JP2015109970A - Apparatus support mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus support mechanism which improves positioning of an apparatus kind with respect to a person seated on a chair, fixation of the apparatus, and/or movement of the same.SOLUTION: A mechanism is provided with: a first arm 110 which is configured so as to receive an apparatus 112 and includes a first counter weight apparatus 116; a second arm 120 supporting the first arm by a coupling 114; and a base 130 which defines a bending part and where the second arm is installed. The second arm is movable along the bending part and the base is configured in the way that it is installed in a chair 160. The second arm can be equipped with a second counter weight apparatus 140.

Description

  The present invention relates to positioning, securing and / or moving devices relative to a person sitting in a chair.

  Execution of precision work using instruments requires that the instruments be accurately positioned relative to the work being performed. For example, transcranial magnetic stimulation, or TMS, is used to stimulate a small area within a person's brain. This requires precise positioning of the magnetic coil to be used for a short or long time along the outside of the person's head. Similarly, for example, radiation therapy can benefit greatly from avoiding healthy tissue damage by accurately directing the radiation pattern to malignant cells.

  Using TMS as an example, the patient may be instructed to keep his head stationary while the stimulation coil is moved along the outer surface of his head. If the coil is held accurately and reliably in the correct location, the stimulating action can be directed to the desired location within the brain. On the other hand, if the coil is incorrectly placed or moves inadvertently, the TMS results are expected to be adversely affected.

  TMS can be used, for example, to locate a person's motor threshold position (MTP) and facilitate rehabilitation after stroke or treatment of depression. Radiotherapy can be used to kill malignant cells. Using manual placement techniques, moving the TMS coil near the predicted area specified by the patient's anatomical index until the desired motor response is achieved, or the treatment location on the patient's head, or The position used to find the treatment position, such as the patient's motion threshold position, ie, MTP, can be identified.

  Patent Document 1 describes a mechanism for positioning a medical instrument such as a TMS coil with respect to a patient.

US Patent Application Publication No. 2009/227830

  According to the first aspect of the present invention, the first arm is configured to receive the device, includes the first counterweight device, and the second supports the first arm by coupling. And a base that defines a curved portion and has a second arm attached thereto, the second arm is movable along the curved portion, and the base is configured to be attached to a chair. Mechanism is provided.

  In some embodiments, the first counterweight device includes the cable of the device attached to the first arm.

  In some embodiments, the first counterweight device includes a display screen attached to the first arm.

  According to a second aspect of the invention, there is provided a system comprising a mechanism according to the first aspect attached to a chair. Here, this system is a transcranial magnetic stimulation system.

It is a figure which shows the example of a mechanism concerning at least some embodiment of this invention. It is a figure which shows the example of a mechanism of FIG. 1 from a different viewpoint. It is a figure which shows another example of a mechanism concerning at least some embodiment of this invention.

  FIG. 1 illustrates an example apparatus according to at least some embodiments of the present invention. The example of FIG. 1 may relate to a TMS system suitable for investigating an anatomical feature of a person's brain using, for example, an electromagnetic field, or treating the brain. For example, a chair 160 is shown that can include a reclining treatment chair suitable for TMS or radiation therapy. A headrest 170 is disposed on the chair 160, and the headrest 170 can be contoured to assist a person seated on the chair 160 to keep his head stationary. To this end, the headrest 170 can be at least partially constructed of a material that conforms to and maintains the shape of the person's occipital region. Therefore, the head can be more easily fixed and maintained with respect to the chair.

  An operator can investigate a specific region of the brain, for example, by placing a TMS coil by hand next to a person's head and monitoring the response to magnetic stimulation. Holding the coil by hand for an arbitrary period of time makes the operator's hand fatigue even if the coil is lightweight. When fatigued, the operator cannot accurately hold the coil in place, and the TMS results are affected. Also, if an interruption is required during a TMS session, it may be difficult to continue if the exact location where the session was interrupted is not readily discoverable.

