Abstract: Various embodiments of the present invention are directed to systems, methods and devices for cardiac applications. One such device is directed to a catheter, and uses thereof, for capturing myocardium of a heart by delivering pacing signals to a location in the heart. The location is near a His Bundle of the heart. The catheter has a proximal end for interfacing with an electrical pacing signal source and a distal end. The distal end includes a fixation mechanism that attaches the catheter to heart tissue. First and second electrodes are also located at the distal end. Each electrode is individually addressable for providing pacing signals to the heart tissue and also arranged to physically contact the heart tissue when the fixation mechanism is attached to the heart tissue.

Abstract: Methods and devices for reducing ventricle filling volume are disclosed. In some embodiments, an electrical stimulator may be used to stimulate a patient's heart to reduce ventricle filling volume or even blood pressure. When the heart is stimulated in a consistent way to reduce blood pressure, the cardiovascular system may over time adapt to the stimulation and revert back to the higher blood pressure. In some embodiments, the stimulation pattern may be configured to be inconsistent such that the adaptation response of the heart is reduced or even prevented. In some embodiments, an electrical stimulator may be used to stimulate a patient's heart to cause at least a portion of an atrial contraction to occur while the atrioventricular valve is closed. Such an atrial contraction may deposit less blood into the corresponding ventricle than when the atrioventricular valve is opened throughout an atrial contraction.

Abstract: A medical implant system is described for inhibiting infection associated with a joint prosthesis implant. An inventive system includes an implant body made of a biocompatible material which has a metal component disposed on an external surface of the implant body. A current is allowed to flow to the metal component, stimulating release of metal ions toxic to microbes, such as bacteria, protozoa, fungi, and viruses. One detailed system is completely surgically implantable in the patient such that no part of the system is external to the patient while the system is in use. In addition, externally controlled devices are provided which allow for modulation of implanted components.

Abstract: Cardiac devices and methods discriminate non-captured intrinsic beats during evoked response detection and classification by comparing the features of a post-pace cardiac signal with expected features associated with a non-captured response with intrinsic activation. Detection of a non-captured response with intrinsic activation may be based on the peak amplitude and timing of the cardiac signal. The methods may be used to discriminate between a fusion or capture beat and a non-captured intrinsic beat. Discriminating between possible cardiac responses to the pacing pulse may be useful, for example, during automatic capture verification and/or a capture threshold test.

Abstract: An apparatus comprises a control circuit that initiates a normal pacing mode for delivery of electrostimulation energy to the heart chamber. In response to an indication to initiate a threshold test, the control circuit determines an electrode configuration used to deliver the electrostimulation energy in the normal pacing mode, selects a first threshold test mode when a sensing electrode independent from the set of pacing electrodes is unavailable for the heart chamber, wherein a cardiac activity signal is sensed using a set of sensing electrodes that includes an electrode common to the set of pacing electrodes, and selects a second threshold test mode when a sensing electrode independent from the set of pacing electrodes is available for the heart chamber, wherein the cardiac activity signal is sensed using a set of sensing electrodes that excludes an electrode common to the set of pacing electrodes.

Abstract: An implantable medical device capable of sensing cardiac signals and delivering cardiac electrical stimulation therapies is enabled to detect a short circuit condition. In one embodiment, a cardiac signal is sensed by a sensing module coupled to electrodes. A controller identifies signal events in response to the cardiac signal and detects a short circuit condition in response to at least one of the signal events having an amplitude crossing a short circuit detection threshold and a maximum of two signal events crossing the short circuit detection threshold occurring between two adjacent events having amplitudes not crossing the short circuit detection threshold. In one embodiment, the signal events are identified from a differential signal determined from the sensed cardiac signal.

Abstract: An exemplary method includes performing a capture threshold assessment using a bipolar electrode configuration, deciding if capture occurred for a maximum energy value of the capture threshold assessment and, if capture did not occur, then performing a lead impedance test for the lead associated with the bipolar electrode configuration. Such a test may aim to detect an insulation defect and/or a conductor defect. Other exemplary methods, devices, systems, etc., are also disclosed.

Abstract: Approaches for selecting an electrode combination of multi-electrode pacing devices are described. Electrode combination parameters that support cardiac function consistent with a prescribed therapy are evaluated for each of a plurality of electrode combinations. Electrode combination parameters that do not support cardiac function are evaluated for each of the plurality of electrode combinations. An order is determined for the electrode combinations based on the parameter evaluations. An electrode combination is selected based on the order, and therapy is delivered using the selected electrode combination.

