Patent Publication Number: US-2017361353-A1

Title: Apparatus and method for applying a product to skin

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 13/810,121, filed Jan. 14, 2013, the content which is incorporated herein by reference in its entirety. 
    
    
     TECHNOLOGICAL FIELD 
     Embodiments of the present invention relate to the application of a product to the skin of a person. In particular, they relate to applying skin product, such as sunless tanning lotion, to the skin of a person in a booth. 
     BACKGROUND 
     In recent years, tanning booths have become popular. A person may, for example, stand within such a tanning booth while sunless tanning lotion is applied to him/her by a human operator or by automated means. 
     In circumstances where the sunless tanning lotion is applied using automated means, it can be difficult to ensure that sunless tanning lotion is applied to the person in an even fashion and in a manner that is comfortable for the person. 
     BRIEF SUMMARY 
     According to some, but not necessarily all, embodiments of the invention, there is provided an apparatus for applying product to the skin of a person in a booth, comprising: an applicator configured to apply the product to the person; a first guide configured to guide movement of the applicator in a first dimension, in order to enable the applicator to apply the product to the person at a plurality of different heights; and a second guide configured to guide movement of the applicator in a second dimension, in order to enable the applicator to apply the product across the width of the person. 
     The second guide may be configured to guide movement of the applicator in the second dimension by guiding the first guide in the second dimension. The second guide may be configured to guide the applicator along an arcuate path. 
     The first guide may have a length extending in the first dimension. 
     The applicator may be configured to rotate about an axis of rotation aligned with the length of the first guide. The applicator may be configured to rotate by substantially 70 degrees. 
     The second guide may be configured to cause the first guide to rotate about an axis of rotation that is separated from, and substantially parallel with, the length of the first guide. The second guide may be configured to cause the first guide to rotate by substantially 90 degrees. 
     The apparatus may further comprise: a first drive configured to drive the applicator along the first guide and in the first dimension; and a second drive configured to drive the first guide in the second dimension. 
     The apparatus may further comprise: control circuitry configured to control the first drive and the second drive in accordance with a product application program. The product application program used by the control circuitry may depend on the weight of the person to whom the product is to be applied. The product application program used by the control circuitry may depend on the height of the person to whom the product is to be applied. 
     The apparatus may further comprise: a sensor configured to sense the height of the person to whom the product is to be applied. The apparatus may further comprise: a sensor configured to sense the weight of the person to whom the product is to be applied. 
     The apparatus may further comprise: a sensor configured to sense resistance to movement of the first guide in the second dimension, and control circuitry configured, in response to the sensor sensing resistance to movement of the first guide in the second dimension, to cause the first guide to cease. 
     The applicator may be a spray gun configured to spray the product onto the skin of the person. The spray gun may have a variable fan output size. The apparatus may further comprise control circuitry for controlling the fan output size in dependence upon the weight of the person to be sprayed. 
     According to some, but not necessarily all, embodiments of the invention, there is provided an apparatus, comprising: control circuitry; and at least one memory storing computer program instructions that, when executed by the control circuitry, cause the apparatus to perform at least the following: controlling guided movement of an applicator in a first dimension, in order to enable the applicator to apply product to the skin of a person at a plurality of different heights; and controlling guided movement of the applicator in a second dimension, in order to enable the applicator to apply the product across the width of the person. 
     According to some, but not necessarily all, embodiments of the invention, there is provided a method, comprising: controlling guided movement of an applicator in a first dimension, in order to enable the applicator to apply product to the skin of a person at a plurality of different heights; and controlling guided movement of the applicator in a second dimension, in order to enable the applicator to apply the product across the width of the person. 
     According to some, but not necessarily all, embodiments of the invention, there is provided a non-transitory computer readable medium storing computer program instructions that, when executed by control circuitry, cause at least the following to be performed: controlling guided movement of an applicator in a first dimension along a first guide, in order to enable the applicator to apply product to the skin of a person at a plurality of different heights; and controlling guided movement of the applicator in a second dimension, in order to enable the applicator to apply the product across the width of the person. 
     According to some, but not necessarily all, embodiments of the invention, there is provided an apparatus for applying product to the skin of a person in a booth, comprising: an applicator configured to apply the product to the person; and control circuitry for controlling the applicator in dependence upon the weight of the person. 
     According to some, but not necessarily all, embodiments of the invention, there is provided an apparatus, comprising: control circuitry; and at least one memory storing computer program instructions that, when executed by the control circuitry, cause the apparatus to perform at least the following: determining the weight of a person; and controlling an applicator, for applying the product to the person, in dependence upon the weight of the person. 
