Methods and Apparatus for Rehabilitation and Training

• US 20080004550A1
• Filed: 02/04/2005
• Published: 01/03/2008
• Est. Priority Date: 02/05/2004
• Status: Active Grant

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Binyamini, Gad, Rousso, Benny, Einav, Omer, Katzir, Eran, Einav, Haim, Shabanov, Doron
• Granted Patent: US 8,753,296 B2
• Time in Patent Office: Days
• US Class Current: 601/33
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 5/16 Devices for psychotechnics using teaching or educational appliances G09B1/00 - G09B7/00; Testing reaction times ; Devices for evaluating the psychological state
• CPC Class Codes: A61B 5/224 Measuring muscular strength
• CPC Class Codes: A61B 5/486 Bio-feedback A61B5/375 takes precedence
• CPC Class Codes: A61B 5/7475 User input or interface means, e.g. keyboard, pointing device, joystick
• CPC Class Codes: A61H 1/0237 for the lower limbs
• CPC Class Codes: A61H 1/0262 Walking movement; Appliances for aiding disabled persons to walk A61H3/00 takes precedence
• CPC Class Codes: A61H 1/0274 for the upper limbs
• CPC Class Codes: A61H 1/0296 Neck
• CPC Class Codes: A61H 2201/0184 by raising an alarm
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1607 Holding means therefor
• CPC Class Codes: A61H 2201/1611 Holding means therefor
• CPC Class Codes: A61H 2201/1635 Hand or arm, e.g. handle
• CPC Class Codes: A61H 2201/1638 Holding means therefor
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/1659 Free spatial automatic movement of interface within a working area, e.g. Robot
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/501 : connected to external computer devices or networks
• CPC Class Codes: A61H 2201/5023 : Interfaces to the user
• CPC Class Codes: A61H 2201/5038 : freely programmable by the user
• CPC Class Codes: A61H 2201/5043 : Displays
• CPC Class Codes: A61H 2201/5048 : Audio interfaces, e.g. voice or music controlled
• CPC Class Codes: A61H 2201/5058 : Sensors or detectors
• 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 2201/5092 : Optical sensor
• CPC Class Codes: A61H 2230/065 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/085 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/425 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/505 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/655 : used as a control parameter for the apparatus
• CPC Class Codes: A63B 2022/0094 : for active rehabilitation, e.g. slow motion devices
• CPC Class Codes: A63B 2024/0078 : Exercise efforts programmed as a function of time
• CPC Class Codes: A63B 2071/065 : Visualisation of specific exercise parameters
• CPC Class Codes: A63B 21/00178 : for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/00181 : comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/0058 : using motors
• CPC Class Codes: A63B 21/4021 : to the wrist
• CPC Class Codes: A63B 21/4043 : Free movement, i.e. the only restriction coming from the resistance A63B21/00043, A63B21/072 take precedence
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2220/13 : Relative positions
• CPC Class Codes: A63B 2220/16 : Angular positions
• CPC Class Codes: A63B 2220/50 : Force related parameters
• CPC Class Codes: A63B 2225/50 : Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 23/03508 : For a single arm or leg, A63B21/0726 takes precedence
• CPC Class Codes: A63B 23/1209 : Involving a bending of elbow and shoulder joints simultaneously
• CPC Class Codes: A63B 71/0009 : for handicapped persons
• CPC Class Codes: G09B 23/28 : for medicine
• CPC Class Codes: G09B 23/32 : with moving parts
• CPC Class Codes: G16H 20/30 : relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising

Abstract

A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising: exercising a patient at a first place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home, using an actuator of said actuator type which interacts with a motion of said patient; and second exercising said patient at a second place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home using a second actuator of said actuator type which interacts with a motion of said patient; wherein said first exercising and said second exercising utilize a same movement mechanism design for moving the actuators.

Claims

1. A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising:

exercising a patient at a first place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home, using an actuator of said actuator type which interacts with a motion of said patient; and

second exercising said patient at a second place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home using a second actuator of said actuator type which interacts with a motion of said patient;

wherein said first exercising and said second exercising utilize a same movement mechanism design for moving the actuators.