  The accuracy requirements in TMS or radiation therapy may vary depending on the application. The TMS may require an accuracy of at least 2 millimeters or 2 degrees, for example. An accuracy requirement of at least 2 millimeters can mean that the measurement requires that the position of the device 112 can be identified with a measurement error of at most 2 millimeters. Alternatively, an accuracy requirement of 2 millimeters may mean that a location in the brain needs to be identified such that the error for that location in the brain is at most 2 millimeters. Radiation therapy accuracy requirements can be substantially similar to TMS accuracy requirements when larger tumors have edges that may be in direct contact with healthy tissue.

  The device 112 may be operable to emit a particle beam or an electromagnetic beam to the head of a person seated on the chair 160. The device 112 can include a TMS coil, which can be capable of generating an electromagnetic field within the head at a distance from the coil. The TMS coil can be a coil winding machine including a case and a coil winding made of a conductive material housed in the case. The TMS system can comprise a computerized electromechanical instrument. The electromechanical instrument generates and delivers a short alternating magnetic field, or pulsed magnetic field, to induce a current directed to a local region of the cerebral cortex. The device 112 can be powered by an electrical cable 118, which can be connected to a power source and control devices. The TMS coil can be configured to generate a magnetic field of known shape.

  The cable 118 may include one or more leads that connect the device 112 to one or more units. The cable 118 may provide electrical energy and control signals as needed to the device 112, for example, a signal that initiates emission of electromagnetic radiation or a signal that stops emission of electromagnetic radiation. The cable 118 can provide information regarding the functioning of the device 112, for example, the cable 118 can provide information regarding the operating parameters of the device 112. The cable 118 may provide information regarding error conditions that the device 112 may be in that state.

  In the illustrated example, the device 112 is attached to a device mounting portion at a first end of the first arm 110, for example. An operator of the device 112 can move the device 112 along the surface of the person's head. The first arm 110 can be supported on the second arm 120 by a coupling 114. The coupling 114 may be configured to allow the first arm 110 to slide within the coupling 114 and / or the coupling 114 may be coupled to the first arm 110. 114 may be configured to allow rotation about a portion of the first arm 110 attached to 114. Typically, the coupling can be configured to provide the first arm with one or more degrees of freedom of movement relative to the second arm. The device 112 can be attached to the first end of the first arm 110 and / or the device attachment via a ball joint, for example, to provide freedom to operate the device 112 along the surface of the head. . The ball joints can be individually lockable. The ball joint can be electrically lockable by a mechanism, where a single actuator is configured to lock all the joints of the mechanism. In some embodiments, coupling 114 includes a ball joint, hinge, or bearing.

  A connection unit 116 can be attached to the first arm 110. The connection unit 116 may be configured to provide a connection for the cable 118 such that the weight of the cable 118 forms a first counterweight relative to the weight of the device 112 relative to the coupling 114. Connection unit 116 can be referred to as a cable attachment. This allows the device 112 to move more easily and lightly, which results in improved radiotherapy or TMS accuracy. When the device 112 is held and moved by the counterweight, the operator's hand is not easily fatigued. Further, when the operator releases the device 112, the device 112 can be kept stationary by the counterweight. In other words, the device 112 can remain in place simply by releasing the device 112. This can reduce mispositioning that would otherwise result from human interaction. Coupling 114 can be adjusted to provide a stiffness that is suitable to keep first arm 110 stationary when an operator releases device 112 or first arm 110.

  The connection unit 116 can be slidable along the first arm 110 to allow adjustment of the first counterweight device. Additionally or alternatively, the connection unit 116 moves some cables to one side or the other side of the connection unit 116 to fix the cable 118 at a different point so that the operator adjusts the counterweight. Can make it possible. Counterweight adjustment may be useful when different weight devices 112 are used, for example, when different weight coils are used. Counterweight adjustment can also be useful when an operator with different preferences uses the mechanism. The connection unit 116 can be located at the end of the first arm opposite to the end of the first arm where the device attachment and / or device is located.