     According to some, but not necessarily all, embodiments of the invention, there is provided a method for applying product to the skin of a person in a booth, comprising: determining the weight of a person; and controlling an applicator, for applying the product to the person, in dependence upon the weight of the person. 
     According to some, but not necessarily all, embodiments of the invention, there is provided a non-transitory computer readable medium storing computer program instructions that, when executed by control circuitry, cause at least the following to be performed: determining the weight of a person; and controlling an applicator, for applying the product to the person, in dependence upon the weight of the person. 
    
    
     
       BRIEF DESCRIPTION 
       For a better understanding of various examples of embodiments of the present invention reference will now be made by way of example only to the accompanying drawings in which: 
         FIG. 1  illustrates an apparatus for applying product to the skin of a person; 
         FIG. 2A  illustrates a guide comprising a track member and an arm; 
         FIGS. 2B and 2C  illustrate an end portion of the arm connected to a vertical guide; 
         FIGS. 3A to 3D  illustrate the addition of first and second guides to a booth; 
         FIG. 4  illustrates a control aspect of the apparatus; 
         FIGS. 5A to 5C  illustrate product being applied to the skin of a person in a booth; 
         FIGS. 6 and 7  illustrate movement of an applicator of the apparatus; 
         FIGS. 8 and 9  illustrate product being applied to the skin of a person; and 
         FIG. 10  illustrates a method. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the invention provide an efficient method of evenly applying skin product, such as tanning lotion, to the skin of a person. 
     The Figures illustrate an apparatus  100  for applying product to the skin of a person  200 / 201  in a booth  10 , comprising: an applicator  57  configured to apply the product to the person  200 / 201 ; a first guide  40  configured to guide movement of the applicator  57  in a first dimension z, in order to enable the applicator  57  to apply the product to the person  200 / 201  at a plurality of different heights; and a second guide  20  configured to guide movement of the applicator  57  in a second dimension Φ, in order to enable the applicator  57  to apply the product across the width of the person  200 / 201 / 202 . 
       FIG. 1  illustrates an apparatus  100  for applying product to the skin of a person in a booth  10 . The apparatus  100  may or may not comprise the booth  10 . For example, in some embodiments of the invention, the apparatus  100  does not comprise the booth  10  and is supplied as a kit of parts for attachment to an existing booth. The booth  10  illustrated in  FIG. 1  comprises a base  13  having a foot grate  14 , a roof  12 , and an entrance/front opening  11 . 
     The booth  10  is an enclosure that defines an inner volume  300 . In this example, one or more walls  301 ,  302  of the booth  10  define the booth volume  300 . 
     The front opening  11  of the booth  10  is shaped so as to enable a person to enter the booth  10  via the front opening  11  (e.g. by walking) and position himself (entirely) within the booth volume  300 . When product is to be applied to the skin of a person, the person enters the booth  10  via the front opening  11  and stands in the booth volume  300  and on the foot grate  14 . In this particular example, the booth  10  does not comprise a door for covering the front opening  11 . 
     The apparatus  100  comprises a first guide  40  and a second guide  20 . The second guide  20  comprises an arm  22  and a track member  24 . A first end  21  of the arm  22  is rotatably attached to the roof  12  of the booth  10  at the point designated by the reference numeral  9 . A second end  23  of the arm  22  is fixedly connected to the first guide  40 . The first guide  40  is elongate in shape and has the form of a column. The first guide  40  has a length that extends, perpendicular to the arm  22 , down the front opening  11  of the booth  10 . 
     The track member  24  is fixedly connected to the roof  12  of the booth  10 , above the front opening  11 . The track member  24  comprises a curved track  25  which may, for example, be a gear rack. The arm  22  is configured to move along the track  25  of the track member  24 . The arm  22  may, for example, comprise a pinion that enables the arm  22  to move along the track  25 . 
       FIG. 1  illustrates a cylindrical co-ordinate system  80  with an azimuthal dimension Φ, a radial dimension r and a longitudinal dimension z. Each of the dimensions Φ, r and z are orthogonal to one another. The illustrated co-ordinate system  80  is centered on the point  9  at which the arm  22  is connected to the booth  10 . 