Abstract: Systems including an implantable receiver-stimulator and an implantable controller-transmitter are used for leadless electrical stimulation of body tissues. Cardiac pacing and arrhythmia control is accomplished with one or more implantable receiver-stimulators and an external or implantable controller-transmitter. Systems are implanted by testing external or implantable devices at different tissue sites, observing physiologic and device responses, and selecting sites with preferred performance for implanting the systems. In these systems, a controller-transmitter is activated at a remote tissue location to transmit/deliver acoustic energy through the body to a receiver-stimulator at a target tissue location. The receiver-stimulator converts the acoustic energy to electrical energy for electrical stimulation of the body tissue. The tissue locations(s) can be optimized by moving either or both of the controller-transmitter and the receiver-stimulator to determine the best patient and device responses.

Abstract: A leadless implantable medical device (LIMD) includes a housing formed from a battery and an end cap. A proximal end of the end cap forms an LIMD proximal end and a distal end of the battery case forms an LIMD distal end. A non-conductive coupler mechanically secures a terminal end of the battery case to a mating end of the end cap, while maintaining the battery case and end cap electrically separated. A first electrode projects from the proximal end of the end cap. An intra-cardiac (IC) device extension projects from the distal end of the battery case. The extension includes a second electrode that is electrically connected to the battery case. The second electrode is located remote from the LIMD distal end. An electronics module is located within an internal cavity of the end cap and communicates with the first and second electrodes.

Abstract: An implantable control module for an electrical stimulation system includes a header coupled a sealed body. The header includes at least one connector assembly. The control module also includes a conductive shield disposed over at least a portion of the connector assembly or connector assemblies of the header. The conductive shield is provided to hinder generation of current in the header or in a portion of a lead received in the header in response to application of an external radiofrequency (RF) or magnetic field. A similar shield can also be used to shield a connector assembly disposed on the end of a lead extension or any other component of the electrical stimulation system.

Abstract: A hermetic feedthrough for an implantable medical device includes an insulator body and a ferrule. The insulator body includes ceramic material and one or more electrically conductive conduits extending through the insulator body. The insulator is disposed in an opening of the ferrule. The insulator body includes a plurality of substantially flat surfaces that each include a plurality of edges. A rounded corner extends between adjacent edges of any two adjacent substantially flat surfaces. Each corner between any two adjacent substantially flat surfaces that face toward the ferrule has an average radius that is less than approximately 25% of a length of the corresponding edges.

Abstract: Methods for bridging brain sites between which there is substantially no effective communication, and associated neural prosthetic devices, are provided. A neural spike in a first neural site in a subject is detected, and a stimulus to a second neural site in the subject is delivered within a defined period of time after the detection of the neural spike, wherein there is substantially no effective communication between the first and second neural sites. The method forms an artificial bridge between the two neural sites, and establishes lasting communication between the two sites. The present disclosure provides, among other things, a neural prosthetic device comprising an integrated circuit that comprises a recording front-end comprising a plurality of recording channels; a processor unit; and a stimulus delivering back-end comprising a plurality of stimulation channels.

Abstract: Effective systems and methods for improving neural communication impairment of a vertebrate being and affecting motor activity of a peripheral body part including a first signal providing component configured to provide pulsed peripheral stimulation signals at the peripheral body part, a second signal providing component configured to provide a pulsed motor cortex stimulation signal to a motor cortex area, a substantially DC signal providing component configured to provide direct current spinal stimulation signal at a neural spinal junction and a controller component configured to control timing of the pulsed peripheral stimulation signals and the pulsed motor cortex stimulation signal.

Abstract: An implantable medical device comprises one or more electrical stimulation generators, and a housing that contains the one or more electrical stimulation generators. The implantable medical device also includes a first medical lead no greater than about 6 inches in length, and a second medical lead no greater than about 6 inches in length. The housing includes a first connector block that electrically connects the first medical lead to at least one of the one or more electrical stimulation generators, and a second connector block that electrically connects the second medical lead to at least one of the one or more electrical stimulation generators. The implantable medical device may be part of an electrical stimulation system implanted beneath the skin and inferior to the inion of a patient to deliver stimulation therapy to at least one of an occipital nerve and a branch of the occipital nerve.

