Joint movement apparatus

• US 20060189899A1
• Filed: 12/29/2005
• Published: 08/24/2006
• Est. Priority Date: 01/10/2005
• Status: Abandoned Application

• Current Assignee: Cyberkinetics Neurotechnology Systems, Inc.
• Original Assignee: Cyberkinetics Neurotechnology Systems, Inc.
• Inventors: Serruya, Mijail D., Flaherty, J. Christopher, Donoghue, John P., Barrett, Burke T., Flaherty, R. Maxwell, Friehs, Gerhard M.
• Application Number:
  US11/319,620
• Publication Number:
  US 20060189899A1
• Time in Patent Office: Days
• US Class Current: 600/595
• 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 5/369 Electroencephalography [EEG] devices for psychotechnics A61B5/16
• CPC Class Codes: A61B 5/37 Intracranial electroencephalography [IC-EEG], e.g. electrocorticography [ECoG]
• CPC Class Codes: A61B 5/389 Electromyography [EMG]
• CPC Class Codes: A61B 5/407 Evaluating the spinal cord A61B5/4896 takes precedence
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• 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 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/741 using powered actuators, e.g. stepper motors or solenoids
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/705 Electromagnetic data transfer
• CPC Class Codes: A61F 2002/7615 Measuring means
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• 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

Abstract

Systems, methods and devices for restoring or enhancing one or more motor functions of a patient are disclosed. The system comprises a biological interface apparatus and a joint movement device such as an exoskeleton device or FES device. The biological interface apparatus includes a sensor that detects the multicellular signals and a processing unit for producing a control signal based on the multicellular signals. Data from the joint movement device is transmitted to the processing unit for determining a value of a configuration parameter of the system. Also disclosed is a joint movement device including a flexible structure for applying force to one or more patient joints, and controlled cables that produce the forces required.

Claims

1. A biological interface apparatus 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, process the multicellular signals to produce a processed signal, and transmit the processed signal to a joint movement device; and

the joint movement device configured to receive the processed signal and apply a force to one or more joints, wherein joint movement device data is transmitted to the processing unit and used to determine a value for a configuration parameter, the configuration parameter being used to produce the processed signal.

2. The apparatus of claim 1, wherein the joint movement device applies a force to one or more joints of the patient.

3. The apparatus of claim 1, wherein the joint movement device applies a force to one or more joints of a prosthetic limb.

4. The apparatus of claim 1, wherein the joint movement device applies a force to two or more joints.

5. The apparatus of claim 4, wherein the joint movement device applies a force to at least one patient joint and at least one prosthetic joint.

6. The apparatus of claim 1, wherein the joint movement device is selected from the group consisting of:

an exoskeleton device;

an FES device;

an artificial limb; and

combinations thereof.

7. The apparatus of claim 6, wherein the joint movement device is an artificial limb selected from the group consisting of:

a foot;

a leg without a knee;

a leg with a knee;

a hand;

an arm without an elbow;

an arm with an elbow; and

combinations thereof.

8. The apparatus of claim 6, wherein the joint movement device is an exoskeleton device configured to move a body part selected from the group consisting of:

an arm;

a shoulder;

an elbow;

a finger;

a wrist;

a digit;

a leg;

a hip;

a knee;

an ankle;

a foot;

a toe; and

combinations thereof.

9. The apparatus of claim 6, wherein the joint movement device is an FES device configured to move a body part selected from the group consisting of:

an arm;

a shoulder;

an elbow;

a finger;

a wrist;

a digit;

a leg;

a hip;

a knee;

an ankle;

a foot;

a toe; and

combinations thereof.

10. The apparatus of claim 1, wherein the joint movement device is at least two of:

an exoskeleton device;

an FES device;

an artificial limb; and

combinations thereof.

11. The apparatus of claim 1, wherein the joint movement device is configured to be attached to the patient.

12. The apparatus of claim 1, wherein the joint movement device is configured to be at least partially implanted in the patient.

13. The apparatus of claim 12, wherein the joint movement device includes one or more implantable FES stimulators.

14. The apparatus of claim 12, wherein the implantable FES stimulator includes one or more rods attachable to a bone of the patient.

15. The apparatus of claim 14, further comprising a hydraulic or pneumatic actuator, and activation of the actuator causes movement of one or more joints.

16. The apparatus of claim 15, wherein processed signals cause the activation of the activator.

17. The apparatus of claim 1, wherein the joint movement device includes a force generator for generating the force applied to the one or more joints.

18. The apparatus of claim 17, wherein the force generator is selected from the group consisting of:

a motor;

a linear actuator;

a solenoid;

a servo;

an electromagnet;

a pneumatic pump;

a hydraulic pump;

a Nitinol wire; and

combinations thereof.