  The first arm 110 can be equipped with a different counterweight instead of the cable 118, such as a weight attached to the first arm 110, to offset the weight of the device 112. In some embodiments, the first arm can be equipped with a display screen or a combination of the display screen and at least a portion of the cable 118, which serves as a counterweight for the device 112. The display screen can be configured to display the operating parameters of the device 112 to the operator. In embodiments where the cable 118 is at least partially connected to such a display screen, the display screen can obtain information regarding operating parameters directly from the cable. Thus, the counterweight can be provided by the display screen and attached cable, allowing the operator to observe the operating parameters of the device 112 from the screen functioning as the counterweight.

  A base 130 is mounted on a chair 160 or, alternatively, a headrest 170. The base 130 defines a curved portion, which can include having the curved support or rail attached to or attachable to the chair 160 or headrest 170. The chair 160 can have a back and a seat, and the base can be attached to a portion of the chair, such as the back. The length of the curve can follow a plane, which in some embodiments can be parallel, i.e., horizontal, to a plane defined by a floor level. If the length of the bend follows a single plane, the bend extends into that plane, ie defines the plane. In the example of FIG. 1, the second arm 120 is movably attached to the base 130 so that, for example, the attachment point of the second arm 120 with respect to the base 130 can be moved along the length of the curved portion. It has become. Moving the attachment point along the length of the bend can allow the device 112 to be positioned on a different side of the head. Moving the attachment point of the second arm 120 relative to the base 130 along the length of the curved portion can include moving the attachment point along a rail that forms the curved portion of the base 130. . The curved rail can be referred to as an arc-shaped rail. The end of the arc can be attached to or near the opposite corner of the upper back of the chair. The second arm can remain at the same point on the bend when the operator releases the second arm. The base can be adjustably attached to a portion of the chair so that the base can be adjusted to a generally horizontal orientation regardless of the orientation of the portion of the chair to which the base is attached. In some embodiments, the counterweight is comprised of an actuator configured to move or move the second arm along the bend and an actuator configured to lock at least the coupling. , At least in part.

  The movement of the attachment point of the second arm 120 relative to the base 130 can be motorized, for example, here the base 130 includes a curved horizontal rail, and a curved portion of this rail using a suitable electric motor. The second arm 120 can be moved along the length of. In some embodiments, coupling 114 can also be operable by a suitable motor. In some embodiments, the first arm further includes a device attachment configured to hold the device 112. The device mounting portion can be connected to the first arm by one or more first joints. The first joint or joints allow movement of the device attachment relative to the first arm in one, two, or three degrees of freedom. This can allow, for example, rotation of the device 112. The first joint or joints can be driven by a suitable motor, such as an electric motor, to provide an automated and very reliable positioning of the device 112. The first joint or joints may be selectively lockable and / or its mobility is adjusted with respect to at least one degree of freedom of movement between the first arm and the device attachment. Can be possible.

  Attaching the base 130 to the chair 160 facilitates obtaining improved results of TMS or radiation therapy because inadvertent movement of the chair 160 does not cause movement of the device 112 relative to the head. This is in contrast to a solution where the chair and the device are supported on the floor independently of each other. In these solutions, if either the chair or the device moves inadvertently, the device moves relative to the head. Attaching the base 130 to the chair 160 allows the first and second arms to be made shorter when longer parts are more difficult to accurately position, and inherently pointing accuracy Also brings the advantage of improved. The base 130 can be attached to the back of a chair, for example. Alternatively, if the base 130 is mounted on the headrest portion of the chair, the device can remain essentially stationary relative to the head that is placed on the headrest when the headrest is adjusted. . A camera can be attached to the back or headrest of the chair. With such a camera, the device 112 can be positioned in the correct location relative to the head, for example by using a machine readable visual cue attached to the head and the device 112. The camera mounted on the chair does not move relative to the head when the chair moves. The camera attached to the headrest does not move relative to the head when the headrest is adjusted. Usually, an imaging and / or tracking device can be used instead of a camera.