Abstract: A neurostimulation paddle lead, method of neurostimulation, and neurostimulation system are provided. The neurostimulation paddle lead carries a plurality of electrodes comprising at least four columns of electrodes having a spacing between two inner electrode columns less than a spacing between the inner electrode columns and adjacent outer electrode columns. The inner electrode columns may also be longitudinally offset from the outer electrode columns. The methods and neurostimulation systems steer current between the electrodes to modify a medial-lateral electrical field created adjacent spinal cord tissue.

Abstract: Devices and methods for preventing knee sprain injuries. To protect the knee joint from knee sprain injuries, the device comprises a sensing part configured to sense data associated with knee motion; an analyzing part configured to analyze the knee motion data to determine a knee articulation; and a stimulating part configured to stimulate one or more lower limb muscles to initiate an earlier muscle reaction than would naturally occur in response to the determined knee joint articulation. The determined knee joint articulation may include knee joint articulation or a particular type of articulation such as a knee sprain movement associated with knee sprain. The methods involve sensing data associated with knee joint motion, analyzing the data to determine a knee joint articulation; and stimulating one or more lower limb muscles to initiate an early muscle reaction within the determined knee joint articulation.

Abstract: A retinal prosthesis including an electronic stimulation unit housed inside an eye and including: a plurality of electrodes that contact a portion of a retina of the eye; an electronic control circuit, which is electrically connected to the electrodes and supplies to the electrodes electrical stimulation signals designed to stimulate the portion of retina; and a local antenna connected to the electronic control circuit. The retinal prosthesis further includes an electromagnetic expansion housed inside the eye and formed by a first expansion antenna and a second expansion antenna electrically connected together, the first expansion antenna being magnetically or electromagnetically coupled to an external antenna, the second expansion antenna being magnetically or electromagnetically couple to the local antenna, the electromagnetic expansion moreover receiving an electromagnetic supply signal transmitted by the external antenna and generating a corresponding replica signal.

Abstract: A tissue-stimulating prosthesis receives an input signal and determines a set of stimulation signals for use in generating electrical stimulation that will cause the recipient to perceive the input signal. The prosthesis determines a set of stimulation signals based on the perceptual power of at least one of the frequency components of the input signal or the perceptual power of one or more stimulation signals within the set.

Abstract: A method and system for charge imbalance compensation in a stimulating medical device is provided. The stimulating medical device includes at least one electrode contact configured for providing stimulation to a recipient. A charge imbalance compensation system in the stimulating medical device measures any residual charge remaining on the electrode contact that may result from an imbalance in the applied stimulation. If the measured residual charge exceeds a threshold, the charge imbalance compensation system causes a compensator current to be applied to reduce the residual charge. This residual charge may be measured by measuring a potential difference between the electrode contact and a reference electrode; or, by measuring a potential difference across a capacitor in-series with the electrode contact.

Abstract: This disclosure describes techniques for enabling and/or disabling an exposure operating mode using telemetry signals. A telemetry device may be configured to periodically transmit telemetry signals indicating presence of a source of a disruptive energy field in accordance with a communication protocol. An implantable medical device may be configured to receive the telemetry signals from the telemetry device and enter the exposure operating mode in response to receiving a first one of the telemetry signals indicating the presence of the source of the disruptive energy field. The implantable medical device may also exit the exposure operating mode in response to not receiving any of telemetry signals indicating the presence of the source of the disruptive energy field for a predetermined period of time.

Abstract: Waveforms are digitally sampled and compressed for storage in memory. The compression of the data includes generating a truncated entropy encoding map and using the values within the map to obtain good compression. An encoder further sub-selects values to be encoded and values to remain unencoded to provide an overall compression of the data.

Abstract: Timing channel circuitry for controlling stimulation circuitry in an implantable stimulator is disclosed. The timing channel circuitry comprises a addressable memory. Data for the various phases of a desired pulse are stored in the memory using different numbers of words, including a command indicative of the number of words in the phase, a next address for the next phase stored in the memory, and a pulse width or duration of the current phase, control data for the stimulation circuitry, pulse amplitude, and electrode data. The command data is used to address through the words in the current phase via the address bus, which words are sent to a control register for the stimulation circuitry. After the duration of the pulse width for the current phase has passed, the stored next address is used to access the data for the next phase stored in the memory.