19. The apparatus of claim 17, further comprising a mechanical advantage assembly.

20. The apparatus of claim 19, wherein the mechanical advantage assembly includes a component selected from the group consisting of:

a lever arm;

a cam;

a pneumatic assembly;

a hydraulic assembly; and

combinations thereof.

21. The apparatus of claim 1, wherein the joint movement device includes an integral power supply.

22. The apparatus of claim 21, wherein the integral power supply supplies power to the processing unit.

23. The apparatus of claim 21, wherein the integral power supply supplies power to cause motion of multiple joints of the patient.

24. The apparatus of claim 1, wherein the joint movement device includes a barcode including joint movement device data.

25. The apparatus of claim 1, wherein the force is selected from the group consisting of:

a torsional force;

a linear force; and

combinations thereof.

26. The apparatus of claim 1, further comprising a mechanical advantage assembly configured to apply force to one or more joints of the patient.

27. The apparatus of claim 26, wherein the mechanical advantage assembly increases a distance of travel while decreasing force is applied.

28. The apparatus of claim 26, wherein the mechanical advantage assembly decreases a distance of travel while increasing force is applied.

29. The apparatus of claim 1, wherein the joint is selected from the group consisting of:

a shoulder, an elbow, a wrist, a finger joint, a hip, a knee, an ankle, a toe joint, a metacarpophalangeal joint, an interphalangeal joint, and a temporomandibular joint.

30. The apparatus of claim 1, wherein the joint movement device data is joint movement device performance data.

31. The apparatus of claim 1, wherein the joint movement device data is alert data.

32. The apparatus of claim 31, wherein the joint movement device further comprises a second sensor and the alert data transmission is triggered by a signal generated by the second sensor.

33. The apparatus of claim 1, wherein the joint movement device further comprises a second sensor and the joint movement device data transmission is triggered by a signal generated by the second sensor.

34. The apparatus of claim 33, wherein the signal generated represents one or more of:

force pattern data, stress data, strain data, and vertical position or tilt condition data.

35. The apparatus of claim 1, wherein the joint movement device data transmission triggers an apparatus configuration parameter to change from a first value to a second value.

36. The apparatus of claim 35, wherein the parameter is a gain of a signal controlling a force generating component.

37. The apparatus of claim 36, wherein the force generating component is selected from the group consisting of:

a motor;

a linear actuator;

a solenoid;

a servo;

an electromagnet;

a pneumatic pump;

a hydraulic pump;

a Nitinol wire; and

combinations thereof.

38. The apparatus of claim 35, wherein the apparatus configuration parameter change results in a different maximum joint angle for a joint of the patient as controlled by the joint movement device.

39. The apparatus of claim 1, further comprising an alert assembly.

40. The apparatus of claim 39, wherein the joint movement device data transmitted to the processing unit may trigger an alert signal to be transmitted to the alert assembly, said alert signal activating said alert assembly.

41. The apparatus of claim 40, wherein the activation of the alert assembly includes activating an audible transducer.

42. The apparatus of claim 40, wherein the activation of the alert assembly includes activating a telephone function wherein a predetermined party is called and a predetermined message is broadcast to said party.

43. The apparatus of claim 1, wherein the data transmission occurs automatically without intervention of an operator.

44. The apparatus of claim 1, wherein the data transmission is initiated by an operator of the apparatus.

45. The apparatus of claim 44, wherein the operator is a physical therapist.

46. The apparatus of claim 1, wherein the data transmission is initiated by a manufacturer of the joint movement device.

47. The apparatus of claim 46, wherein the data transmission occurs over a computer network.

48. The apparatus of claim 46, wherein the data transmission is initiated by a technician.

49. The apparatus of claim 1, wherein the joint movement device is configured to transmit the data to the processing unit.

50. The apparatus of claim 1, wherein the data is transmitted over a computer network.

51. The apparatus of claim 50, wherein the computer network is the internet.

52. The apparatus of claim 1, wherein the data received by the processing unit is transmitted wirelessly.

53. The apparatus of claim 1, wherein the data transmission is initiated by a system configuration procedure.

54. The apparatus of claim 53, wherein the system configuration procedure is a joint movement device configuration procedure.

55. The apparatus of claim 53, wherein the system configuration procedure is a calibration procedure.

56. The apparatus of claim 55, wherein the data transmission is initiated by a failed calibration step.

57. The apparatus of claim 53, wherein the system configuration procedure is a patient training procedure.

58. The apparatus of claim 1, wherein the joint movement device data transmission is initiated by a physical therapy procedure conducted with the patient.

