Methods and apparatus for rehabilitation and training

• US 10,039,682 B2
• Filed: 06/16/2014
• Issued: 08/07/2018
• Est. Priority Date: 02/05/2004
• Status: Active Grant

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Einav, Omer, Einav, Haim, Rousso, Benny, Shabanov, Doron, Katzir, Eran, Binyamini, Gad
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US14/305,178
• Publication Number:
  US 20140296750A1
• Time in Patent Office: 1,513 Days
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/16 Devices for psychotechnics using teaching or educational appliances G09B1/00 - G09B7/00; Testing reaction times ; Devices for evaluating the psychological state
• CPC Class Codes: A61B 5/224 Measuring muscular strength
• CPC Class Codes: A61B 5/486 Bio-feedback A61B5/375 takes precedence
• CPC Class Codes: A61B 5/7475 User input or interface means, e.g. keyboard, pointing device, joystick
• CPC Class Codes: A61H 1/0237 for the lower limbs
• CPC Class Codes: A61H 1/0262 Walking movement; Appliances for aiding disabled persons to walk A61H3/00 takes precedence
• CPC Class Codes: A61H 1/0274 for the upper limbs
• CPC Class Codes: A61H 1/0296 Neck
• CPC Class Codes: A61H 2201/0184 by raising an alarm
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1607 Holding means therefor
• CPC Class Codes: A61H 2201/1611 Holding means therefor
• CPC Class Codes: A61H 2201/1635 Hand or arm, e.g. handle
• CPC Class Codes: A61H 2201/1638 Holding means therefor
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/1659 Free spatial automatic movement of interface within a working area, e.g. Robot
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/501 : connected to external computer devices or networks
• CPC Class Codes: A61H 2201/5023 : Interfaces to the user
• CPC Class Codes: A61H 2201/5038 : freely programmable by the user
• CPC Class Codes: A61H 2201/5043 : Displays
• CPC Class Codes: A61H 2201/5048 : Audio interfaces, e.g. voice or music controlled
• CPC Class Codes: A61H 2201/5058 : Sensors or detectors
• CPC Class Codes: A61H 2201/5061 : Force sensors
• CPC Class Codes: A61H 2201/5064 : Position sensors
• CPC Class Codes: A61H 2201/5069 : Angle sensors
• CPC Class Codes: A61H 2201/5092 : Optical sensor
• CPC Class Codes: A61H 2230/065 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/085 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/425 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/505 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/655 : used as a control parameter for the apparatus
• CPC Class Codes: A63B 2022/0094 : for active rehabilitation, e.g. slow motion devices
• CPC Class Codes: A63B 2024/0078 : Exercise efforts programmed as a function of time
• CPC Class Codes: A63B 2071/065 : Visualisation of specific exercise parameters
• CPC Class Codes: A63B 21/00178 : for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/00181 : comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/0058 : using motors
• CPC Class Codes: A63B 21/4021 : to the wrist
• CPC Class Codes: A63B 21/4043 : Free movement, i.e. the only restriction coming from the resistance A63B21/00043, A63B21/072 take precedence
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2220/13 : Relative positions
• CPC Class Codes: A63B 2220/16 : Angular positions
• CPC Class Codes: A63B 2220/50 : Force related parameters
• CPC Class Codes: A63B 2225/50 : Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 23/03508 : For a single arm or leg, A63B21/0726 takes precedence
• CPC Class Codes: A63B 23/1209 : Involving a bending of elbow and shoulder joints simultaneously
• CPC Class Codes: A63B 71/0009 : for handicapped persons
• CPC Class Codes: G09B 23/28 : for medicine
• CPC Class Codes: G09B 23/32 : with moving parts
• CPC Class Codes: G16H 20/30 : relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising

Abstract

A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, in which a same movement mechanism is used at two different places of rehabilitation.

Claims

1. A rehabilitation device, comprising:

a spherical joint having freedom of motion in Phi and Theta spherical angles, said freedom allowing positioning of said spherical joint in substantially any angular position within a range of at least 30 degrees in each angular direction;

a substantially rigid radial extension attached to said spherical joint and adapted for movement with a limb of a person in at least one point of the range;

at least one motor adapted to move said spherical joint; and

,

a controller adapted to control motion of said spherical joint using the at least one motor and thereby motion of said substantially rigid radial extension.

2. A device according to claim 1, wherein said substantially rigid radial extension is balanced.

3. A device according to claim 2, wherein said spherical joint comprises two joints, each separately balanced.

4. A device according to claim 1, wherein said spherical joint comprises two orthogonal hinges with a common center of rotation.

5. A device according to claim 1, wherein said controller comprises a mechanical controller.

6. A device according to claim 1, wherein said controller comprises an electrical controller.

7. A device according to claim 1, comprising at least one brake adapted to selectively resist said freedom of motion.

8. A device according to claim 7, wherein said at least one brake is operative in both said Phi and said Theta spherical angles.

9. A device according to claim 1, wherein said at least one motor is a pneumatic motor.

10. A device according to claim 1, wherein said controller is configured to control said motion of said spherical joint and provide at least one of assisting motion by said person'"'"'s limb, resisting motion by said person'"'"'s limb, guiding motion by said person'"'"'s limb, nudging said person'"'"'s limb to move and moving said person'"'"'s limb.

11. A rehabilitation kit, comprising:

an actuator that includes a movement mechanism including a motor, configured to apply a motive force to a radial extension that interacts with a motion of a person'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and configured with at least one of a worm gear, a spring or a brake to prevent substantial motion in any point in any direction in said volume;

a tip on an end of the radial extension of said actuator; and

a plurality of attachments modularly exchangeable for said tip, at least two of which are adapted to fit different organs.

12. A kit according to claim 11, wherein at least one of said attachments is configured with at least one gimbal or joint for rotation in three degrees of freedom.