     The arm  22  is configured to rotate about its connection point  9  and the axis of rotation designated with the reference numeral  90 . The arm  22  rotates in the azimuthal dimension Φ and extends in the radial dimension r outwardly from the connection point  9 .  FIG. 1  illustrates an example in which the arm  22  is configured to rotate about the axis  90  by 90 degrees. In  FIG. 1 , the arm  22  is illustrated as being in a central position, relative to its range of motion. 
     As mentioned above, the first guide  40  is fixedly connected to the second end  23  of the arm  22 . The length of the first guide  40  extends in the longitudinal dimension z. Movement of the arm  22  (of the second guide  20 ) in the azimuthal dimension Φ causes the first guide  40  to move in the azimuthal dimension Φ. The second guide  20  is therefore configured to guide the first guide  40 , along an arcuate path, in the azimuthal dimension Φ. As the first guide  40  moves, it remains perpendicular to the arm  22 . There is no movement of the first guide  40  in the radial and longitudinal dimensions r, z. The arrow  95  indicates the direction of movement of the arm  22  along the track  25  and the direction of movement of the first guide  40 . 
     The first guide  40  is positioned outside the booth volume  300  and is configured to guide an applicator  57  in the longitudinal dimension z. At least part of the applicator  57  may be contained within the first guide  40 . The applicator  57  is configured to apply product to the skin of a person positioned in the booth  10 . In this example, the applicator  57  applies product through the front opening  11  and onto the skin of a person positioned in the booth  10  (e.g. by spraying product through the front opening  11 ). 
     The product that is applied to the skin of the person may be a beauty product for example, such as sunless tanning lotion. The applicator  57  may, for example, be a spray applicator (such as a spray gun) that is configured to spray the product onto the skin of a person in the booth  10 . 
     In the example illustrated in  FIG. 1 , the applicator  57  is positioned in a carriage  42  that is arranged to slide along the first guide  40  in the longitudinal dimension z. The arrows  65  and  66  indicate the directions of movement of the carriage  42  and the applicator  57  along the first guide  40 . 
     The first guide  40  enables the applicator  57  to move to various different positions in the longitudinal dimension z, and therefore enables the applicator  57  to apply product to a person positioned in the booth  10  at a plurality of different heights. 
     The second guide  20  guides the movement of the applicator  57  in the azimuthal dimension Φ by guiding the first guide  40  across the front opening  11  of the booth  10 . The first guide  40  may, for example, move to various different azimuthal positions across the front opening  11 . This enables the applicator  57 , situated in the first guide  40 , to move across the front opening  11  and apply product across the width of a person positioned in the booth  10 . 
     The applicator  57  is also configured to rotate, in the azimuthal dimension Φ, about an axis of rotation  70  that is aligned with the length of the first guide  40 , and separate from the axis of rotation  90  of the arm  22 . The axis of rotation  70  is aligned with the longitudinal dimension z and is substantially parallel with the axis of rotation  90  of the arm  22 . 
     The arrow designated with the reference numeral  75  is illustrative of the movement of the applicator  57 . The applicator  57  may, for example, be configured to rotate about its axis of rotation  70  by substantially 70 degrees. In the example illustrated in  FIG. 1 , the applicator  57  is directed towards the center of the opening  11  in the booth  10 , as illustrated by the line  85 . 
     The second guide  20  is illustrated in more detail in  FIG. 2A . It can be seen in  FIG. 2A  that the arm  22  comprises at least one aperture  32  for use in rotatably connecting the arm  22  to the roof  12  of the booth  10 . The arm  22  also comprises at least one aperture  34  for use in connecting the arm  22  to the first guide  40 . 
       FIG. 2A  also illustrates a drive  52 , situated on the arm  22 , which is configured to drive the arm  22  along the track  25 . In this example, the drive  52  is a stepper motor that rotates a pinion, driving the arm  22  along the track  25  in discrete steps and causing the first guide  40  to move along the azimuthal dimension Φ in discrete steps. 
     A further drive  53  is also situated on the arm  52 . The further drive  53  is configured to cause the applicator  57  to rotate about the axis  70 . The operation of the drive  53  can be seen in  FIGS. 2B and 2C . The drive  53  may, for example, be a linear drive that is configured to move a first link member  33 , in the form of a rod, in a linear fashion. The first link member  33  is elongate in shape and extends along the arm  22  in the radial dimension r. The first link member  33  is coupled to a second member  36  which extends through an aperture  37  in the arm  22  and down the first guide  40  in the longitudinal dimension z. The second link member  36  is coupled to the applicator  57 . 