59. The apparatus of claim 58, wherein the data is generated during a range of motion exercise.

60. The apparatus of claim 58, wherein the data is generated as a result of a reported patient discomfort.

61. The apparatus of claim 1, wherein the value is a boundary limit of the joint movement device.

62. The apparatus of claim 61, wherein the boundary limit includes a safety factor.

63. The apparatus of claim 61, wherein the boundary limit is chosen to prevent patient discomfort.

64. The apparatus of claim 61, wherein the boundary limit is chosen to avoid damage to the joint movement device.

65. The apparatus of claim 61, wherein the boundary limit is chosen to prevent the processed signal from instructing the joint movement device to enter an unacceptable state.

66. The apparatus of claim 1, wherein the configuration parameter defines a maximum extension of the joint movement device.

67. The apparatus of claim 1, wherein the configuration parameter defines a minimum or maximum angle of the joint movement device.

68. The apparatus of claim 1, wherein the configuration parameter defines a minimum or maximum velocity of the joint movement device.

69. The apparatus of claim 1, wherein the configuration parameter defines a minimum or maximum force to be applied to the joint movement device.

70. The apparatus of claim 1, wherein the configuration parameter defines a patient joint range of motion.

71. The apparatus of claim 1, wherein the configuration parameter defines a motion that causes patient spasticity.

72. The apparatus of claim 1, further comprising an integral sensor.

73. The apparatus of claim 72, wherein the integral sensor provides a signal indicative of a patient condition and said apparatus correlates the patient condition to one or more of:

a specific patient state;

an imagined movement;

a physical movement; and

other patient condition.

74. The apparatus of claim 73, wherein the patient condition is selected from the group consisting of:

resistance to movement;

occurrence of spasticity;

hyperspasticity;

reflexia;

twitching;

irregular heart rate;

nausea;

pain including phantom pain;

rise in blood pressure; and

combinations thereof.

75. The apparatus of claim 72, wherein the integral sensor is an EMG sensor.

76. The apparatus of claim 75, wherein a signal received by the EMG sensor identifies a patient condition requiring adjustment.

77. The apparatus of claim 76, wherein the patient condition is selected from the group consisting of:

a level of spasticity;

a level of reflexivity; and

combinations thereof.

78. The apparatus of claim 72, wherein the integral sensor is selected from the group consisting of:

a pressure sensor;

a force sensor;

a strain sensor; and

combinations thereof.

79. The apparatus of claim 72, wherein a value derived from a signal from the integral sensor is compared to a threshold value.

80. The apparatus of claim 79, wherein the threshold value is adjustable.

81. The apparatus of claim 1, further comprising an integral physical therapy routine.

82. The apparatus of claim 81, wherein the integral physical therapy routine includes software and/or data embedded in the biological interface apparatus.

83. The apparatus of claim 81, further comprising a separate electronic module, and the physical therapy routine includes software and/or data embedded in said electronic module.

84. The apparatus of claim 81, wherein the physical therapy routine provides to the patient a gradual increase in a range of motion of one or more patient joints.

85. The apparatus of claim 1, further comprising a user interface.

86. The apparatus of claim 85, wherein an operator enters the joint movement device data via the user interface.

87. The apparatus of claim 1, further comprising a power supply.

88. The apparatus of claim 87, wherein the power supply provides power to the joint movement device.

89. The apparatus of claim 87, wherein the power supply is integral to the joint movement device.

90. The apparatus of claim 89, wherein the power supply provides power to the processing unit.

91. The apparatus of claim 1, further comprising a patient activated input device, wherein said apparatus is configured to change a state due to a signal received from said patient activated input device.

92. The apparatus of claim 91, wherein the patient activated input device is selected from the group consisting of:

chin joystick;

eyebrow EMG switch;

EEG activated switch;

eye tracker;

head tracker;

neck movement switch;

shoulder movement switch;

sip-and-puff joystick controller;

speech recognition switch;

tongue switch; and

combinations thereof.

93. The apparatus of claim 1, wherein the multicellular signals consist of one or more of:

neuron spikes;

ECoG signals;

LFP signals; and

EEG signals.

94. The apparatus of claim 1, wherein the sensor includes at least one multi-electrode array including a plurality of electrodes.

95. The apparatus of claim 1, wherein the sensor includes electrodes incorporated into one or more of:

a subdural grid;

a scalp electrode;

a wire electrode; and

a cuff electrode.

96. The apparatus of claim 1, wherein the sensor includes two or more discrete components.

97. The apparatus of claim 96, wherein each of said discrete components includes one or more electrodes.

98. The apparatus of claim 96, wherein each of the discrete components is comprised of one or more of the following:

a multi-electrode array;

a wire or wire bundle;

a subdural grid; and

a scalp electrode.

99. The apparatus of claim 1, wherein the plurality of electrodes are capable of recording from clusters of neurons and outputting detected signals comprising multiple neuron signals.