Abstract: An electrode system for transcutaneous nerve and/or muscle stimulation that includes a pair of stimulating electrodes and a stimulation current generator for generating a nerve and/or muscle stimulation current between the stimulating electrodes. The system also includes a current-injecting electrode arranged in proximity to one of the stimulating electrodes, and an injection-current generator located in the area of the current-injecting electrode. The current-injecting electrode and the corresponding injection-current generator reduce, or even eliminate, undesirable sensations resulting from an excitation of subcutaneous receptors by the stimulation current.

Abstract: A power supply arrangement for an implantable electronic system is described. An MRI power supply arrangement cooperates with an implantable power supply circuit to provide a high output impedance for implanted circuitry during magnetic resonance imaging (MRI).

Abstract: A apparatus for performing tissue modification procedures on a patient's body can include a device, which can be adapted for connection to at least two electrodes, where temperature sensors can be incorporated into tip portions of said electrodes, a high frequency generator, which can be operatively associated with said device, wherein said generator can deliver non-simultaneously a high frequency signal output to each of said electrodes, and a feedback control circuit, which can be configured to regulate the signal output delivery to each of said electrodes so it can maintain a user settable temperature at tip portion of said electrodes when the electrodes can be in contact with the patient's body.

Abstract: A portable multi-sensor device includes a substantially sheet-like and at least partially flexible unit support element, a garment to be worn by a user and to be removably associated with the support element, a plurality of sensors, adapted to detect biological and/or vital parameters on the body of a user and transduce them into electric signals, at least one of which is incorporated in the unit support element, a transceiver for remote transmission of the electric signals to a remote monitoring center, a processing and control unit for processing and controlling the electric signals, therapeutic treatment elements associated with the unit support element and designed to contact one part of the wearer's body. The therapeutic treatment elements are electrically connected to the processing and control unit to be controlled thereby and to provide therapeutic and/or thermal therapeutic treatment to an area of the body.

Abstract: A catheter handle assembly includes a holder having a proximal end and a distal end. An electrode sheath carrier is arranged at the distal end of the holder. A shape imparting element carrier is removably mountable to the proximal end of the holder, the shape imparting element carrier having at least one mounting formation for mounting at least a part of a shape imparting element. A slide is displaceably arranged in the holder with a distal end of the slide mounting the electrode sheath carrier and a proximal end of the slide terminating in proximity to the shape imparting element carrier.

Abstract: An implantable component of a medical device, comprising a polymeric surface. The component includes one or more macro-surface features at the polymeric surface having a configuration that, following application of a liquid drug to the surface retains a quantity of the liquid drug adjacent the surface.

Abstract: An implantable medical electrical lead includes a plurality of conductors that extend continuously, without any intermediary junctions, between a plurality of electrodes and a corresponding plurality of contact members of an in-line connector terminal. A junction between each conductor and the corresponding contact member is preferably formed by first fitting a conductive sleeve, which is coupled to a proximal portion of the conductor, into an eyelet feature of the contact member, which is mounted on a strut member, and then welding the sleeve to the contact member at a pre-formed slot of the contact member, which extends along an external recessed surface thereof. The assembly of the connector terminal preferably completes the construction of the lead, wherein the proximal portion of each conductor is positioned in a helical path, which extends between an elongate body of the lead and the connector terminal, and along which a grip zone is formed.

Abstract: This document describes an apparatus or an implantable medical device including an implantably biocompatible case. The apparatus can include a component that can be sealed within the case. The apparatus can include a vibration isolator and an at least a portion of the vibration isolator can be situated between and compressively preloaded to bias against the case and the component.

Abstract: A bandstop filter having optimum component values is provided for a lead of an active implantable medical device (AIMD). The bandstop filter includes a capacitor in parallel with an inductor. The parallel capacitor and inductor are placed in series with the implantable lead of the AIMD, wherein values of capacitance and inductance are selected such that the bandstop filter is resonant at a selected frequency. The Q of the inductor may be relatively maximized and the Q of the capacitor may be relatively minimized to reduce the overall Q of the bandstop filter to attenuate current flow through the implantable lead along a range of selected frequencies.