     The aperture  37  in the arm  22  includes a curved peripheral surface  35 . The curved peripheral surface  35  acts as a cam, causing the linear motion of the first link member  33  to be converted into rotational motion of the applicator  57  coupled to the second link member  36 . 
       FIG. 2B  illustrates the first link member  33  at one extremity of its motion and  FIG. 2C  illustrates the first link member  33  at the opposite extremity of its motion. 
     As can be seen in  FIG. 2A , a cover  31  may be provided to cover the components situated on the arm  22 . 
       FIGS. 3A to 3D  illustrate the apparatus  100  being fitted in steps to an existing booth  10 .  FIG. 3A  illustrates a booth  10 .  FIG. 3B  illustrates the booth  10  after the track member  24  of the second guide  20  has been fitted to the roof  12  of the booth  10 .  FIG. 3C  illustrates the booth  10  after the arm  22  of the second guide  20  has been fitted to the roof  12  of the booth  10 .  FIG. 3D  illustrates the booth  10  after the first guide  40  has been connected to the arm  22 . 
       FIG. 4  illustrates components  51 - 57  of the apparatus  100  that receive inputs from or provide inputs to control circuitry  50  of the apparatus  100 . If the apparatus  100  is a kit of parts, it may comprise some or all of the elements  50  to  57  illustrated in  FIG. 4 . 
     The elements  50 - 57  illustrated in  FIG. 4  may be operationally coupled and any number or combination of intervening elements can exist (including no intervening elements) 
     The control circuitry  50  may, for example, be (or comprise) one or more processors. The control circuitry  50  is configured to provide outputs to a first drive  51 , a second drive  52 , a third drive  53  and the applicator  57 . The control circuitry  50  is configured to receive inputs from a height sensor  54  and a weight sensor  55 . The control circuitry  50  is also configured to read from and write to a memory  56 . 
     The memory  56  stores computer program instructions  6  that control the operation of the apparatus  100  when loaded into the control circuitry  50 . The computer program instructions  6  provide the logic and routines that enables the apparatus  100  to perform the method illustrated in  FIG. 10 . The control circuitry  50 , by reading the memory  56 , is able to load and execute the computer program instructions  6 . 
     The memory  56  is a non-transitory, tangible computer readable medium. Although the memory  56  is illustrated as a single component it may be implemented as one or more separate components some or all of which may be integrated/removable and/or may provide permanent/semi-permanent/dynamic/cached storage. 
     The first drive  51  is configured to drive the applicator  57  along the first guide  40 . Through appropriate control of the first drive  51 , the control circuitry  50  is able to move and position the applicator  57  in the longitudinal dimension z. 
     The second drive  52  was described above and is configured to drive the arm  22  along the track  25  and to drive the first guide  40  in the azimuthal dimension Φ. Through appropriate control of the first drive  51 , the control circuitry  50  is able to position the first guide  40  (and therefore the applicator  57 ) in any one of a number of positions across the width of the front opening  11  of the booth  10 . 
     The third drive  53  was described above and is configured to the applicator  57  to rotate about the axis  70 . Through appropriate control of the third drive  53 , the control circuitry  50  is able to control the direction in which the applicator  57  outputs product towards a person positioned in the booth  10 . 
     The height sensor  54  is configured to enable the control circuitry  50  to determine the height of a person positioned in the booth  10 . The height sensor  54  may, for example, be positioned in the carriage  42  that slides along the first guide  40 . For instance, the height sensor  54  may be an ultrasonic sensor or a photoelectric sensor for determining the height of a person. 
     The weight sensor  55  is configured to enable the control circuitry  50  to determine the weight of a person positioned in the booth  10 . The weight sensor  55  may, for example, be a load cell or a strain gauge for determining the weight of a person when the person steps on the foot grate  14 . 
     As described above, the applicator  57  may, for example, be a spray gun that is configured to spray product onto the skin of a person in the booth  10 . The spray gun may have a variable fan output size. In some embodiments of the invention, the applicator  57  is a “flat spray gun”. The fan of product that is output by a flat spray gun is relatively ‘flat’ in the longitudinal dimension z (as compared with the output in the azimuthal and radial dimensions Φ, r). The control circuitry  50  may be configured to control the fan output size of the applicator/spray gun  57 . 
     It will be appreciated by those skilled in the art that the size of people using the booth  10  will vary. For example, the users will have varying heights and varying weights. The memory  56  stores a plurality of product application programs  8  for the apparatus  100 . The product application programs  8  define how the control circuitry  50  should control the applicator  57 , via the drives  51 - 53 , to apply product to people of different sizes (i.e. different heights and weights). The plurality of product application programs  8  may, for example, be stored as a look-up table in the memory  56 . 