100. The apparatus of claim 99, wherein the detected signals are a measure of an LFP response from neural activity.

101. The apparatus of claim 99, wherein the multiple neuron signals comprise one or more of:

ECoG signals;

LFP signals;

EEG signals; and

peripheral nerve signals.

102. The apparatus of claim 1, wherein one or more electrodes are placed into tissue selected from the group consisting of:

nerve tissue;

organ tissue;

tumor tissue;

other tissue; and

combinations thereof.

103. The apparatus of claim 1, wherein the processing unit includes one or more of:

a temperature sensor;

a pressure sensor;

a strain gauge;

an accelerometer;

a volume sensor;

an electrode;

an array of electrodes;

an audio transducer;

a mechanical vibrator;

a drug delivery device;

a magnetic field generator;

a photo detector element;

a camera or other visualization apparatus;

a wireless communication element;

a light producing element;

an electrical stimulator;

a physiologic sensor;

a heating element; and

a cooling element.

104. The apparatus of claim 1, further comprising a controlled device.

105. The apparatus of claim 1, further comprising a stimulating device.

106. The apparatus of claim 1, further comprising a patient feedback module.

107. The apparatus of claim 106, wherein the patient feedback module includes one or more of:

an audio transducer, a tactile transducer, a visual transducer, a video display, a gustatory transducer; and

an olfactory transducer.

108. The apparatus of claim 106, wherein the patient feedback module includes a stimulator capable of stimulating one or more neurons to cause movement or sensation in a part of the patient'"'"'s body.

109. The apparatus of claim 1, further comprising a drug delivery system, wherein the processing unit is capable of sending a signal to the drug delivery system to deliver a therapeutic agent or drug to at least a portion of the patient'"'"'s body.

110. The apparatus of claim 1, further comprising an embedded ID.

111. The apparatus of claim 110, wherein the embedded ID is used to confirm compatibility of one or more discrete components of the apparatus.

112. A method of performing physical therapy on a patient, said method comprising:

providing the device of claim 1;

causing the joint movement device data to be transmitted to the processing unit.

113. The method of claim 112, wherein the biological interface apparatus further comprises a user interface, and the joint movement device data is entered by a physical therapist into said user interface.

114. The method of claim 113, wherein the joint movement device data is determined during a range of motion exercise.

115. A biological interface apparatus 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, process the multicellular signals to produce a processed signal, and transmit the processed signal to a joint movement device; and

the joint movement device configured to receive the processed signal and apply a force to one or more joints,

wherein joint movement device data is transferred from the joint movement device to the processing unit.

116. The apparatus of claim 115, wherein the force is selected from the group consisting of:

a torsional force;

a linear force; and

combinations thereof.

117. The apparatus of claim 115, further comprising a mechanical advantage assembly configured to apply force to one or more joints of the patient.

118. The apparatus of claim 117, wherein the mechanical advantage assembly increases a distance while decreasing force is applied.

119. The apparatus of claim 117, wherein the mechanical advantage assembly decreases a distance while increasing force is applied.

120. The apparatus of claim 115, wherein the joint is selected from the group consisting of:

a shoulder, an elbow, a wrist, a finger joint, a hip, a knee, an ankle, a toe joint, a metacarpophalangeal joint, an interphalangeal joint, and a temporomandibular joint.

121. The apparatus of claim 115, wherein the joint movement device is configured to apply a force to one or more joints of the patient.

122. The apparatus of claim 115, wherein the joint movement device is configured to apply a force to one or more joints of a prosthetic limb.

123. The apparatus of claim 115, wherein the joint movement device is configured to apply a force to two or more joints.

124. The apparatus of claim 123, wherein the joint movement device is configured to apply a force to at least one patient joint and at least one prosthetic joint.

125. The apparatus of claim 115, wherein the joint movement device is selected from the group consisting of:

a exoskeleton device;

an FES device;

an artificial limb; and

combinations thereof.

126. The apparatus of claim 125, wherein the joint movement device is an artificial limb selected from the group consisting of:

a foot;

a leg without a knee;

a leg with a knee;

a hand;

an arm without an elbow;

an arm with an elbow; and

combinations thereof.

127. The apparatus of claim 125, wherein the joint movement device is an exoskeleton device configured to move a body part selected from the group consisting of:

an arm;

a shoulder;

an elbow;

a finger;

a wrist;

a digit;

a leg;

a hip;

a knee;

an ankle;

a foot;

a toe; and

combinations thereof.

128. The apparatus of claim 125, wherein the joint movement device is an FES device configured to move a body part selected from the group consisting of:

an arm;

a shoulder;

an elbow;

a finger;

a wrist;

a digit;

a leg;

a hip;

a knee;

an ankle;

a foot;

a toe; and

combinations thereof.