Abstract: Example ionic coupling electrodes are described. One example ionic conducting electrode includes a first portion that can be coupled to a single phase current source. The first portion carries current flow via electrons. The electrode includes a second portion to apply a current to a nerve tissue. The second portion carries current flow via ions. The second portion is positioned between the nerve tissue and the first portion to prevent the first portion from touching the nerve tissue. The current applied to the nerve tissue is produced in the second portion in response to a current that is present in the first portion. The current present in the first portion is provided from a single phase current source. The electrode may be used in applications including, but not limited to, nerve block applications and nerve stimulation applications.

Abstract: A wearable therapeutic device that includes a garment configured to contain an external defibrillator. The garment is configured to house at least one of an alarm module and a monitor and to house a first therapy electrode and a second therapy electrode. The garment is also configured to releasably receive a receptacle that contains a conductive fluid proximate to at least one of the first therapy electrode and the second therapy electrode, and to electrically couple the receptacle with the garment.

Abstract: A method of controlling an electrical instrument to which a user inputs a reservation time using a rotary dial includes, upon reception of power rates by time periods from a power provider, confirming power rate levels by time periods based on the received power rates, displaying a color window including the power rate levels by time periods around the rotary dial, and displaying the reservation time input by the user through the rotary dial on the clock window. Accordingly, it is possible to provide a user interface that displays power rate information by time periods such that the user intuitively recognizes the power rate information and sets a reservation time on the basis of the power rate information.

Abstract: An apparatus comprising a controller. The controller includes an input/output (I/O) module and a rule module. The I/O module is configured to present a question for a patient when communicatively coupled to a user interface and receive patient information in response to the question via the user interface. The rule module is configured to apply a rule to the patient information and generate a suggested insulin pump setting from application of the rule. Other devices, systems, and methods are disclosed.

Abstract: A portable communicator for operating a field device. The portable communicator is configured to communicate with the field device to configure and/or analyze performance of a field device in an efficient manner. In some embodiments, the portable communicator includes an intuitive user interface that allows the user to perform a relatively limited set of preconfigured procedures on a field device. The portable communicator may communicate with the field device via a wire and/or wirelessly. In one embodiment, the portable communicator is a Bluetooth-enabled smartphone, a PDA, a pocket PC, or any Bluetooth-enabled generic mobile communication device. The portable communicator may communicate with the field device via a wireless communication unit (e.g., Bluetooth modem) coupled to the field device. In a process plant environment, in which the field device is coupled to a controller, the portable communicator may communicate with the field device without communicating with the controller.

Abstract: A PLC includes a single-chip, a DC power module, a relay output module, an I/O module, and a pulse output module. The single chip includes a single-chip timer, a hardware watchdog, a 11.0592M crystal, and an A/D converter module. A system program is burned into an EEPROM (Electrically Erasable Programmable Read-Only Memory) of the single-chip. The system program includes a programming module and a control module. A DC power module includes an anti jamming circuit, a first output port, and a second output port. The first output port and the second output port are respectively connected to the anti-jamming circuit, and the single-chip is connected to the first output port. A relay output module is connected to the second output port. An I/O module receives and sends digital signals.

Abstract: The invention relates to automatically configuring of a lighting created by a lighting system, particularly to creating a lighting, which follows a person, with a networked lighting system. A basic idea of the invention is to adapt the learning based processing of activations of lamps and presence detectors received as input data to changes in a system for automatically configuring lighting with a variable adaptation rate in order to make the automatic lighting configuration more robust with regard to system changes.

Abstract: This invention provides a system and method of Advanced Process Control for optimal operation of multi-unit plants in large scale processing and power generation industries. The invention framework includes the following components: continuous real time dynamic process simulation, automatic coefficient adjustment of dynamic and static process models, automatic construction of transfer functions, determination of globally optimal operating point specific to current conditions, provision of additional optimal operating scenarios through a variety of unit combinations, and calculation of operational forecasts in accordance with planned production.

Abstract: A system includes a functional control unit and a controller. The functional control unit is configured to enable and disable operation of a functional component. The controller is configured to receive a sensor signal, evaluate safety quality of the sensor signal, generate an evaluation parameter representing the safety quality of the sensor signal, and output the sensor signal with the evaluation parameter as a pair for receipt by the functional control unit. The functional control unit is configured to control operation of the functional component depending on the safety quality indicated by the evaluation parameter.

Abstract: Exemplary methods and systems are directed to a process control system having a main control device for controlling a primary equipment of the primary system and a backup control device for controlling the primary equipment in case of a failure of the first control device. A command redirection device for the process control system, is adapted to receive a control command destined to the main control device, and to redirect, in the event of a failure of the main control device, said control command to the backup control device.

