Biological interface system with patient training apparatus

• US 20060167371A1
• Filed: 12/30/2005
• Published: 07/27/2006
• Est. Priority Date: 01/10/2005
• Status: Active Grant

• Current Assignee: Braingate Incorporated
• Original Assignee: Braingate Co., LLC
• Inventors: Flaherty, J. Christopher, Caplan, Abraham H.
• Granted Patent: US 8,812,096 B2
• Time in Patent Office: Days
• US Class Current: 600/545
• CPC Class Codes: A61F 2/50 Prostheses not implantable in the body closure means for urethra or rectum or for artificial body openings therefor A61F2/0004
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7615 Measuring means for implanting artificial joints A61F2/4657
• CPC Class Codes: G06F 3/015 Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
• CPC Class Codes: G06N 3/061 using biological neurons, e.g. biological neurons connected to an integrated circuit
• CPC Class Codes: G09B 19/00 Teaching not covered by other main groups of this subclass teaching or practice apparatus for gun-aiming or gun-laying F41G3/26
• CPC Class Codes: G09B 23/28 for medicine

Abstract

Various embodiments of a biological interface system and related methods are disclosed. The system may include a sensor having a plurality of electrodes for detecting multicellular signals emanating from one or more living cells of a patient, and a processing unit configured to receive the multicellular signals from the sensor and process the multicellular signals to produce a processed signal. The processing unit may be configured to transmit the processed signal to a controlled device that is configured to receive the processed signal. The system may also include a patient training apparatus configured to receive a patient training signal that causes the patient training apparatus to controllably move one or more joints of the patient. The system may be configured to perform an integrated patient training routine to produce the patient training signal, to store a set of multicellular signal data detected during a movement of the one or more joints, and to correlate the set of multicellular signal data to a second set of data related to the movement of the one or more joints.

Claims

1. A biological interface system comprising:

a sensor comprising a plurality of electrodes for detecting multicellular signals emanating from one or more living cells of a patient;

a processing unit configured to receive the multicellular signals from the sensor and process the multicellular signals to produce a processed signal, the processing unit being configured to transmit the processed signal to a controlled device that is configured to receive the processed signal; and

a patient training apparatus configured to receive a patient training signal that causes the patient training apparatus to controllably move one or more joints of the patient,

wherein the system is configured to perform an integrated patient training routine to produce the patient training signal, to store a set of multicellular signal data detected during a movement of the one or more joints, and to correlate the set of multicellular signal data to a second set of data related to the movement of the one or more joints.

2. The system of claim 1, wherein the patient training signal is initiated by an operator.

3. The system of claim 2, wherein the operator comprises the patient.

4. The system of claim 3, wherein the patient training signal is initiated by the patient by activating one or more of:

chin joystick;

eyebrow EMG switch;

EEG activated switch;

eye tracker;

head tracker;

neck movement switch;

shoulder movement switch;

sip-n-puff joystick controller;

speech recognition switch;

tongue switch; and

any combination thereof.

5. The system of claim 1, wherein the patient training signal is provided manually by the operator.

6. The system of claim 5, wherein the operator comprises the patient'"'"'s clinician.

7. The system of claim 1, wherein the patient training signal is configured to be modified by an operator.

8. The system of claim 7, further comprising a user interface, wherein the patient training routine is configured by the operator utilizing the user interface.

9. The system of claim 1, wherein the patient training signal is provided by the processing unit.

10. The system of claim 1, further comprising a configuration apparatus, wherein the configuration apparatus receives the patient training signal.

11. The system of claim 1, wherein the sensor is placed in a portion of the motor cortex associated with a specific limb, and the one or more joints moved comprise a part of the specific limb.

12. The system of claim 11, wherein the sensor is placed in an arm-hand portion of the motor cortex.

13. The system of claim 1, wherein the patient training apparatus does not include the controlled device.

14. The system of claim 13, wherein the patient training apparatus is used for patient training only.

15. The system of claim 1, wherein the patient training apparatus comprises an exoskeleton device.

16. The system of claim 15, wherein the exoskeleton device comprises also the controlled device.

17. The system of claim 1, wherein the patient training apparatus comprises an FES device.

18. The system of claim 17, wherein the FES device comprises the controlled device.

19. The system of claim 1, wherein the patient training apparatus comprises a robotic arm that is attached to a limb or digit of the patient.