129. The apparatus of claim 125, wherein the joint movement device is at least two of:

an exoskeleton device;

an FES device;

an artificial limb; and

combinations thereof.

130. The apparatus of claim 115, wherein the joint movement device is configured to be attached to the patient.

131. The apparatus of claim 115, wherein the joint movement device is at least partially implantable in the patient.

132. The apparatus of claim 131, wherein an implanted portion of the joint movement device includes one or more rods attachable to a bone of the patient.

133. The apparatus of claim 132, further comprising a hydraulic or pneumatic actuator, and activation of said actuator causes movement of one or more joints.

134. The apparatus of claim 133, wherein the processed signal causes the activation of the activator.

135. The apparatus of claim 115, wherein the joint movement device includes a force generator for generating the force applied to the one or more joints.

136. The apparatus of claim 135, wherein the force generating component is selected from the group consisting of:

a motor;

a linear actuator;

a solenoid;

a servo;

an electromagnet;

a pneumatic pump;

a hydraulic pump;

a Nitinol wire; and

combinations thereof.

137. The apparatus of claim 135, further comprising a mechanical advantage assembly.

138. The apparatus of claim 137, wherein the mechanical advantage assembly includes a component selected from the group consisting of:

a lever arm;

a cam;

a pneumatic assembly;

a hydraulic assembly; and

combinations thereof.

139. The apparatus of claim 115, wherein the joint movement device includes an integral power supply.

140. The apparatus of claim 139, wherein the integral power supply supplies power to the processing unit.

141. The apparatus of claim 139, wherein the integral power supply supplies power to cause motion of multiple joints of the patient.

142. The apparatus of claim 115, wherein the joint movement device includes a barcode including joint movement device data.

143. The apparatus of claim 115, wherein a system configuration parameter value is changed due to the joint movement device data received by the biological interface apparatus.

144. The apparatus of claim 143, wherein said parameter value is a biological interface apparatus parameter.

145. The apparatus of claim 143, wherein said parameter value is a joint movement device parameter.

146. The apparatus of claim 143, wherein said parameter value limits a maximum extension of a portion of the joint movement device.

147. The apparatus of claim 143, wherein said parameter value limits a minimum or maximum angle of a controllable joint of the joint movement device.

148. The apparatus of claim 143, wherein said parameter value limits a minimum or maximum velocity of a portion of the joint movement device.

149. The apparatus of claim 143, wherein said parameter value limits a minimum or maximum force exerted by or upon a joint of the joint movement device.

150. The apparatus of claim 143, wherein said parameter value limits a range of motion of one or more joints of the joint movement device.

151. The apparatus of claim 143, wherein said parameter value causes the joint movement device to avoid a motion that is predicted to cause spasticity in the patient.

152. The apparatus of claim 115, wherein the joint movement device data is joint movement device performance data.

153. The apparatus of claim 115, wherein the joint movement device data is alert data.

154. The apparatus of claim 153, wherein the joint movement device further comprises a second sensor, and the alert data transfer is triggered by a signal generated by said second sensor.

155. The apparatus of claim 115, wherein the joint movement device further comprises a second sensor, and the joint movement device data transfer is triggered by a signal generated by the second sensor.

156. The apparatus of claim 155, wherein the signal generated represents on one or more of:

force pattern data, stress data, strain data, and vertical position or tilt condition data.

157. The apparatus of claim 115, wherein the transfer joint movement device data triggers an apparatus configuration parameter to change from a first value to a second value.

158. The apparatus of claim 157, wherein the parameter is a gain of a signal controlling a force generating component.

159. The apparatus of claim 158, wherein the force generating component is selected from the group consisting of:

a motor;

a linear actuator;

a solenoid;

a servo;

an electromagnet;

a pneumatic pump;

a hydraulic pump;

a Nitinol wire; and

combinations thereof.

160. The apparatus of claim 157, wherein the system configuration parameter change results in a different maximum joint angle for a joint of the patient as controlled by the joint movement device.

161. The apparatus of claim 115, further comprising an integral sensor.

162. The apparatus of claim 161, wherein the integral sensor provides a signal indicative of a patient condition and said system correlates the patient condition to one or more of:

a specific patient state;

an imagined movement;

a physical movement; and

other patient condition.

163. The apparatus of claim 162, wherein the patient condition is selected from the group consisting of:

resistance to movement;

occurrence of spasticity;

hyperspasticity;

reflexia;

twitching;

irregular heart rate;

nausea;

pain including phantom pain;

rise in blood pressure; and

combinations thereof.

164. The apparatus of claim 161, wherein the integral sensor is an EMG sensor.

165. The apparatus of claim 164, wherein a signal received by the EMG sensor identifies a patient condition requiring adjustment.