Abstract: In order to obtain coded data which does not strike viewers and listeners as being incongruous, when plural audio data are to be coded, a coding program groups the respective audio data into one audio data, codes the grouped audio data in sequence with a predetermined number of samples being treated as units, and sets delimitations corresponding to the delimitations of the plural audio data in the coded data at coding units of the coded data.

Abstract: Embodiments are described for a system and method for implementing an adaptive time-frequency resolution in audio and video coding systems. A method of adaptively transforming the time-frequency resolution for a defined spectrum comprises dividing the spectrum of the input signal into a into plurality of bands; determining, for each band of the plurality of bands, a characteristic of the content (e.g., tonal or transient content); modifying the time-frequency resolution value to one or more bands of the plurality of bands to increase either a time resolution of the band or a frequency resolution of the band depending on the characteristic of the content; determining a cost associated with modifying the time-frequency resolution value of the one more bands based on an entropy measure of the bands, and altering the modified time-frequency resolution values in a manner that accounts for the coding cost.

Abstract: A method and apparatus are provided for generating a personalized radio channel playlist by simultaneously buffering multiple received channels from one or more source streams, and then selecting songs or tracks to playback from the buffered channels. Users can specify favorite channels for building their personal playlists, or multiple default playlist channels can be provided by genre or channels related in some other way. Navigation tools permit users to skip ahead and backward in the playback stream. A personalized radio channel playlist can be implemented as (1) content selected from buffered channels based on user preferences for artists, songs and the like, or (2) as a Mix Channel in which content from selected buffered channels is automatically mixed for playback in response to selection of a preset button assigned to the Mix Channel.

Abstract: A method for manufacturing a stamped part, such as a bipolar plate for a fuel cell, includes the steps of: providing an original model of the bipolar plate; and performing a compensation process on the original model, the compensation process including a two step morphing process based upon a prediction of spring back. The two step morphing process provides a compensated model of the stamped part. A compensated die face may be created based on the compensated model of the stamped part. The stamped part manufactured with the compensated die face has spring back compensation.

Abstract: A method of executing a batch process in a manufacturing environment according to a product recipe, such that the product recipe specifies a plurality of actions and a plurality of parameters, includes performing at least one action of the batch process corresponding to a first version of the product recipe, receiving a second version of the product recipe, such that the second version of the product recipe is distinct from the first version of the product recipe, suspending the execution of the batch process prior to completion of the batch process, and resuming the execution of the batch process according to the second version of the product recipe.

Abstract: An apparatus for monitoring data generated by a device adapted for use in a pharmaceutical manufacturing environment are described and disclosed herein. The method creates a historic record of the pharmaceutical manufacturing process and provides it to an end user or a plurality of end users. Consequently, the methods provide a means to track the frequency of hazards associated with said device and thereby perform quality control on an integrated level whereby a pharmaceutical manufacturer can ensure data and product integrity and minimize cost.

Abstract: A build up edge monitoring method is provided for performing online real-time detection and suppression of abnormal build up edges of cutters occurred in a CNC manufacturing process. Signal variation analysis and fast Fourier transform are used for analyzing signals and establishing an algorithm of diagnosing build up edges to improve the efficiency and reliability of the cutting abnormality diagnostics. A vibration acceleration signal is captured and filtered to a frequency exceeding 1.1 times of a blade passing frequency, and an occurrence of accumulated chips is determined according to a sudden increase of the vibration acceleration and whether the main vibration frequency of the current vibration signal determined by a fast Fourier transform analysis matches with the frequency of the build up edge characteristic, and a shutdown instruction is issued to a CNC controller to shut down a cutting machine.

Abstract: Disclosed is a substrate positioning apparatus capable of accurately performing positioning of a center of a circular-shape substrate with respect to a rotating shaft. The substrate positioning apparatus includes: a substrate disposing part; a first positioning mechanism including a first reference part contacting a side of the substrate; a second positioning mechanism including a second reference part contacting the side of the substrate; a first driver configured to drive the first positioning mechanism; a controller configured to control the drive of the first positioning mechanism. In particular, the second reference part contacts the substrate at a contact part and includes an elastic part that applies force in a moving direction of the first driver to the contact part and a detector that detects position information of the second positioning mechanism.