Determination of thumb position using measurements of abduction and rotation

• US 5,482,056 A
• Filed: 04/04/1994
• Issued: 01/09/1996
• Est. Priority Date: 04/04/1994
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: James F. Kramer
• Inventors: Kramer, James F.
• Primary Examiner(s): HINDENBURG, MAX F
• Application Number:
  US08/223,284
• Time in Patent Office: 645 Days
• Field of Search: 128/774, 128/782, 338/210
• US Class Current: 600/595
• CPC Class Codes: A61B 5/1071 measuring angles, e.g. using goniometers A61B5/1123 takes precedence
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6806 Gloves
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• 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: G09B 23/30 Anatomical models G09B23/281 - G09B23/288 take precedence

Abstract

Methods and systems are provided for calculating the position of a thumb in a model of links and joints representing the physical thumb. The thumb position and orientation are calculated using the change in values of the angle of the thumb rotation and the thumb abduction from selected initial values, which change is detected by means of sensors mounted in juxtaposition to said thumb. Various joint axes are predefined, while others are calculated.

Claims

1. A method employing sensors, a data processor and a memory for measuring the position of an anatomical model of at least a portion of a thumb relative to a reference coordinate system, wherein said anatomical model comprises joints and links, wherein each joint is a revolute joint and the axis of each joint represents the center of rotation between two articulated bone segments and each bone segment is represented by a link, said measuring using said anatomical model employing at least some of the following components:

(1) a thumb rotation axis (TR axis) and the angle about said axis, θ

_TR ;

(2) a trapeziometacarpal joint, TMJ, comprising a pitch axis (TMJP) and a roll axis (TMJR);

(3) a thumb metacarpal;

(4) a thumb proximal phalanx;

(5) a thumb distal phalanx;

(6) a thumb metacarpophalangeal joint (thumb MPJ);

(7) an interphalangeal joint (IJ);

(8) a thumb abduction axis (TA axis) and the angle about said TA axis, θ

_TA , said TA axis normal to the plane defined by (a) the thumb metacarpal and (b) the TR axis;

(9) an index metacarpophalangeal joint (index MPJ), wherein each of said components has a known initial value for an initial thumb position;

said method comprising;

transmitting signals to said data processor from said sensors mounted in juxataposition to said thumb, wherein said signals indicate the change in values, Δ

θ

_TR and Δ

θ

_TA, for θ

_TR and θ

_TA from said initial values defining the movement of the thumb from said initial position;

processing said signals in said memory relating to said Δ

θ

_TR and Δ

θ

_TA, by first rotating said initial position of said thumb MPJ about the initial TA axis by an amount Δ

θ

_TA to determine a first rotated thumb MPJ; and

further rotating said first rotated thumb MPJ about the TR axis by an amount Δ

θ

_TR to produce a signal related to a second rotated thumb MPJ;

processing said signal related to a second rotated thumb MPJ in conjunction with said thumb TMJ to define the position of said thumb metacarpal;

relating the position of said TMJP axis as being normal to the plane defined by said thumb metacarpal and said TMJR axis to specify the orientation of said thumb metacarpal;

whereby the position and orientation of said thumb metacarpal relative to a reference coordinate system is determined.

2. A method according to claim 1, further comprising the steps of:

transmitting signals from sensors mounted in juxtaposition to said thumb, wherein said signals indicate the change in values, Δ

θ

_MPJ and Δ

θ

_IJ , for θ

_MPJ and θ

_IJ joint angles about the axes of said thumb MPJ and IJ, respectively;

processing said signals in said memory for said Δ

θ

_MPJ and Δ

θ

_IJ joint angles, in conjunction with said thumb MPJ and IJ axes set parallel to said TMJP axis, whereby said thumb proximal phalanx is rotated by Δ

θ

_MPJ about said thumb MPJ axis relative to the position of said thumb metacarpal, and said distal phalanx is rotated by Δ

θ

_IJ about said IJ axis relative to said rotated proximal phalanx;

whereby the position of said thumb proximal and/or distal phalanges relative to said thumb metacarpal is determined.

3. A method according to claim 2, further comprising calculating the position of a point of said anatomical model of said thumb by means of the dimensions of said anatomical model of said thumb and the position of said links of said model.

4. A method according to claim 1, wherein said TR axis is defined as passing through said TMJ and said index MPJ.

5. A method according to claim 1, wherein said components further include a ring metacarpophalangeal joint, and said TMJR axis is defined as passing through said TMJ and a point which is optimized about a nominal location approximately 2 cm from the palmar side of said ring metacarpophalangeal joint.

6. A method according to claim 1, wherein said components further include as additional components the wrist or one or more phalanges of one or more fingers of the hand and further calculating the position of said additional components.

7. A system for measuring the position of at least a portion of a thumb, using an anatomical model employing:

(1) a thumb rotation axis (TR axis) and the angle about said axis, θ

_TR ;

(2) a trapeziometacarpal joint, TMJ, comprising a pitch axis (TMJP) and a roll axis (TMJR);

(3) a thumb metacarpal;

(4) a thumb proximal phalanx;

(5) a thumb distal phalanx;

(6) a thumb metacarpophalangeal joint (thumb MPJ);

(7) an interphalangeal joint (IJ);

(8) a thumb abduction axis (TA axis) and the angle about said TA axis, θ

_TA, said TA axis normal to the plane defined by (a) the thumb metacarpal and (b) the TR axis;

(9) an index metacarpophalangeal joint (index MPJ); and

(10) an index metacarpal, wherein the change in angles of θ

_TR and θ

_TA from known initial values for an initial thumb position as a result of movement of said thumb are Δ

θ

_TR and Δ

θ

_TA, respectively, said system comprising;

a first goniometer in juxtaposition to the soft tissue between said thumb metacarpal and said TR axis to provide a signal for θ

_TA indicating said Δ

θ

_TA value;

a second goniometer in juxtaposition to said TR axis to provide a signal for θ

_TR indicating said Δ

θ

_TR value;

means for supporting said goniometers in position in relation to the thumb;

a data processor for receiving said signals and processing said signals to provide a value for the position of said thumb metacarpal from said Δ

θ

_TA and Δ

θ

_TR values; and

a data processor for receiving said value for the position of said thumb metacarpal for determining the orientation of said thumb metacarpal from said value of the position of said thumb metacarpal and the position of said TMJP axis as being normal to the plane defined by said thumb metacarpal and said TMJR axis.

8. A system according to claim 7, wherein said supporting means comprises a fitted covering over at least a portion of said thumb and index finger.

9. A system according to claim 8, wherein said supporting means further comprises a fitted covering over the remaining fingers of a hand, and further including at least one goniometer supported by said fitted covering for measuring the position of at least one of said fingers.

10. A system according to claim 7, said components further comprising a metacarpus, wherein said second goniometer measures an angle between a first point on said metacarpus and a second point on said thumb metacarpal or on the tissue between said thumb metacarpal and said TR axis.

11. A system according to claim 7, further comprising:

a third goniometer in juxtaposition to said thumb metacarpophalangeal joint to provide a signal θ

_MPJ indicating Δ

θ

_MPJ, the change in the angle about the axis of said thumb MPJ;

a fourth goniometer in juxtaposition to said thumb interphalangeal joint to provide a signal θ

_IJ indicating Δ

θ

_IJ, the change in the angle about the axis of said IJ;

a data processor for receiving and processing said signals to determine the position of said proximal and distal phalanges using said Δ

θ

_MPJ and Δ

θ

_IJ joint angles, in conjunction with the position of said thumb MPJ and where said thumb MPJ and IJ axes are set parallel to said TMJP axis.