166. The apparatus of claim 165, wherein the patient condition is selected from the group consisting of:

a level of spasticity;

a level of reflexivity; and

combinations thereof.

167. The apparatus of claim 161, wherein the integral sensor is selected from the group consisting of:

a pressure sensor;

a force sensor;

a strain sensor; and

combinations thereof.

168. The apparatus of claim 161, wherein a value derived from a signal from the integral sensor is compared to a threshold value.

169. The apparatus of claim 168, wherein the threshold value is adjustable.

170. The apparatus of claim 161, further comprising a second sensor.

171. The apparatus of claim 161, wherein feedback includes a signal from the second sensor.

172. The apparatus of claim 171, wherein the second sensor produces data about a physiologic parameter of the patient.

173. The apparatus of claim 172, wherein the physiologic parameter is selected from the group consisting of:

EKG;

respiration;

blood glucose;

temperature;

blood pressure;

EEG;

perspiration; and

combinations thereof.

174. The apparatus of claim 161, wherein the integral sensor is selected from the group consisting of:

pressure sensor;

force sensor;

strain sensor; and

combinations thereof.

175. The apparatus of claim 115, further comprising a patient activated input device, wherein said apparatus is configured to change a state due to a signal received from said patient activated input device.

176. The apparatus of claim 175, wherein the patient activated input device is selected from the group consisting of:

chin joystick;

eyebrow EMG switch;

EEG activated switch;

eye tracker;

head tracker;

neck movement switch;

shoulder movement switch;

sip-and-puff joystick controller;

speech recognition switch;

tongue switch; and

combinations thereof.

177. The apparatus of claim 115, wherein the multicellular signals consist of one or more of:

neuron spikes;

ECOG signals;

LFP signals; and

EEG signals.

178. The apparatus of claim 115, wherein the sensor includes at least one multi-electrode array including a plurality of electrodes.

179. The apparatus of claim 115, wherein the sensor includes multiple wires or wire bundle electrodes.

180. The apparatus of claim 115, wherein the sensor includes electrodes incorporated into one or more of:

a subdural grid;

a scalp electrode;

a wire electrode; and

a cuff electrode.

181. The apparatus of claim 115, wherein the sensor includes two or more discrete components.

182. The apparatus of claim 181, wherein each of said discrete components includes one or more electrodes.

183. The apparatus of claim 181, wherein each of the discrete components is comprised of one or more of the following:

a multi-electrode array;

a wire or wire bundle;

a subdural grid; and

a scalp electrode.

184. The apparatus of claim 115, wherein the plurality of electrodes are capable of recording from clusters of neurons and outputting detected signals comprising multiple neuron signals.

185. The apparatus of claim 184, wherein the detected signals are a measure of an LFP response from neural activity.

186. The apparatus of claim 184, wherein the multiple neuron signals comprise one or more of:

ECOG signals;

LFP signals;

EEG signals; and

peripheral nerve signals.

187. The apparatus of claim 115, wherein one or more electrodes are placed into tissue selected from the group consisting of:

nerve tissue;

organ tissue;

tumor tissue;

other tissue; and

combinations thereof.

188. The apparatus of claim 115, wherein the processing unit includes one or more of:

a temperature sensor;

a pressure sensor;

a strain gauge;

an accelerometer;

a volume sensor;

an electrode;

an array of electrodes;

an audio transducer;

a mechanical vibrator;

a drug delivery device;

a magnetic field generator;

a photo detector element;

a camera or other visualization apparatus;

a wireless communication element;

a light producing element;

an electrical stimulator;

a physiologic sensor;

a heating element; and

a cooling element.

189. The apparatus of claim 115, further comprising a stimulating device.

190. The apparatus of claim 115, further comprising a patient feedback module.

191. The apparatus of claim 190, wherein the patient feedback module includes one or more of:

an audio transducer, a tactile transducer, a visual transducer, a video display, a gustatory transducer; and

an olfactory transducer.

192. The apparatus of claim 190, wherein the patient feedback module includes a stimulator capable of stimulating one or more neurons to cause movement or sensation in a part of the patient'"'"'s body.

193. The apparatus of claim 115, further comprising a drug delivery system, wherein the processing unit is capable of sending a signal to the drug delivery system to deliver a therapeutic agent or drug to at least a portion of the patient'"'"'s body.

194. The apparatus of claim 115, further comprising an embedded ID.

195. The apparatus of claim 194, wherein the embedded ID is used to confirm compatibility of one or more discrete components of the apparatus.