  The second arm 120 can be rotatably mounted on the base 130 and can be moved along the length of the bending portion. In addition, the second arm 120 and a plane on which the bending shape spreads are provided. The angle between can be changed. This can be accomplished by providing a joint or hinge in the mechanism that attaches the second arm 120 to the base 130. Such rotation can provide an inclination of the mechanism comprising the first arm, the second arm, and the device 120 that is in contact with and away from the head. A second counterweight can be provided to stabilize this rotation. The second counterweight is shown as counterweight 140 in FIG.

  The counterweight 140 is suspended below the base 130 by a rigid third arm 150 and connected to the second arm 120. The third arm 150 can be fixed to the second arm 120 near the attachment point of the second arm 120 with respect to the base 130, for example. The counterweight 140 can also provide the advantage of tilting the second arm 120 that if the operator releases the grip of the device 112, the device 112 stays in place and does not move. To ensure that this happens, this tilt of the second arm 120 can be negotiated with suitable stiffness. The position of the counterweight 140 on the third arm 150 can be adjustable to provide a uniform counterweight at different tilt angles.

  Although the counterweight 140 is illustrated as a separate weight, in some embodiments it is configured with a cable 118. In some embodiments, the cable 118 is used to provide both the counterweight and counterweight 140 in the connection unit 116. When the cable 118 is used for the counterweight 140, the counterweight 140 can include a connection unit, and the cable 118 can traverse the connection unit. This connection unit may allow the operator to adjust the counterweight by moving some cables to one side or the other side of the connection unit and fixing the cable 118 at a different point. it can.

  As a result of the first counterweight and the second counterweight 140 provided on the connection unit 116, the device 140 is light to move in at least two degrees of freedom, and the operator releases the grip of the device 112 Can be stabilized in the sense of staying in place. The force required to lock a movable coupling, hinge, or joint is smaller when the mechanism is balanced against the coupling, hinge, or joint. Operation of the device 112 can be possible with one hand when the device 112 is balanced.

  The use of at least one counterweight and / or lockable coupling, bearings, hinges, and joints can reduce or avoid inadvertent movement of the device 112, resulting in improved TMS or radiotherapy results. To make it easier. In addition to improved results, the duration of a TMS or radiotherapy session can be shorter, where positioning is improved by providing a more stable device 112. In addition or alternatively to being lockable, any coupling, bearing, hinge, and joint may be capable of producing an adjustable or partially restricted movement. Adjustable or partially restricted movement can include, for example, requiring more force for the movement.

  The moving parts of the mechanism of FIG. 1 can be locked by a single actuator. In this case, the operator can place the device 112 in a desired position using one hand and activate the lock actuator with the other hand to lock the device 112 in place. For example, the movable parts including the coupling 114, the attachment of the second arm 120 to the base 130, and the tilt of the second arm 120 can be locked by, for example, an electric servo, solenoid, brake wire, or linear actuator. .

  FIG. 2 shows an example of the device of FIG. 1 from different viewpoints. Like reference numerals denote like parts in FIG. In FIG. 2, there is a head support 210 that was not shown in FIG. This is because the head support 210 can be seen from the viewpoint used in FIG. The head support 210 provides further stabilization of the head on the headrest 170. In some embodiments, one head support 210 is provided on each side of the head to help keep the head stationary. In these cases, at least one of these two head supports 210 can be adjustable. The head support 210 can have a clean and soft surface to support the head in a sanitary, safe and comfortable manner.