     Each product application program may, for example, define the following: 
     i) The fan output size of the applicator/spray gun  57 . For example, the product application programs  8  may specify that the control circuitry  50  controls the applicator/spray gun  57  to use a larger fan output size for larger bodies (i.e. larger heights and weights). 
     ii) The manner in which the applicator  57  is guided along the first guide  40  while the product is being applied to a person. For example, the product application programs  8  may specify that the control circuitry  50  controls the applicator  57  to apply product across a larger longitudinal distance for a larger person than for a smaller person. 
     If a larger fan output size has been selected, it may be appropriate to control the applicator  57  to move more slowly along the first guide  40  than if a smaller fan output size had been selected, to ensure that enough product is applied to the skin of the person. 
     The control circuitry  50  may be configured to determine, from the height of the person, the position of various parts of the person such as the legs, the torso and the head. It may be desirable to provide different densities of coverage of the product on different parts of the person. Consequently, the product application programs  8  may specify that the control circuitry  50  controls the applicator  57  to move at different speeds depending on the part of the body that the product is being applied to. 
     The apparatus  100  may be configured to provide the person with an option of selecting the density of the coverage of the product. For example, if the product is a sunless tanning lotion, the person may be able to select whether he/she wishes to have a light, medium or deep tan. The speed at which the applicator  57  moves along the first guide  40  may depend upon the selection made by the person. For example, the control circuitry  50  may control the applicator  57  to move more slowly if a dense coverage has been selected, than if a light coverage had been selected. 
     iii) The manner in which the applicator  57  is rotated about axis of rotation  70  when product is being applied. For example, the determined height and weight of the person will indicate a particular body size. The product application programs  8  may specify that the third drive  53  is controlled differently by the control circuitry  50 , depending upon the determined size (i.e. the determined height and/or weight) of a person. 
     iv) The manner in which second guide  20  guides the first guide  40  in the azimuthal dimension Φ. For example, it may be appropriate to rotate the arm  22  across a greater angular range for a person having a larger weight than for a person having a smaller weight. 
     In a method according to embodiments of the invention, after a person has stepped into the booth  10 , the control circuitry  50  determines, using the height sensor  54  and the weight sensor  55 , the height and weight of the person to whom product is to be applied. In response, the control circuitry  50  selects an appropriate product application program  8  for a person having the determined height and weight. 
     The control circuitry  50  then controls the applicator  57  to begin applying product to the person using the selected product application program. In a typical product application program, the arm  22  may rotate the first guide  40  in ten incremental steps across the front opening  11  of the booth  10 . For each azimuthal position of the first guide  40 , the applicator  57  may apply product continuously as it moves up the first guide  40  (an “up stroke”) and down the first guide  40  (a “down stroke”). An up stroke and a down stroke may be completed for each azimuthal position of the first guide  40 . In some azimuthal positions, such as those close to the center of the opening  11  of the booth  10 , additional smaller up and down strokes may be performed. These additional smaller strokes may, for example, enable better coverage to be provided in traditionally difficult to reach areas, such as the inner leg. 
       FIG. 5A  illustrates product being applied to a relatively slim person  200  positioned in the booth  10  by the applicator  57 . The reference numeral  101  illustrates the fan output of product from the applicator  57 .  FIG. 5B  illustrates product being applied to a larger person  201  by the applicator  57 .  FIG. 5C  illustrates product being applied to the inner leg of a person by the applicator  57  when the first guide  40  is at a different azimuthal position as compared with  FIGS. 5A and 5B . 
     An apparatus  100  for applying product to the skin of a person has been described above. The apparatus  100  is particularly advantageously because it enables a product to be applied to the skin of a person in a consistent manner. This is achieved, at least in part, by enabling the applicator  57  to be placed in a large number of positions and to be directed in a wide variety of directions. It is also achieved because the size of a person is taken into consideration when determining how to control the applicator  57  to apply product to that person. 
       FIG. 6  illustrates an embodiment of the invention in which the applicator  57  is configured to rotate about an axis  305 . The movement of the applicator  57  is illustrated by the arrows designated with the reference numeral  405  in  FIG. 6 . The applicator  57  may be configured to rotate about the axis  305  in addition to rotating about the axis  70  illustrated in  FIG. 1 . 
