Therapeutic and/or training device for a person's lower limbs

• US 20040172097A1
• Filed: 11/04/2003
• Published: 09/02/2004
• Est. Priority Date: 05/16/2001
• Status: Active Grant

• Current Assignee: Fondation Suisse Pour Les Cybertheses
• Original Assignee: Fondation Suisse Pour Les Cybertheses
• Inventors: Brodard, Roland, Clavel, Reymond
• Granted Patent: US 7,381,192 B2
• Time in Patent Office: Days
• US Class Current: 607/49
• CPC Class Codes: A61H 1/0255 Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane A61H1/0214 takes precedence
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2201/0192 Specific means for adjusting dimensions
• CPC Class Codes: A61H 2201/10 with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1604 Head
• CPC Class Codes: A61H 2201/1621 Holding means therefor
• CPC Class Codes: A61H 2201/1623 Back
• CPC Class Codes: A61H 2201/163 holding means therefor
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/168 not moving
• CPC Class Codes: A61H 2201/5007 computer controlled
• 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 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A61H 3/008 Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses drawing-out devices A61H1/0218
• CPC Class Codes: A61N 1/36003 of motor muscles, e.g. for walking assistance

Abstract

The invention concerns a therapeutic device comprising a mechanical orthotic element (2, 3, 4) designed to constitute a contact surface with at least the patient'"'"'s lower limbs and a neuromuscular stimulation element (33) including at least a pair of electrodes (37, 38) designed to act on the muscle or muscular group concerned of said patient'"'"'s limb. The orthotic element comprises two orthoses including each three segments (2, 3, 4) designed to co-operate (11, 13; 12, 14; 15) with respectively the patient'"'"'s thigh, leg and foot. The first segment is connected at one of its ends through a first motorised articulation (9) to an element (10) designed to co-operate with the patient'"'"'s body at his hips and at its other end through a second motorised articulation (7) to one of the ends of the second segment. The other end of the second segment is linked through a third motorised articulation (8) to the third segment Each of the articulations (6, 7, 8) is provided with an angular sensor and force and torque sensors, coupled to the control member (31) of the stimulation device so as to enable feedback control by closed loop adjustment of the stimulation device.

Claims

1. A device for re-educating and/or training the lower limbs of a person, in particular a person having an impairment of the central nervous system (paraplegia, hemiplegia), comprising a mechanical orthetic device (2, 3, 4) arranged to constitute an interface with at least one of the lower limbs of the patient and a neuromuscular stimulation device (33) comprising at least one pair of electrodes (37, 38) intended to act on the relevant muscle or muscle group of the said limb of the patient, the said orthetic device comprising at least one articulation (6, 7, 8) provided with an angular sensor and at least one force sensor, the said sensors being coupled to the device (31) controlling the stimulation device, characterised in that the said articulation of the orthetic device is provided with an actuating motor of the orthesis controlled by a closed-loop continuous control system in real time by means of the said angular sensor and force sensor, in a manner which is coordinated with closed-loop continuously controlled in real time retrocontrol means of said stimulation device.

2. A device according to claim 1, characterised in that said control system of the motor comprises a control software of the a priori type.

3. A device according to one of,claims 1 or 2, characterised in that said retrocontrol means of said stimulation device comprise a control software of the a priori type.

4. A device according to claim 2 or claim 3, characterised in that the said control software incorporate a mathematical modelling of the characteristics and movements of the orthetic device and a mathematical modelling of the behaviour of the muscles of the patient.

5. A device according to one of claims 1 to 4, characterised in that the orthetic device comprises at least one orthesis comprising at least three segments (2, 3, 4) intended to constitute a mechanical interface with respectively the thigh, the leg and the foot of the patient, the first and second segments (2, 3) comprising means (11, 13;

12, 14) for their respective connections to the thigh and to the leg of the patient and the third segment (4) being disposed so as to constitute a plantar support and comprising means (15) for its fixing to the foot of the patient, the first segment being connected firstly at one of its ends by a first motorised articulation (6) to an element arranged so as to cooperate with the body of the patient at his hips and on the other hand at its other end by a second motorised articulation (7) to one of the ends of the second segment, the other end of the said second segment being connected by a third motorised articulation (8) to the third segment.

6. A device according to the preceding claim, characterised in that it comprises two said ortheses, each of which is arranged so as to constitute an interface with one of the lower limbs of the patient.

7. A device according to one of claims 5 or 6, characterised in that the said first and second segments consist of elements with adjustable lengths, so as to be able to adapt their length to the morphology of the patient.

8. A device according to one of the preceding claims, characterised in that each of the articulations of each of the ortheses is secured to an electric servomotor coupled to a gearbox.

9. A device according to claim 8, characterised in that the shaft of each of the motors is parallel to the adjacent orthesis segment and in that it drives the perpendicular shaft of the articulation by means of a pair of bevel gears.

10. A device according to claim 8, characterised in that the motor is fixed to one of the two orthesis segments attached to the articulation and rotationally drives a worm, on which a nut is mounted which in its turn drives the movement of a crank, fixed to the second orthesis segment, and whose rotation axis corresponds to the rotation axis of the articulation.

11. A device according to claim 10, characterised in that the shaft of each of the motors is perpendicular to the adjacent orthesis segment.

12. A device according to one of claims 8 to 11, characterised in that each of the motors incorporates a digital position coder and in that force and torque sensors are integrated in each articulation.

13. A device according to one of claims 8 to 12, characterised in that the motors are slaved to the control device (31) and in that the latter comprises separate control means for each of the said motors.

14. A device according to one of the preceding claims, characterised in that the orthetic device is fixed to a horizontal frame (10) arranged so as to support the back and pelvis of the patient for driving his lower limbs in the horizontal position.

15. A device according to one of claims 1 to 13, characterised in that the orthetic device is fixed to a mechanical pelvic belt (51) arranged so as to be placed around the hips of the patient for driving the lower limbs of the patient in the vertical position, the said pelvic belt comprising members for fixing it to a movable support device so as to enable the patient to move.

16. A device according to claim 15, characterised in that the pelvic belt is fixed to the movable support by an articulated mechanism.

17. A device according to claim 16, characterised in that the said articulated mechanism is provided with a motorisation device acting in the vertical plane and slaved to force, torque and position sensors, so as to wholly or partly support the weight of the body of the patient during his movement.

18. A device according to one of claims 15 to 17, characterised in that the said support device is mounted on wheels (54, 55, 56).

19. A device according to one of claims 15 to 18, characterised in that the said device comprises its own drive device (65, 66) slaved to the control device (31).

20. A device according to one of claims 1 to 19, characterised in that the control system (31) comprises a microcomputer.

21. A device according to claim 20, characterised in that the control system (31) comprises reading means intended to cooperate with removable data media so as to enable individualised training programs to be produced.

22. A device according to one of the preceding claims, characterised in that it comprises display means (40) intended in particular to inform the patient in real time of his performance level.