  FIG. 3 illustrates another example apparatus according to at least some embodiments of the present invention. Like reference numerals indicate like parts in FIGS. 1 and 2. The difference to the embodiment shown in FIG. 1 is the structure of the base 130. Instead of a curved structure, the base 130 takes the form of a base arm 130 in the embodiment of FIG. The base arm 130 is pivotally attached to the chair 160 so that the end of the base arm 130 that is not attached to the chair 160 can sweep a curve, thus defining the curvature. It has become. This drawn curvature can be, for example, in a plane parallel to the floor plane. The second arm 120, in this embodiment, is attached to or near the end of the base arm 130 that can move in a curved manner, so that the second arm 120 is shown in FIG. Allows movement similar to the second arm 120 in the embodiment shown. In the embodiment of FIG. 3, the second arm 120 can be inclined with respect to a plane in which the curvature spreads. Also, in the embodiment of FIG. 3, as in FIG. 1, the inclination of the second arm 120 with respect to the plane where the curvature spreads and the movement of the first arm 110 with respect to the second arm 120 caused by the coupling 114 On the other hand, a counterweight can be provided.

  Although the base 130 has been described above with respect to a chair, in some embodiments it can be attached to or be attachable to a bed, for example a hospital bed. The base 130 can be attached to a part of the frame of the bed, for example. This provides the advantage that a person who is too poorly seated in a chair can be treated by the device.

  In general, the first arm including the first counterweight device is configured to receive the device, and the first arm is supported by the coupling, and the second counterweight device is supported as necessary. A second arm that defines a curved portion and a base on which the second arm is mounted, the second arm is movable along the curved portion, and the base is mounted on the chair A mechanism configured as described above is provided.

  The device can include, for example, a TMS coil. The first counterweight device may include, for example, a connection unit that is capable of receiving a power cable that is used to power the device and / or control the device.

  The second counterweight device can include, for example, a connection unit that is capable of receiving a power cable that is used to power the device and / or control the device. In both the first counterweight device and the second counterweight device, it is possible to supply power to the device and / or to receive a cable used to control the device. Can be provided. Alternatively, at least one of the first counterweight device and the second counterweight device may include a non-cable weight that is used to power the device and / or control the device. it can. At least one of the first counterweight device and the second counterweight device can include both a cable and a separate weight.

  The base can be at least partially formed in a curved shape. Alternatively, the base may include a base arm that defines a curvature by being pivotally attached to a chair at one end, the curvature being formed by movement of the other end. Is done. When the base is formed in a curved shape, the base can include a rail. Such rails can be mounted at two points on the chair or bed, for example at both ends. Such rails can be, for example, semicircular or semielliptical in shape.

  The coupling can be configured to provide pivoting or sliding of the first arm relative to the second arm. The coupling can include a ball joint.

  The second counterweight device can include a weight configured below the base by the third arm. The third arm is attached to the second arm at one end, and the third arm supports a weight at the other end. The second counterweight device can balance the inclination of the second arm with respect to the plane in which the curved shape spreads.

  The first arm, the second arm, the third arm, the base, and / or the base arm are suitable to allow positive positioning of the device 112 when the moving part is locked. It can be made of a rigid material. For example, the arm can be a metal pipe made of stainless steel or aluminum.

  In some embodiments, at least one of the first arm, the second arm, the third arm, the base, and / or the base arm has no effect on the shape of the magnetic field generated by the device 112. It is made of non-magnetic material to minimize it. Examples of suitable nonmagnetic materials include plastic and graphite.

  The disclosed embodiments of the invention are not limited to the specific structures, process steps, or materials disclosed herein, but extend to these equivalents as will be appreciated by those skilled in the art. It is understood. It is also to be understood that the terminology used herein is used for the purpose of describing particular embodiments only and is not intended to be limiting.

  Throughout this specification, reference to “an embodiment” or “an embodiment” includes a particular function, structure, or feature described in connection with that embodiment in at least one embodiment of the invention. Means that Thus, the phrases “in one embodiment” or “in one embodiment” appearing in various places throughout this specification are not necessarily all referring to the same embodiment.