20. The system of claim 1, wherein the patient training apparatus is configured to move a joint of the patient'"'"'s arm.

21. The system of claim 1, wherein the patient training apparatus is configured to move a joint of the patient'"'"'s leg.

22. The system of claim 1, wherein the patient training apparatus is configured to move a joint of a digit of the patient.

23. The system of claim 1, wherein the patient training apparatus is attached to the patient'"'"'s hand.

24. The system of claim 23, wherein the patient training signal is configured to cause the hand to move in a two dimensional plane.

25. The system of claim 23, wherein the patient training signal is configured to cause the hand to move in a three dimensional space.

26. The system of claim 1, further comprising a configuration apparatus.

27. The system of claim 26, wherein the configuration apparatus comprises the patient training apparatus.

28. The system of claim 26, wherein the configuration apparatus comprises a user interface.

29. The system of claim 1, further comprising a second patient training apparatus.

30. The system of claim 29, wherein the second patient training apparatus receives the patient training signal.

31. The system of claim 29, wherein the patient training routine provides a second patient training signal, and the second patient training apparatus receives the second patient training signal.

32. The system of claim 1, wherein the patient imagines a movement during an actual movement of the one or more joints.

33. The system of claim 32, wherein the imagined movement comprises an attempt at imagining moving the joints in a similar manner to the movement caused by the patient training apparatus.

34. The system of claim 1, wherein the correlation through the patient training routine comprises a temporal correlation.

35. The system of claim 1, wherein the second set of data comprises a derivative of the patient training signal, and the stored multicellular signal data is temporally correlated with the patient training signal.

36. The system of claim 1, wherein the correlation through the patient training routine comprises mathematically matching two periodicities of motion.

37. The system of claim 1, wherein the correlation through the patient training routine comprises mathematically matching two periodicities of signals.

38. The system of claim 1, wherein the stored multicellular signal data is correlated with one or more of:

a physiologic parameter of the patient;

a controlled device parameter;

a system environment parameter;

a password controlled parameter;

a clinician controlled parameter; and

a patient training routine parameter.

39. The system of claim 1, wherein the second set of data comprises a derivative of the patient training signal.

40. The system of claim 1, wherein the second set of data comprises a derivative of a motion of the patient training apparatus.

41. The system of claim 40, wherein the motion is recorded by a second sensor in the patient training apparatus.

42. The system of claim 40, wherein the motion is recorded by a visual recording device.

43. The system of claim 42, wherein the video output is processed to create the second set of data.

44. The system of claim 1, wherein the patient training routine is used to generate one or more system configuration parameters used by the processing unit to produce the processed signal.

45. The system of claim 1, wherein the patient training routine is performed by an operator.

46. The system of claim 45, wherein the operator comprises the patient.

47. The system of claim 1, wherein less than full control of the controlled device is available to the patient prior to a successful completion of the patient training routine.

48. The system of claim 47, further comprising a threshold value to determine the successful completion.

49. The system of claim 48, wherein the threshold value is adjustable.

50. The system of claim 49, wherein the system is configured to allow a clinician to adjust the threshold value.

51. The system of claim 49, wherein the system is configured such that an adjustment to the threshold value is made from a remote location.

52. The system of claim 49, wherein the system is configured to perform a permission routine prior to an adjustment to the threshold value.

53. The system of claim 52, wherein the adjustment is controlled by one or more of:

a password;

a user identification;

an electronic ID; and

a mechanical key.

54. The system of claim 1, wherein the patient training routine utilizes the controlled device.

55. The system of claim 1, further comprising a surrogate of the controlled device for use by the patient training routine.

56. The system of claim 1, wherein the patient training routine provides feedback to the patient.

57. The system of claim 56, wherein the feedback comprises a derivative of the multicellular signals.

58. The system of claim 57, wherein the derivative comprises neural spike modulation rates.

59. The system of claim 56, wherein the feedback is provided by one or more of the following forms:

auditory;

olfactory;

gustatory;

visual;

electrical stimulation; and

any combination thereof.