2. A method according to claim 1, wherein said first and second exercising are performed using a same rehabilitation apparatus.

3. A method according to claim 1, wherein said motion mechanism is motorized.

4. A method according to claim 3, wherein said motion and said force are controlled by a controller.

5. A method according to claim 3, wherein said motion mechanism is capable of applying a force of at least 1 Kg to a tip of said actuator.

6. A method according to claim 3, wherein said motion mechanism is capable of applying a force of different magnitudes in different directions of motion said actuator.

7. A method according to claim 1, wherein said motion mechanism is adapted to apply selective resistance to motion of said actuator.

8. A method according to claim 1, wherein said actuator is adapted to interact with said motion in a plurality of modes including at least causing said motion, guiding said motion and recording said motion.

9. A method according to claim 8, wherein said first and said second exercising use different motion interaction modes.

10. A method according to claim 1, wherein at least one of said first and said second exercising are performed in water.

11. A method according to claim 1, wherein said first and said second exercising are performed on a same limb.

12. A method according to claim 1, wherein said first and said second exercising are different exercises.

13. A method according to claim 1, comprising keeping track of progress of said patient including said first and said second exercising, in a same controller coupled with said second actuator.

14. A method according to claim 1, wherein said actuator is rigid.

15. A method of rehabilitation using an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising:

exercising a first organ type of a patient using said actuator; and

exercising a second organ type of the patient using said actuator.

16. A method according to claim 15, comprising replacing an attachment to said patient of said rehabilitation device between said exercising.

17. A method according to claim 15, the actuator comprises a controller which controls said interaction.

18. A method according to claim 17, wherein said controller is programmed with a plurality of different exercises for different limbs.

19. A method according to claim 15, comprising adjusting at least one of a spatial position and orientation of said actuator relative to said patient, between said exercises.

20. A rehabilitation kit, comprising:

an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;

a tip on said actuator; and

a plurality of attachments modularly exchangeable for said tip, at least two of which are adapted to fit different organs.

21. A kit according to claim 20, wherein at least one of said attachments is powered via said actuator.

22. A kit according to claim 20, wherein at least one of said attachments is capable of rotation in three axes of rotations.

23. A device for rehabilitation, comprising:

a motorized actuator adapted to support a movement by a person by at least one of resisting motion, guiding motion and causing motion; and

a controller configured to control said actuator,

wherein, said controller is programmed to provide rehabilitation exercising for patient'"'"'s switchable between a plurality of modes in which one or more or motivation, cognitive ability and motor ability is either high or low.

24. A device according to claim 23, wherein said controller is configured to provide instructions in a selectable one of at least three information presentation modes and complexity levels.

25. A device according to claim 23, wherein said controller is configured to provide support for motor activity of said patient in a selectable one of at least three levels of assistance.

26. A device according to claim 23, wherein said controller is configured to provide incentive feedback to said patient in a selectable one of at least three levels of incentive.

27. A method of rehabilitation using an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising:

coupling said actuator to a person in a home setting; and

performing a daily activity by said person, wherein said actuator interacts with said activity to enhance rehabilitation.

28. A method according to claim 27, wherein said daily activity is outdoors.

29. A method according to claim 27, wherein said actuator interacts using a stored rehabilitation plan.

30. A method according to claim 27, wherein said actuator reports to a remote location on a progress of rehabilitation.

31. A method according to claim 27, wherein said actuator prevents unsafe motions by said patient.

32. A method according to claim 27, comprising first practicing said daily activity at a rehabilitation clinic.

33. A method of rehabilitation, comprising:

rehabilitating a first patient on a first rehabilitation device;

rehabilitating a second patient on a second rehabilitation device; and

passing information regarding rehabilitation between said two devices, said information including at least one of a score, current progress, spatial position of a portion of the patient and a game play.