196. A biological interface apparatus comprising:

a first sensor comprising at least one electrode for detecting a first set of cellular signals;

a second sensor comprising at least one electrode for detecting a second set of cellular signals that emanate from one or more nerves previously in neurological communication with a portion of a patient limb or a portion of a prosthetic limb replacing a patient limb;

a processing unit configured to receive the first set of cellular signals from the first sensor, receive the second set of cellular signals from the second sensor, process the first set of cellular signals and the second set of cellular signals to produce processed signals, and transmit the processed signals to a joint movement device;

a target limb comprising the patient limb or the prosthetic limb; and

the joint movement device configured to receive the processed signals and apply a force to one or more joints of the target limb.

197. The apparatus of claim 196, wherein the first sensor is configured to be placed in the motor cortex of the patient'"'"'s brain.

198. The apparatus of claim 197, wherein the first sensor is configured to be placed in a part of the motor cortex associated with the target limb.

199. The apparatus of claim 198, wherein the second sensor is configured to be placed in a spinal cord.

200. The apparatus of claim 199, wherein the second sensor is configured to be placed in a part of the spinal cord associated with the target limb.

201. The apparatus of claim 196, wherein the first sensor is configured to be placed in a spinal cord.

202. The apparatus of claim 201, wherein the first sensor is configured to be placed in a part of the spinal cord associated with the target limb.

203. The apparatus of claim 196, wherein the second sensor is configured to be placed in a spinal cord.

204. The apparatus of claim 196, wherein the second sensor is configured to be placed in one or more peripheral nerves.

205. The apparatus of claim 196, wherein the second set of cellular signals emanate from one or more peripheral nerves of the patient.

206. The apparatus of claim 196, wherein the second set of cellular signals emanate from the central nervous system of the patient.

207. The apparatus of claim 206, wherein the second set of cellular signals emanate from one or more spinal nerves.

208. The apparatus of claim 196, wherein the processing unit is integral to the joint movement device.

209. The apparatus of claim 196, wherein a portion of the processing unit is integral to the joint movement device.

210. The system of claim 196, wherein the joint movement device is selected from the group consisting of:

an exoskeleton device;

an FES device;

an artificial limb; and

combinations thereof.

211. The apparatus of claim 210, wherein the joint movement device is an artificial limb selected from the group consisting of:

a foot;

a leg without a knee;

a leg with a knee;

a hand;

an arm without an elbow;

an arm with an elbow; and

combinations thereof.

212. The apparatus of claim 210, wherein the joint movement device is an exoskeleton device configured to move a body part selected from the group consisting of:

an arm;

a shoulder;

an elbow;

a finger;

a wrist;

a digit;

a leg;

a hip;

a knee;

an ankle;

a foot;

a toe; and

combinations thereof.

213. The apparatus of claim 210, wherein the joint movement device is an FES device configured to move a body part selected from the group consisting of:

an arm;

a shoulder;

an elbow;

a finger;

a wrist;

a digit;

a leg;

a hip;

a knee;

an ankle;

a foot;

a toe; and

combinations thereof.

214. The apparatus of claim 210, wherein the joint movement device is at least two of:

an exoskeleton device;

an FES device;

an artificial limb; and

combinations thereof.

215. The apparatus of claim 196, wherein the joint movement device is attachable to the patient.

216. The apparatus of claim 196, wherein the joint movement device is at least partially implantable in the patient.

217. The apparatus of claim 216, wherein an implanted portion of the joint movement device includes one or more rods attachable to a bone of the patient.

218. The apparatus of claim 217, further comprising a hydraulic or pneumatic actuator, and activation of said actuator causes movement of one or more joints.

219. The apparatus of claim 218, wherein processed signals cause the activation of the actuator.

220. The apparatus of claim 196, further comprising a force generator.

221. The apparatus of claim 220, wherein the force generator is selected from the group consisting of:

a motor;

a linear actuator;

a solenoid;

a servo;

an electromagnet;

a pneumatic pump;

a hydraulic pump;

a Nitinol wire; and

combinations thereof.

222. The apparatus of claim 220, further comprising a mechanical advantage assembly.

223. The apparatus of claim 222, wherein the mechanical advantage assembly includes a component selected from the group consisting of:

a lever arm;

a cam;

a pneumatic assembly;

a hydraulic assembly; and

combinations thereof.

224. The apparatus of claim 196, wherein the joint movement device includes an integral power supply.

225. The apparatus of claim 224, wherein the integral power supply supplies power to the processing unit.

226. The apparatus of claim 224, wherein the integral power supply supplies power to cause motion of multiple joints of the patient.

227. The apparatus of claim 196, wherein the joint movement device includes a barcode including joint movement device data.

228. The apparatus of claim 196, wherein the force is selected from the group consisting of:

a torsional force;

a linear force; and

combinations thereof.

229. The apparatus of claim 196, further comprising a mechanical advantage assembly configured to apply a force to one or more joints of the patient.