60. The system of claim 56, wherein the feedback comprises a representation of the processed signal produced by the processing unit.

61. The system of claim 60, wherein the representation comprises one or more of the following:

moving an object on screen;

moving a mechanical device;

moving part of the patient'"'"'s body;

changing an audible signal; and

any combination thereof.

62. The system of claim 60, wherein the feedback further comprises a representation of a difference between desired control conditions and actual control conditions.

63. The system of claim 56, wherein the feedback comprises a modified representation of the processed signal.

64. The system of claim 63, wherein the modified representation represents an artificially improved processed signal with more accurate control.

65. The system of claim 64, wherein the artificial improvement decreases as processed signal accuracy improves.

66. The system of claim 1, wherein the patient training routine comprises a software program.

67. The system of claim 66, wherein the software program is embedded in the system.

68. The system of claim 67, wherein the software program is embedded in the processing unit.

69. The system of claim 1, further comprising a separate device in which the patient training routine is embedded.

70. The system of claim 1, wherein the patient training routine provides a time varying stimulus to the patient.

71. The system of claim 70, wherein the processing unit stores the multicellular signal data while the patient training routine provides to the patient a set of states of the time varying stimulus.

72. The system of claim 1, wherein the patient training routine provides a predictory path or target.

73. The system of claim 72, wherein the predictory path or target comprises a visual image.

74. The system of claim 1, wherein a transfer function based on the correlated set of multicellular signals and the second set of data is used by the processing unit to create the processed signal.

75. The system of claim 74, wherein the second set of data comprises patient training signal data or a derivative of patient training signal data.

76. The system of claim 75, wherein the second set of data further comprises data from an additional source.

77. The system of claim 76, wherein the data from the additional source is correlated with the multicellular data.

78. The system of claim 1, further comprising the controlled device.

79. The system of claim 78, wherein the controlled device does not move any patient joints.

80. The system of claim 78, wherein the controlled device comprises a computer.

81. The system of claim 80, wherein the processed signal controls a computer cursor.

82. The system of claim 1, wherein the processing unit creates a transfer function to create the processed signal, the transfer function based on the set of stored multicellular signal data and the patient training signal.

83. The system of claim 1, wherein the processing unit creates a transfer function to create the processed signal, the transfer function based on the set of stored multicellular signal data and the second set of data.

84. A method of performing a patient training procedure for a biological interface system, comprising:

providing the biological interface system of claim 1;

and

providing the patient training signal to the system, so that the patient training apparatus moves one or more joints of the patient.

85. The method of claim 84, further comprising storing the set of multicellular signal data during a movement of the patient training apparatus by the patient training signal.

86. The method of claim 85, further comprising temporally correlating the set of multicellular signal data with the patient training signal.

87. The method of claim 86, further comprising creating a transfer function with the processing unit based on the set of stored multicellular signal data and the patient training signal.

88. The method of claim 87, further comprising creating the processed signal with the processing unit by applying the transfer function to the multicellular signals received from the sensor.

89. A biological interface system comprising:

a sensor comprising a plurality of electrodes for detecting multicellular signals emanating from one or more living cells of a patient;

a processing unit configured to receive the multicellular signals from the sensor and process the multicellular signals to produce a processed signal, the processing unit being configured to transmit the processed signal to a controlled device that is configured to receive the processed signal; and

a patient training apparatus configured to receive a patient training signal that causes the patient training apparatus to controllably move, the patient training apparatus being not in contact with the patient,

wherein the system is configured to perform an integrated patient training routine to produce the patient training signal, to store a set of multicellular signal data detected during a movement of the one or more joints, and to correlate the set of multicellular signal data to a second set of data related to the movement of the patient training apparatus.

90. The system of claim 89, wherein the patient training signal is initiated by an operator.

91. The system of claim 90, wherein the operator comprises the patient.

92. The system of claim 91, wherein the patient training signal is initiated by the patient by activating one or more of:

chin joystick;

eyebrow EMG switch;

EEG activated switch;

eye tracker;

head tracker;

neck movement switch;

shoulder movement switch;

sip-n-puff joystick controller;

speech recognition switch;

tongue switch; and

any combination thereof.

