Measurement and collection of human tremors through a handheld tool

• US 10,271,770 B2
• Filed: 02/20/2015
• Issued: 04/30/2019
• Est. Priority Date: 02/20/2015
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Verily Life Sciences LLC (Alphabet Inc.)
• Inventors: Pathak, Anupam J., Jooste, Sarel Kobus
• Primary Examiner(s): Towa, Rene T
• Assistant Examiner(s): Melhus, Benjamin S
• Application Number:
  US14/627,893
• Publication Number:
  US 20160242679A1
• Time in Patent Office: 1,530 Days
• Field of Search: None
• CPC Class Codes: A47G 21/02 Forks; Forks with ejectors; Combined forks and spoons; Salad servers
• CPC Class Codes: A47G 2200/046 of holding or grasping
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2560/0431 Portable apparatus, e.g. comprising a handle or case
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 5/0004 characterised by the type of physiological signal transmitted
• CPC Class Codes: A61B 5/0022 Monitoring a patient using a global network, e.g. telephone networks, internet
• CPC Class Codes: A61B 5/1101 Detecting tremor
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/1126 using a particular sensing technique
• CPC Class Codes: A61B 5/4082 Diagnosing or monitoring movement diseases, e.g. Parkinson, Huntington or Tourette
• CPC Class Codes: A61B 5/4836 Diagnosis combined with treatment in closed-loop systems or methods A61B5/0036 takes precedence
• CPC Class Codes: A61B 5/6887 mounted on external non-worn devices, e.g. non-medical devices
• CPC Class Codes: A61B 5/7264 Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems neural networks per se G06N3/00; expert systems per se G06N5/00
• CPC Class Codes: A61F 4/00 Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body operating or control means for prostheses A61F2/48, A61F2/68
• CPC Class Codes: F16F 15/03 using magnetic or electromagnetic means F16F9/53, F16F15/005 take precedence
• CPC Class Codes: F16F 7/1005 : characterised by active control of the mass
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

A technique for measuring and collecting human tremor data includes measuring motions of a handheld tool manipulated by a user while performing a task with the handheld tool. The motions are measured using an inertial measurement unit (“IMU”) disposed within a handle of the handheld tool. Motion data of the motions is recorded to a motion log stored within a memory unit of the handheld tool. The motion data contains information for determining a severity of tremors that occurred while the user performed the task with the handheld tool. The motion log is communicated to a remote server for analysis.

Claims

1. A method performed by a handheld tool that stabilizes unintentional muscle tremors, the method comprising:

measuring the unintentional muscle tremors imparted to the handheld tool when manipulated by a user while the user performs a task with the handheld tool, wherein the unintentional muscle tremors are measured using a motion sensor attached to a handle of the handheld tool;

stabilizing a user-assistive device extending from the handle with at least one motor disposed within the handheld tool and coupled to the user-assistive device, wherein the stabilizing is based at least in part upon the unintentional muscle tremors;

recording motion data of the unintentional muscle tremors to a memory unit disposed on-board of the handheld tool, wherein the motion data is recorded into the memory unit by a controller disposed within the handle and coupled to the motion sensor and the memory unit, wherein the motion data includes an indication of an amount of correction imparted by the at least one motor while the user performs the task; and

generating a motion log within the memory based upon recording the motion data of the unintentional muscle tremors, wherein generating the motion log includes generating a dataset for analysis of a severity of the unintentional muscle tremors; and

communicating the motion log to a remote server.

2. The method of claim 1, wherein the motion sensor comprises an inertial measurement unit (IMU) that includes sensors to measure both translational and rotational motions of the handheld tool.

3. The method of claim 2, wherein the IMU includes one or more of an accelerometer, a gyroscope, or a magnetometer being mounted to the handle of the handheld tool to measure both the translational and the rotational motions of the handheld tool.

4. The method of claim 1, wherein the handheld tool comprises a kitchen utensil and the task comprises eating with the kitchen utensil.

