METHOD FOR CONTROLLING AN ORTHOPEDIC JOINT

• US 20100305716A1
• Filed: 11/05/2008
• Published: 12/02/2010
• Est. Priority Date: 11/07/2007
• Status: Active Grant

• Current Assignee: Ottobock SE & Co. KGaA
• Original Assignee: Otto Bock HealthCare GmbH (OTTO BOCK Holding GmbH & Company KG)
• Inventors: Pusch, Martin, Boiten, Herman, Zarling, Sven
• Granted Patent: US 9,877,849 B2
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/4851 Prosthesis assessment or monitoring
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/68 Operating or control means
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2/741 using powered actuators, e.g. stepper motors or solenoids
• CPC Class Codes: A61F 2002/5006 Dampers, e.g. hydraulic damper
• CPC Class Codes: A61F 2002/5033 for adjusting damping
• CPC Class Codes: A61F 2002/5035 for adjusting volume flow
• CPC Class Codes: A61F 2002/6818 for braking
• 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 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/764 for measuring acceleration
• CPC Class Codes: A61F 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2005/0155 : with actuating means

Abstract

The invention relates to a method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by means of an adjustable actuator for adjusting an orthopedic apparatus to walking situations that differ from walking on a plane. Said orthopedic apparatus comprises top connecting means to a limb and an orthopedic element that is hingedly arranged distal to the connecting means. The method encompasses the following steps:—several parameters of the orthopedic apparatus are sensed by means of sensors;—the sensed parameters are compared with criteria that have been established based on several parameters and/or parameter curves and are stored in a computer unit;—a criterion is selected that is suitable on the basis of the determined parameters and/or parameter curves; and—resistances to movements, extents of movements, driving forces, and/or the progresses thereof are adjusted in accordance with the selected criterion in order to control special functions that differ from walking on a plane.

Claims

1. A method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by means of an adjustable actuator with which an orthopedic appliance, which comprises upper means of attachment to a limb and an orthopedic element arranged in an articulated manner distally of the attachment means, is adapted to walking situations that deviate from walking on a plane, said method comprising the following steps:

detecting several parameters of the orthopedic appliance via sensors,

comparing the detected parameters with criteria that have been established on the basis of several parameters and/or parameter profiles and are stored in a computer unit,

selecting a criterion that is suitable on the basis of the detected parameters and/or parameter profiles, and

adapting movement resistances, movement ranges, drive forces and/or the profiles thereof in accordance with the selected criterion, in order to control special functions that deviate from walking on a plane.

2. The method as claimed in claim 1, characterized in that the actuator used is a switch, a pump, an energy store and/or an electric motor.

3. The method as claimed in claim 1 or 2, characterized in that the parameter used is the joint angle and/or the profile of a change in the joint angle.

4. The method as claimed in one of the preceding claims, characterized in that the parameter used is the axial force and/or the profile of the axial force.

5. The method as claimed in one of the preceding claims, characterized in that the parameter used is the joint torque and/or a profile of a change in the joint torque.

6. The method as claimed in one of the preceding claims, characterized in that a vertical movement and/or a profile of a vertical movement is used as the parameter.

7. The method as claimed in one of the preceding claims, characterized in that a horizontal movement and/or a profile of a horizontal movement is used as the parameter.

8. The method as claimed in one of the preceding claims, characterized in that a tilt angle of part of the orthopedic appliance in space and/or a profile of a change in the tilt angle of part of the orthopedic appliance is used as the parameter.

9. The method as claimed in at least one of the preceding claims, characterized in that at least two parameters or parameter profiles are combined in one criterion.

10. The method as claimed in one of the preceding claims, characterized in that several criteria can initiate a special function.

11. The method as claimed in one of the preceding claims, characterized in that, in the special function, the extension damping and/or flexion damping in a set-down and hip-straightening phase is increased to a level above a damping of a swing phase control for walking on a plane.

12. The method as claimed in one of the preceding claims, characterized in that, in the special function, the flexion damping and/or extension damping in the set-down phase is increased to a maximum value.

13. The method as claimed in claim 11 or 12, characterized in that, in the special function, the adopted flexion damping and/or extension damping in the set-down and hip-straightening phase is maintained until straightening of the hip is complete.

14. The method as claimed in one of the preceding claims, characterized in that, in the case of an orthopedic knee joint, the special function is initiated when an axial force acting on the lower leg drops and when the knee joint is straightened or being straightened, and the flexion damping is reduced in the special function.

15. The method as claimed in claim 14, characterized in that it additionally takes into account the axial force dropping below a fixed level.

16. The method as claimed in one of claims 1 through 13, characterized in that, in the case of an orthopedic knee joint, the special function is initiated when the lower leg is inclined rearward, the knee joint is straightened and a knee torque is below a fixed level, and the flexion damping is reduced in the special function.

17. The method as claimed in one of claims 1 through 13, characterized in that the special function is initiated when there is an upward vertical acceleration and when an axial force is below a fixed level, and the flexion damping is reduced in the special function.

18. The method as claimed in one of claims 1 through 13, characterized in that the special function is initiated when there is a rearward horizontal acceleration and when an axial force is below a fixed level, and the flexion damping is reduced in the special function.

19. The method as claimed in one of the preceding claims, characterized in that the damping is adjusted during the lift phase and/or set-down phase.

20. The method as claimed in one of claims 1 through 18, characterized in that the damping is adjusted during the stance phase or during the swing phase.

21. The method as claimed in one of the preceding claims, characterized in that a low-torque lift of the distally arranged orthopedic element is detected via a force sensor or torque sensor.

22. The method as claimed in one of the preceding claims, characterized in that a low-torque lift is detected by measurement of a vertical acceleration of the distally arranged orthopedic element and by detection of a bending in the joint.

23. The method as claimed in one of the preceding claims, characterized in that flexion is supported in the lift phase via a pretensioned spring mechanism.

24. The method as claimed in one of the preceding claims, characterized in that, after the flexion damping has been reduced, a free extension is set with time control.

25. The method as claimed in claim 24, characterized in that the time control is effected mechanically or electronically.

26. The method as claimed in one of the preceding claims, characterized in that the parameters are determined during walking.