Gait analysis medical assistance robot

• US 10,383,552 B2
• Filed: 04/26/2016
• Issued: 08/20/2019
• Est. Priority Date: 04/26/2016
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Martinson, Eric, Cottrell, Peter
• Primary Examiner(s): Dougherty, Sean P
• Application Number:
  US15/139,275
• Publication Number:
  US 20170303825A1
• Time in Patent Office: 1,211 Days
• CPC Class Codes: A61B 5/0046 Arrangements of imaging apparatus in a room, e.g. room provided with shielding or for improved access to apparatus
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/7282 Event detection, e.g. detecting unique waveforms indicative of a medical condition A61B5/4094, A61B5/4818, A61B5/349, A61B5/0823 take precedence
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

This disclosure describes, according to some implementations, a system and method for capturing sensor data for gait analysis of a subject using a robot. In an example method, a robot unit receives an instruction to monitor a gait of a subject; initializes a monitoring approach in response to receiving the instructions to begin monitoring the gait of the subject; collecting sensor data capturing movement of the subject along the pathway portion; and generating gait data for gait analysis based on the sensor data. In various embodiments, the monitoring approaches may include an active approach, a passive approach, or a hybrid approach.

Claims

1. A computer-implemented method comprising:

receiving, using one or more computer processors, an instruction for a robot unit to monitor a gait of a subject;

determining, using the one or more computer processors, a potential pathway that the subject is to move along;

determining, using the one or more computer processors, a pathway portion of the potential pathway, the pathway portion satisfying a gait criteria;

determining, using the one or more computer processors, a position from which one or more sensors of the robot unit can view the pathway portion that satisfies the gait criteria;

actuating one or more actuators of the robot unit to move the robot unit to the position;

capturing, using the one or more sensors of the robot unit, sensor data, the sensor data capturing the subject moving along the pathway portion; and

generating, using the one or more computer processors, gait data using the sensor data.

2. The method of claim 1, wherein the gait criteria includes one of a pathway portion length parameter, a pathway portion straightness tolerance, and a clearance from obstructions.

3. The method of claim 1, further comprising:

providing, using an output device, a first guidance indicator to the subject;

determining, using the one or more computer processors, that the subject has moved to a pre-determined point along the pathway portion; and

providing, using the output device, a second guidance indicator to the subject.

4. The method of claim 3, wherein the first guidance indicator and the second guidance indicator each include one of an audio message, a laser directed along the pathway portion, and a light highlighting the pathway portion.

5. A computer-implemented method comprising:

receiving, using one or more computer processors, an instruction to monitor a gait of a subject;

initializing, using the one or more computer processors, a monitoring approach in response to receiving the instruction to monitor the gait of the subject;

determining, using the one or more computer processors, a potential pathway that the subject is to move along;

determining, using the one or more computer processors, a pathway portion of the potential pathway, the pathway portion satisfying a gait criteria;

moving one or more sensors coupled to the one or more computer processors to a sensor position that has a view of the pathway portion responsive to determining that the pathway portion satisfies the gait criteria;

collecting, based on the monitoring approach and using the one or more sensors coupled to the one or more computer processors, sensor data capturing movement of the subject along the pathway portion; and

generating gait data for gait analysis based on the sensor data.

6. The method of claim 5, wherein the monitoring approach is an active monitoring approach and collecting the sensor data includes collecting the sensor data using the active monitoring approach by:

providing, using an output device coupled to the one or more computer processors, a notification to the subject that the sensor data for gait analysis will be captured;

providing, using the one or more computer processors, a first guidance to the subject to begin moving along the pathway portion; and

responsive to the subject beginning to move along the pathway portion, capturing, using the one or more sensors, the sensor data.

7. The method of claim 5, wherein the monitoring approach is a passive monitoring approach, the sensor data includes surroundings data, subject data, and position data, and collecting the sensor data includes collecting the sensor data using the passive monitoring approach by:

capturing, using the one or more sensors, the sensor data;

determining, using the one or more computer processors, that the surroundings data, subject data, and position data included in the sensor data meet passive monitoring approach conditions; and

generating the gait data using the sensor data responsive to the passive monitoring approach conditions being met.

8. The method of claim 7, wherein the passive monitoring conditions include a pre-determined length of a pathway, a stable position for viewing the pathway, and image data of the subject moving along the pathway.