230. The apparatus of claim 229, wherein the mechanical advantage assembly increases a distance while decreasing force is applied.

231. The apparatus of claim 229, wherein the mechanical advantage assembly decreases a distance while increasing force is applied.

232. The apparatus of claim 196, wherein the joint is selected from the group consisting of:

a shoulder, an elbow, a wrist, a finger joint, a hip, a knee, an ankle, a toe joint, a metacarpophalangeal joint, an interphalangeal joint, and a temporomandibular joint.

233. A joint movement device for applying a force to a patient'"'"'s joint, the device comprising:

an implantable piston assembly comprising a piston, a housing that slidingly receives the piston, and a linear actuator configured for controllably advancing and retracting the piston,

wherein the piston assembly is configured for fixed attachment to a first bone of the patient, a distal end of the piston is configured for fixed attachment to a second bone of the patient, and advancement and retraction of the piston is capable of applying a torsional force to a joint of the patient that connects the first bone with the second bone.

234. The device of claim 233, wherein advancement of the piston causes the angle between the first bone and the second bone to increase.

235. The device of claim 233, wherein retraction of the piston causes the angle between the first bone and the second bone to decrease.

236. The device of claim 233, wherein the piston assembly or the distal end of the piston is attachable to bone with screws.

237. The device of claim 233, wherein a portion of the piston assembly or a portion of the distal end of the piston is insertable into the first bone or the second bone.

238. The device of claim 237, wherein said portion is securable with adhesive.

239. The device of claim 237, wherein said portion is securable with frictional engagement.

240. The device of claim 233, wherein the controlled advancement or the controlled retraction is accomplished with a pneumatic generator of the piston assembly.

241. The device of claim 233, wherein the controlled advancement or the controlled retraction is accomplished with a hydraulic generator of the piston assembly.

242. The device of claim 233, wherein the controlled advancement or the controlled retraction is accomplished with a motor driven linear drive of the piston assembly.

243. The device of claim 233, wherein the controlled retraction is accomplished with contraction of a shaped memory element.

244. The device of claim 243, wherein the shaped memory element is constructed of Nitinol.

245. The device of claim 243, wherein the controlled advancement is accomplished by a spring element.

246. The device of claim 233, wherein said device allows patient voluntary movement of multiple joints of the patient.

247. The device of claim 246, further comprising a second piston that can be controllably advanced and retracted.

248. The device of claim 247, wherein the linear actuator controllably advances both the first piston and the second piston.

249. The device of claim 248, wherein the linear actuator is selected from the group consisting of a pneumatic assembly and a hydraulic assembly.

250. A movement assist system for applying a force to one or more joints of a patient, the system comprising:

the joint movement device of claim 233;

and

a biological interface apparatus comprising;

a sensor comprising a plurality of electrodes for detecting the 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, process the multicellular signals to produce a processed signal, and transmit the processed signal to the joint movement device.

251. The system of claim 250, wherein the multicellular signals emanate from nerve cells associated with movement of the one or more joints receiving the applied force from the joint movement device.

252. The system of claim 251, wherein the sensor is not placed in the brain of the patient.

253. The system of claim 251, wherein the sensor is placed in the spinal cord of the patient.

254. The system of claim 250, wherein the multicellular signals emanate from neurons of the motor cortex of the patient.

255. The system of claim 254, wherein the neurons are associated with the hand area of the patient cortex.

256. The system of claim 255, wherein the joints receiving the applied force from the joint movement device are part of the hand corresponding to that area of the motor cortex.

257. The system of claim 254, wherein the neurons are associated with the foot area of the patient cortex.

258. The system of claim 257, wherein the joints receiving the applied force from the joint movement device are part of the foot corresponding to that area of the motor cortex.

259. The system of claim 250, wherein the system allows patient voluntary movement of a limb of said patient.

260. The system of claim 250, wherein the system allows patient voluntary movement of a digit of said patient.

261. The system of claim 250, wherein the system allows patient voluntary causation of grip force of a hand of said patient.

262. The system of claim 250, wherein said system allows patient voluntary movement of multiple joints of the patient.

263. The system of claim 262, further comprising a second piston that can be controllable advanced and retracted.

264. The system of claim 263, wherein the linear actuator controllably advances both the first piston and the second piston.

265. The system of claim 264, wherein the linear actuator is selected from the group consisting of a pneumatic assembly and a hydraulic assembly.

266. The system of claim 250, further comprising a feedback module for providing joint movement device data to said system.

267. The system of claim 266, wherein the joint movement device data is provided to the biological interface apparatus.

268. The system of claim 266, wherein the joint movement device further comprises an additional sensor, the joint movement device data comprising a signal provided by said additional sensor.