93. The system of claim 89, wherein the patient training signal is provided manually by the operator.

94. The system of claim 93, wherein the operator comprises the patient'"'"'s clinician.

95. The system of claim 89, wherein the patient training signal is configured to be modified by an operator.

96. The system of claim 95, further comprising a user interface, wherein the patient training routine is configured by the operator utilizing the user interface.

97. The system of claim 89, wherein the patient training signal is provided by the processing unit.

98. The system of claim 89, further comprising a configuration apparatus, wherein the configuration apparatus receives the patient training signal.

99. The system of claim 89, wherein the sensor is placed in a portion of the motor cortex associated with a specific limb, and the one or more joints comprise a part of the specific limb.

100. The system of claim 99, wherein the sensor is placed in an arm-hand portion of the motor cortex.

101. The system of claim 89, wherein the patient training apparatus does not include the controlled device.

102. The system of claim 101, wherein the patient training apparatus is used for patient training only.

103. The system of claim 89, wherein the patient training apparatus comprises an exoskeleton device not attached to the patient.

104. The system of claim 103, wherein the exoskeleton is attached to a mannequin.

105. The system of claim 103, wherein the exoskeleton is attached to a mammal not including the patient.

106. The system of claim 89, further comprising a configuration apparatus.

107. The system of claim 106, wherein the configuration apparatus comprises the patient training apparatus.

108. The system of claim 106, wherein the configuration apparatus comprises a user interface.

109. The system of claim 89, further comprising a second patient training apparatus.

110. The system of claim 109, wherein the second patient training apparatus receives the patient training signal.

111. The system of claim 109, wherein the patient training routine provides a second patient training signal, and the second patient training apparatus receives the second patient training signal.

112. The system of claim 89, wherein the patient training apparatus comprises a prosthetic limb not attached to the patient.

113. The system of claim 112, wherein the prosthetic limb comprises one or more of:

an arm;

a hand;

a leg; and

a food.

114. The system of claim 89, wherein the patient training apparatus comprises a robotic device.

115. The system of claim 114, wherein the robotic device comprises a robotic arm.

116. The system of claim 89, wherein the patient training apparatus comprises a vehicle.

117. The system of claim 116, wherein the vehicle is selected from the group consisting of;

aircraft, helicopter;

car;

tank;

wheelchair; and

any combination thereof.

118. The system of claim 89, wherein the processing unit creates a transfer function to create the processed signal, the transfer function based on the set of stored multicellular signal data and the patient training signal.

119. The system of claim 89, wherein the processing unit creates a transfer function to create the processed signal, the transfer function based on the set of stored multicellular signal data and the second set of data.

120. The system of claim 89, wherein the patient imagines a movement during the actual movement of the patient training apparatus.

121. The system of claim 89, wherein the correlation through the patient training routine comprises a temporal correlation.

122. The system of claim 89, wherein the second set of data comprises a derivative of the patient training signal and the stored multicellular signal data is temporally correlated with the patient training signal.

123. The system of claim 89, wherein the correlation through the patient training routine comprises mathematically matching two periodicities of motion.

124. The system of claim 89, wherein the correlation through the patient training routine comprises mathematically matching two periodicities of signals.

125. The system of claim 89, wherein the stored multicellular signal data is correlated with one or more of:

a physiologic parameter of the patient;

a controlled device parameter;

a system environment parameter;

a password controlled parameter;

a clinician controlled parameter; and

a patient training routine parameter.

126. The system of claim 89, wherein the second set of data comprises a derivative of the patient training signal.

127. The system of claim 89, wherein the second set of data comprises a derivative of the motion of the patient training apparatus.

128. The system of claim 127, wherein the motion is recorded by a sensor in the patient training apparatus.

129. The system of claim 127, wherein the motion is recorded by a visual recording device that produces a video output.

130. The system of claim 129, wherein the video output comprises an image processed to create the second set of data.

131. The system of claim 89, wherein the patient training routine is used to generate one or more system configuration parameters used by the processing unit to produce the processed signal.