9. The method of claim 5, wherein the monitoring approach is a hybrid monitoring approach and collecting the sensor data includes collecting the sensor data using the hybrid monitoring approach by:

capturing, using the one or more sensors, first sensor data including surroundings data, subject data, and position data;

determining, using the one or more computer processors, that hybrid monitoring conditions have been met based on the first sensor data;

determining, using the one or more computer processors, the pathway portion of the potential pathway based on the first sensor data;

determining, using the one or more computer processors, a position of a housing of the one or more computer processors that provides the one or more sensors coupled to the one or more computer processors with the view of the pathway portion;

actuating one or more actuators coupled to the one or more computer processors to move the housing of the one or more computer processors to the position; and

capturing, using the one or more sensors, second sensor data, the second sensor data capturing the subject moving along the pathway portion.

10. The method of claim 9, wherein determining that the hybrid monitoring conditions have been met further comprises:

determining, using the one or more computer processors, that the pathway portion of the potential pathway exceeds a pre-defined length based on the first sensor data; and

predicting, using the one or more computer processors, that the subject will move along the pathway portion of the potential pathway within a period based on the first sensor data.

11. The method of claim 5, wherein collecting the sensor data further comprises:

determining, using the one or more computer processors a second pathway parallel to the potential pathway for monitoring the gait of the subject; and

capturing, using the one or more sensors, the sensor data by moving a housing of the one or more computer processors along the second pathway parallel to the subject as the subject moves along the potential pathway.

12. The method of claim 5, further comprising:

modifying, using the one or more computer processors, the sensor data to account for motion anomalies.

13. A system comprising:

one or more processors; and

one or more memories storing instructions that when executed by the one or more processors, cause the system to perform operations including;

receiving an instruction to monitor a gait of a subject;

initializing a monitoring approach in response to receiving the instruction to monitor the gait of the subject;

determining a potential pathway that the subject is to move along;

determining a pathway portion of the potential pathway, the pathway portion satisfying a gait criteria;

moving one or more sensors coupled to the one or more processors to a sensor position that has a view of the pathway portion responsive to determining that the pathway portion satisfies the gait criteria;

collecting, based on the monitoring approach and using the one or more sensors, sensor data capturing movement of the subject along the pathway portion; and

generating gait data for gait analysis based on the sensor data.

14. The system of claim 13, wherein the monitoring approach is an active monitoring approach and collecting the sensor data includes collecting the sensor data using the active monitoring approach by:

providing a notification to the subject that the sensor data for gait analysis will be captured;

providing a first guidance to the subject to begin moving along the pathway portion; and

responsive to the subject beginning to move along the pathway portion, capturing the sensor data.

15. The system of claim 13, wherein the monitoring approach is a passive monitoring approach, the sensor data includes surroundings data, subject data, and position data, and collecting the sensor data includes collecting the sensor data using the passive monitoring by:

capturing the sensor data;

determining that the surroundings data, subject data, and position data included in the sensor data meet passive monitoring conditions; and

generating the gait data using the sensor data responsive to the passive monitoring approach conditions being met.

16. The system of claim 15, wherein the passive monitoring approach conditions include a pre-determined length of a pathway, a stable position for viewing the pathway, and image data of the subject moving along the pathway.

17. The system of claim 13, wherein the monitoring approach is a hybrid monitoring approach and collecting the sensor data includes collecting the sensor data using the hybrid monitoring approach by:

capturing first sensor data including surroundings data, subject data, and position data;

determining that hybrid monitoring conditions have been met based on the first sensor data;

determining the pathway portion of the potential pathway based on the first sensor data;

determining a position for a housing of the one or more processors that provides the one or more sensors with the view of the pathway portion;

actuating one or more actuators coupled to the one or more processors to move the housing of the one or more processors to the position; and

capturing second sensor data, the second sensor data capturing the subject moving along the pathway portion.

18. The system of claim 17, wherein determining that the hybrid monitoring conditions have been met further includes:

determining that the gait criteria of the pathway portion of the potential pathway exceeds a pre-defined length based on the first sensor data; and

determining that the subject will move along the pathway portion of the potential pathway within a period based on the first sensor data.

19. The system of claim 13, wherein collecting the sensor data further includes:

determining a second pathway parallel to the potential pathway for monitoring the gait of the subject; and

capturing the sensor data by moving a housing of the one or more processors along the second pathway parallel to the subject as the subject moves along the potential pathway.

20. The system of claim 13, wherein collecting the sensor data further includes:

modifying the sensor data to account for motion anomalies.