5. The method of claim 1, wherein the handheld tool includes an attachment arm for removably attaching different user-assistive devices to a distal end of the attachment arm, the method further comprising:

determining, by the controller, a type of the user-assistive device coupled to the distal end of the attachment arm;

recording, by the controller, the type of the user-assistive device coupled to the distal end of the attachment arm while performing the task in the memory unit, wherein the type of the user-assistive device provides an indication of the task; and

communicating the type of the user-assistive device with the motion log to the remote server.

6. The method of claim 5, wherein the type of the user-assistive device includes an indication of at least one of a fork, a knife, or a spoon.

7. The method of claim 1, wherein communicating the motion log to the remote server for analysis comprises:

establishing a wireless linking to a cellular phone; and

uploading the motion log to the remote server over the wireless link in response to user commands received from the cellular phone via the wireless link.

8. The method of claim 1, wherein communicating the motion log to the remote server for analysis comprises:

communicating the motion log to the remote server upon the handheld tool being coupled to a charging dock that charges an internal battery of the handheld tool.

9. The method of claim 1, further comprising:

measuring a battery voltage of a battery disposed within the handle while the user performs the routine task;

recording, with the controller, the battery voltage with time stamps into the memory unit along with the motion log to track battery consumption as a function of time, wherein the battery consumption as the function of time correlates to the severity of the tremors and is indicative of an amount of correction imparted by the at least one motor while stabilizing the tremor motions.

10. A method performed by a handheld tool that stabilizes unintentional muscle tremors, the method comprising:

measuring the unintentional muscle tremors imparted to the handheld tool when manipulated by a user while the user performs a task with the handheld tool, wherein the unintentional muscle tremors are measured using a motion sensor attached to the handheld tool;

stabilizing a user-assistive device extending from a handle of the handheld tool with at least one motor disposed within the handle of the handheld tool and coupled to the user-assistive device to stabilize the unintentional muscle tremors imparted to the handle;

recording motion data of the unintentional muscle tremors to a memory unit disposed on-board of the handheld tool, wherein the motion data is recorded into the memory unit by a controller disposed within the handle and coupled to the motion sensor and the memory unit, wherein the motion data includes an indication of an amount of correction imparted by the at least one motor;

generating a motion log within the memory based upon the motion data, wherein the motion log provides a dataset for analysis of a severity of the unintentional muscle tremors while performing the task; and

communicating the motion log to a remote server.

11. At least one machine-accessible storage medium that provides instructions that, when executed by a handheld tool, will cause the handheld tool to perform operations comprising:

measuring unintentional muscle tremors imparted to the handheld tool when manipulated by a user while the user performs a task with the handheld tool, wherein the unintentional muscle tremors are measured using a motion sensor attached to the handheld tool;

stabilizing a user-assistive device extending from a handle of the handheld tool with at least one motor disposed within the handle of the handheld tool and coupled to the user-assistive device to stabilize the unintentional muscle tremors imparted to the handle;

recording motion data of the unintentional muscle tremors to a memory unit disposed on-board of the handheld tool, wherein the motion data includes an indication of an amount of correction imparted by the at least one motor;

generating a motion log within the memory based upon the motion data, wherein the motion log provides a dataset for analysis of a severity of the unintentional muscle tremors while performing the task; and

communicating the motion log to a remote server.

12. At least one machine-accessible storage medium that provides instructions that, when executed by a handheld tool, will cause the handheld tool to perform operations comprising:

measuring unintentional muscle tremors imparted to the handheld tool when manipulated by a user while the user performs a task with the handheld tool, wherein the unintentional muscle tremors are measured using a motion sensor attached to the handheld tool;

stabilizing a user-assistive device extending from a handle of the handheld tool with at least one motor disposed in the handle and coupled to the user-assistive device to stabilize the unintentional muscle tremors imparted to the handle;

measuring a battery voltage of a battery of the handheld tool while the user performs the task; and

recording the battery voltage with time stamps into a log stored in an on-board memory unit of the handheld tool to track battery consumption as a function of time, wherein the battery consumption as the function of time correlates to a severity of the unintentional muscle tremors and is indicative of an amount of correction imparted by the at least one motor while stabilizing the tremor motions.