the one or more weight compensators ease a weight burden of the micromanipulator and therapeutic treatment head when the micromanipulator is unlocked. 
     
     
         15 . A method of manipulating a therapeutic treatment head mounted on a micromanipulator system having a plurality of articulating arms, comprising:
 controlling movement of the plurality of articulating arms in up to 6 degrees of freedom to adjust a position and/or orientation of the therapeutic treatment head;   locking the plurality of articulating arms in place; and   reducing a load on one or more of the plurality of articulating arms with one or more weight compensators attached to the micromanipulator system.   
     
     
         16 . The method of  claim 15 , further comprising preventing undesirable recoiling of the one or more weight compensators and jerk motion of the micromanipulator system with an arm limiter. 
     
     
         17 . The method of  claim 15 , wherein the one or more weight compensators are spring-loaded. 
     
     
         18 . The method of  claim 15 , further comprising adjusting a tension of the one or more weight compensators. 
     
     
         19 . The method of  claim 18 , wherein adjust the tension comprises rotating an adjustment ring. 
     
     
         20 . The method of  claim 15 , wherein the one or more weight compensators reduce the load on the one or more of the plurality of articulating arms in the vertical direction. 
     
     
         21 . The method of  claim 15 , further comprising unlocking the micromanipulator, wherein the one or more weight compensators ease a weight burden of the micromanipulator and therapeutic treatment head when the micromanipulator is unlocked.