  As used herein, multiple things, structural members, components, and / or materials can be presented in a common list for convenience. However, these lists should be interpreted as if each item of the list is individually and independently identified. Thus, the individual items of such lists, unless accompanied by opposite indications, are as the actual equivalent of any other member of the same list based solely on their presentation in a common group. Should not be interpreted. Moreover, various embodiments and examples of the invention may be referred to herein, along with alternatives to their various components. It is understood that such embodiments, examples, and alternatives are not to be construed as a virtual equivalent to each other, but are considered as separate autonomous representations of the invention.

  Furthermore, the described functions, structures, or features may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of lengths, widths, shapes, etc., in order to provide a thorough understanding of embodiments of the present invention. However, one of ordinary skill in the art appreciates that the invention can be practiced without one or more of the specific details or using other methods, components, materials, and the like. In other instances, well-known structures, materials, or operations have not been shown or described in detail to avoid obscuring aspects of the invention.

  The foregoing examples are illustrative of the principles of the present invention in one or more specific applications, but those skilled in the art will not use the inventive power and depart from the principles and concepts of the present invention. Obviously, numerous modifications in implementation, use, and details are possible. Accordingly, the invention is not intended to be limited except as by the appended claims set forth.

Claims (15)

A first arm (110) configured to receive a transcranial magnetic stimulation device (112) and including a first counterweight device (116);
A second arm (120) supporting the first arm by a coupling (114);
With
A base (130) defining a curved portion and to which the second arm (120) is mounted, the second arm (120) being movable along the curved portion, A mechanism featuring the base (130), wherein the base (130) is configured to be attached to a chair (160).   The mechanism of claim 1, wherein the second arm (120) supports a second counterweight device (140).   The mechanism according to claim 1 or 2, wherein the base (130) is at least partially formed in the curved shape.   The base (130) includes a base arm (130), the base arm (130) defining the curvature by being pivotally attached to the chair (160) at one end. 3. A mechanism according to claim 1 or 2, formed by movement of the other end.   The first counterweight device (116) includes a cable of the device attached to the first arm (110), and the coupling (114) is coupled to the transcranial magnetic stimulation device (112). The mechanism according to any one of claims 1 to 4, wherein the mechanism is between a portion of the first arm (110) to which the cable is attached.   The first counterweight device (116) includes a display screen, an actuator configured to move or move the second arm (120) along the curved portion, and at least the coupling ( 114. The mechanism of any one of claims 1-5, comprising at least one of an actuator configured to lock 114).   The cable is attached to the first arm (110) via a connection unit, the connection unit is slidable along the first arm, and the first counterweight device (116). 7. A mechanism according to claim 5 or 6, which allows adjustment of   The coupling (114) is configured to provide rotation or sliding of the first arm (110) relative to the second arm (120). The mechanism described in.   The second counterweight device (140) includes a weight formed below the base by a third arm (150), and the third arm (150) includes the second arm (120). The mechanism according to any one of claims 2 to 8, wherein the third arm (150) supports the weight (140) at the other end.   10. A mechanism according to claim 9, wherein the attachment of the second arm to the coupling (114) and the base is lockable by at least one actuator.   11. The second arm (120) can be inclined with respect to a plane in which the length of the curved portion is widened, and the second counterweight device (140) balances the inclination. The mechanism according to any one of the above.   12. A mechanism according to any one of the preceding claims, wherein the base (130) is configured to be mounted on the back of a chair (160).   The mechanism according to any one of the preceding claims, wherein the base (130) is configured to be mounted on a headrest of a chair (160).   14. A mechanism according to any one of claims 3, 5, 6, 7, 8, 9, 10, 11, 12, or 13, wherein the base (160) comprises a rail.   A chair (160) equipped with the mechanism according to at least one of claims 1-14.

Images