34. A method according to claim 33, wherein said patients play a game together using said devices for input and output.

35. A method according to claim 34, wherein said patients play against each other.

36. A method according to claim 34, wherein said first rehabilitation device provides a different support for said first patient than said second device supplies for said second patient, to compensate for differences in ability between the two patients.

37. A method according to claim 33, wherein said information is passed in real-time.

38. A method according to claim 33, wherein said information is passed using a wireless connection.

39. A method according to claim 33, comprising monitoring said first and said second patients by a remote therapist.

40. A method according to claim 33, comprising remotely connecting into a therapy group by said patients.

41. A method according to claim 33, wherein said two devices are in a same room.

42. A rehabilitation system configuration, comprising:

A first rehabilitation device; and

A second rehabilitation device linked by a wireless data link with said first rehabilitation device such that the two rehabilitation devices can act in synchrony.

43. A method of cooperative rehabilitation, comprising;

providing a first actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;

providing a second actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;

engaging said first and said second actuators by a patient and by a non-therapist respectively; and

rehabilitating said patient using said first actuator and said non-therapist.

44. A method according to claim 43, wherein said non-therapist is a blood relative.

45. A method according to claim 43, comprising guiding said non-therapist and said patient by instruction by a controller.

46. A method according to claim 43, wherein said non-therapist is under an age of 18.

47. A method according to claim 43, wherein said non-therapist is under an age of 10.

48. A method according to claim 43, wherein said providing is at a home of said non-therapist.

49. A method according to claim 43, wherein said non-therapist has fewer than 50 hours experience in physical therapy.

50. A method according to claim 43, wherein said non-therapist has fewer than 10 hours experience in physical therapy.

51. A rehabilitation system configuration using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising:

a first rehabilitation device at a first place of rehabilitation using a first actuator of said actuator type and a first operation setting; and

a second rehabilitation device at a second place of rehabilitation using a second actuator of said actuator type and a second operational setting.

52. A system according to claim 51, wherein the first and second places of rehabilitation are selected from a bed, a wheel-chair, a clinic, a hospital and a home.

53. A system according to claim 51, wherein the first operational setting includes applying a force that interacts with a motion of a patient'"'"'s limb in at least three degrees of freedom and the second operational setting includes applying a force that interacts with a motion of a patient'"'"'s limb in two degrees of freedom.

54. A system according to claim 51, wherein the first operational setting includes having a software set and the second operational setting includes having only a portion of the software set.

55. A system according to claim 51, wherein the first operational setting includes having a software set and the second operational setting having a different software set.

56. A system according to claim 51, wherein the first operational setting includes a set of modes and the seconds operation setting includes having only a portion of the set of nodes.

57. A system to claim 51, wherein the first rehabilitation device is provided with a first display type and the second rehabilitation device is provided with a different display type.

58. A system according to claim 51, wherein the second rehabilitation device is adapted for the second place of rehabilitation.

59. A system according to claim 58, wherein the second rehabilitation device is adapted by providing mobility.

60. A system according to claim 58, wherein the second first rehabilitation device is adapted by changing its size relative to the first rehabilitation device.

61. A system according to claim 51, wherein the first and second rehabilitation devices are connected in a network.

62. A system according to claim 61, wherein the network is provided with a database shared between at least the first and second rehabilitation devices.

63. A system according to claim 61, wherein the system is adapted to generate a report on the patient from the first and second rehabilitation devices.

64. A system according to claim 51, wherein the first rehabilitation device and the second rehabilitation device are monitored by the same therapist.

65. A system according to claim 51, wherein the first and second rehabilitation devices are adapted to be used by the same patient.

66. A rehabilitation system configuration, comprising:

a first rehabilitation device at a first place of rehabilitation using an actuator that includes a movement mechanism capable of applying a force adapted to interact with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least two degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume; and

a second rehabilitation device at a second place of rehabilitation that includes a movement mechanism operable by the patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least two degrees of freedom and capable of preventing substantial motion in any point in ant direction in said volume.

67. A rehabilitation system according to claim 66, further comprising a controller adapted to control the actuator of the first rehabilitation device in accordance with a program.