132. The system of claim 89, wherein the patient training routine is performed by an operator.

133. The system of claim 132, wherein the operator comprises the patient.

134. The system of claim 89, wherein less than full control of the controlled device is available to the patient prior to successful completion of the patient training routine.

135. The system of claim 134, further comprising a threshold value to determine the successful completion.

136. The system of claim 135, wherein the threshold value is adjustable.

137. The system of claim 136, wherein the system is configured to allow a clinician to adjust the threshold value.

138. The system of claim 136, wherein the system is configured such that an adjustment to the threshold value is made from a remote location.

139. The system of claim 136, wherein the system is configured to perform a permission routine prior to an adjustment to the threshold value.

140. The system of claim 139, wherein the adjustment is controlled by one or more of:

a password;

a user identification;

an electronic ID; and

a mechanical key.

141. The system of claim 89, wherein the patient training routine utilizes the controlled device.

142. The system of claim 89, further comprising a surrogate of the controlled device for use by the patient training routine.

143. The system of claim 89, wherein the patient training routine provides feedback to the patient.

144. The system of claim 143, wherein the feedback comprises a derivative of the multicellular signals.

145. The system of claim 144, wherein the derivative comprises neural spike modulation rates.

146. The system of claim 143, wherein the feedback is provided by one or more of the following forms;

auditory;

olfactory;

taste;

visual;

electrical stimulation; and

any combination thereof.

147. The system of claim 143, wherein the feedback comprises a representation of the processed signal produced by the processing unit.

148. The system of claim 147, wherein the representation comprises one or more of the following:

moving an object on screen;

moving a mechanical device;

moving part of the patient'"'"'s body;

changing an audible signal; and

any combination thereof.

149. The system of claim 147, wherein the feedback further comprises a representation of a difference between desired control conditions and actual control conditions.

150. The system of claim 143, wherein the feedback comprises a modified representation of the processed signal.

151. The system of claim 150, wherein the modified representation represents an artificially improved processed signal with more accurate control.

152. The system of claim 151, wherein the artificial improvement decreases as processed signal accuracy improves.

153. The system of claim 89, wherein the patient training routine comprises a software program.

154. The system of claim 153, wherein the software program is embedded in the system.

155. The system of claim 154, wherein the software program is embedded in the processing unit.

156. The system of claim 89, further comprising a separate device in which the patient training routine is embedded.

157. The system of claim 89, wherein the patient training routine provides a time varying stimulus to the patient.

158. The system of claim 157, wherein the processing unit stores multicellular signal data while the patient training routine provides to the patient a set of states of the time varying stimulus.

159. The system of claim 89, wherein the patient training routine provides a predictory path or target.

160. The system of claim 159, wherein the predictory path or target comprises a visual image.

161. The system of claim 89, wherein a transfer function based on the correlated set of multicellular signals and the second set of data is used by the processing unit to create the processed signal.

162. The system of claim 161, wherein the second set of data comprises patient training signal data or a derivative of patient training signal data.

163. The system of claim 162, wherein the second set of data further comprises data from an additional source.

164. The system of claim 163, wherein the data from the additional source is correlated with the multicellular data.

165. The system of claim 89, further comprising the controlled device.

166. The system of claim 165, wherein the controlled device does not move any patient joints.

167. The system of claim 166, wherein the patient training apparatus comprises a robotic arm.

168. The system of claim 165, wherein the controlled device comprises a computer.

169. The system of claim 168, wherein the processed signal control a computer cursor.

170. A method of performing a patient training procedure for a biological interface system, comprising:

providing the biological interface system of claim 89;

and

providing the patient training signal to the system, so that the patient training apparatus moves.

171. The method of claim 170, further comprising storing the set of multicellular signal data during a movement of the patient training apparatus by the patient training signal.

172. The method of claim 171, further comprising temporally correlating the set of multicellular signal data with the patient training signal.

173. The method of claim 172, further comprising creating a transfer function with the processing unit based on the set of stored multicellular signal data and the patient training signal.

174. The method of claim 173, further comprising creating the processed signal with the processing unit by applying the transfer function to the multicellular signals received from the sensor.