     In the  FIG. 6  example, the axis of rotation  305  is perpendicular to the length of the elongate first guide  40  and the axis  70 . The axis  305  is also perpendicular to the length of the arm  22 . The applicator  57  may, for example, be able to rotate by  90  degrees about the axis  305 . The control circuitry  50  may be configured to cause the applicator  57  to rotate about the axis  305  by controlling a drive. 
     Rotation of the applicator  57  about the axis  305  enables the applicator  57  to direct product upwardly or downwardly, for example. The applicator  57  may, for example, be directed downwards when spraying the top of a person&#39;s shoulders. The applicator  57  may, for example, be directed upwards when spraying under a person&#39;s breasts, chin, armpits or crotch area. 
     The arrows  65  and  66  in  FIG. 6  illustrate the directions of movement of the applicator  57  along the first guide  40 . 
       FIG. 7  illustrates an embodiment in which the applicator  57  is a flat spray gun. In the illustration, the fan of product that is produced by the applicator  57  is relatively ‘flat’ in the longitudinal dimension z. In this example, the applicator  57  is configured to be rotatable about the axis  307 . The motion of the applicator  57  is illustrated by the arrow  306 . The axis of rotation  307  is perpendicular to the longitudinal dimension z and perpendicular to the axis of rotation  305  illustrated in  FIG. 6 . 
     The control circuitry  50  may control the applicator  57  to rotate about the axis  307  via a drive. 
       FIG. 8  illustrates product being applied to a person  202  using the applicator  57  illustrated in  FIG. 7 .  FIG. 9  illustrates product being applied to a person  202  using the applicator  57 , after the applicator  57  has been rotated by  90  degrees about the axis  307 . 
       FIG. 10  illustrates a method according to embodiments of the invention. At block  1000  in  FIG. 10 , the control circuitry  50  controls guided movement of the applicator  57  in a first (longitudinal) dimension z (e.g. movement of the applicator  57  along the first guide  40 ), in order to enable the applicator  57  to apply product to the skin of a person (positioned within the booth  10 ) at a plurality of different heights. 
     At block  1001  in  FIG. 10 , the control circuitry  50  controls guided movement of the applicator  57  in a second (azimuthal) dimension Φ (e.g. movement of the applicator  57  and the first guide  40 ), in order to enable the applicator  57  to apply the product across the width of the person positioned within the booth  10 . 
     The blocks illustrated in  FIG. 10  may represent steps in a method and/or sections of code in the computer program instructions  6 . The illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied. Furthermore, it may be possible for some blocks to be omitted. 
     References to ‘computer-readable storage medium’, ‘computer program product’, ‘tangibly embodied computer program’ etc. or ‘control circuitry’, ‘computer’, ‘processor’ etc. should be understood to encompass not only computers having different architectures such as single/multi-processor architectures and sequential (Von Neumann)/parallel architectures but also specialized circuits such as field-programmable gate arrays (FPGA), application specific circuits (ASIC), signal processing devices and other processing circuitry. References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the programmable content of a hardware device whether instructions for a processor, or configuration settings for a fixed-function device, gate array or programmable logic device etc. 
     As used in this application, the term ‘circuitry’ refers to all of the following: 
     (a) hardware-only circuit implementations (such as implementations in only analog and/or digital circuitry), 
     (b) to combinations of circuits and software (and/or firmware), such as (as applicable): (i) to a combination of processor(s) or (ii) to portions of processor(s)/software (including digital signal processor(s)), software, and memory(ies) that work together to cause an apparatus to perform various functions, and 
     (c) to circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present. 
     This definition of ‘circuitry’ applies to all uses of this term in this application, including in any claims. As a further example, as used in this application, the term “circuitry” would also cover an implementation of merely a processor (or multiple processors) or portion of a processor and its (or their) accompanying software and/or firmware. 
     Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the invention as claimed. For example, in some embodiments of the invention, the applicator  57  does not rotate about the axis of rotation  70 , and no third drive  53  is provided for causing the applicator  57  to rotate in this manner. 
     In some embodiments of the invention, a sensor may be provided to sense resistance to movement of the first guide  40  in the azimuthal dimension Φ. The control circuitry  40  may be configured, in response to the sensor sensing resistance to movement of the first guide  40 , to cause the first guide  40  to cease moving. This is a safety feature that prevents a person&#39;s limbs being trapped by the moving first guide  40 . 
     Features described in the preceding description may be used in combinations other than the combinations explicitly described. 
     Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not. 
     Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not. 
     Whilst endeavoring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.