Manipulation device with dynamic intensity control

• US 6,752,772 B2
• Filed: 05/09/2002
• Issued: 06/22/2004
• Est. Priority Date: 04/03/2002
• Status: Expired due to Fees

• Current Assignee: Rocky Kahn
• Original Assignee: Rocky Kahn
• Inventors: Kahn, Rocky
• Primary Examiner(s): Lucchesi, Nicholas D.
• Assistant Examiner(s): Thanh, Quang D.
• Application Number:
  US10/142,354
• Publication Number:
  US 20030212352A1
• Time in Patent Office: 775 Days
• Field of Search: 601/55, 601/61, 601/86, 601/90, 601/98, 601/99, 601/100, 601/101, 601/102, 601/103, 601/108, 601/112, 601/113, 601/116, 601/117, 454/14, 567/0, 568/9
• US Class Current: 601/98
• CPC Class Codes: A61H 1/008 Apparatus for applying pressure or blows almost perpendicular to the body or limb axis, e.g. chiropractic devices for repositioning vertebrae, correcting deformation
• CPC Class Codes: A61H 15/00 Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
• CPC Class Codes: A61H 2201/0103 inflatable
• CPC Class Codes: A61H 2201/1654 Layer between the skin and massage elements, e.g. fluid or ball
• CPC Class Codes: A61H 33/6089 Specific construction features for further massaging means, i.e. not for the nozzles
• CPC Class Codes: A61H 35/002 Breast baths
• CPC Class Codes: G16H 20/30 relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• CPC Class Codes: G16H 40/63 for local operation

Abstract

A device includes at least one manipulator located below the user to manipulate the user, a translator which moves the manipulator along the user, and a mechanism to change a pressure intensity of the manipulator while providing spatially uniform support to the user outside a contact patch of the manipulator. Various embodiments include adjusting tension of a membrane supporting the user above the manipulator, adjusting the vertical position of a membrane supporting the user above the manipulator, adjusting fluid pressure in a bladder located between the user and the manipulator, adjusting fluid pressure in a bladder containing the manipulator; adjusting emergence of the user in a liquid supporting the user, changing the level of liquid supporting the user relative by pumping the liquid or actuating valves which allow the liquid to flow, and injecting gas into liquid supporting the user to modifying its density.

Claims

1. A device for manipulating a user, the device comprising, in combination:

a container adapted to contain a liquid for at least partially immersing the user in the liquid;

at least one manipulator adapted to engage the user;

a movement actuator operatively connected to the manipulator to move the manipulator along a path in at least one axis to apply a manipulation to the user;

means for changing a pressure intensity of the manipulator engaging the user, said pressure intensity changing means comprising means for changing buoyancy of the user in the liquid; and

a controller operatively connecting the movement actuator and said pressure intensity changing means.

2. The device according to claim 1, wherein the manipulator directly contacts the user.

3. The device according to claim 1, wherein at least one membrane is located between the user and the manipulator so that the manipulator contacts the user through the at least one membrane.

4. The device according to claim 3, wherein the membrane is impermeable to a working fluid contacting the membrane.

5. The device according to claim 3, wherein the membrane is permeable to a working fluid contacting the membrane.

6. The device according to claim 3, wherein the membrane is semipermeable to a working fluid contacting the membrane.

7. The device according to claim 3, wherein the membrane is removable so that the user can be contacted directly by the manipulator.

8. The device according to claim 3, wherein the pressure intensity changing means includes a fluid tank containing a working fluid and the membrane, and further comprising means to raise the membrane above a top level of the working fluid such that the membrane becomes a lid covering the working fluid.

9. The device according to claim 3, wherein the pressure intensity changing means includes a fluid tank containing a working fluid and the membrane, and further comprising means to lower a top level of the working fluid below the membrane so that the membrane becomes a lid covering the liquid.

10. The device according to claim 3, further comprising means for tensioning and untensioning the membrane to change a level of immersion of the user in the liquid.

11. The device according to claim 3, further comprising means for adjusting a vertical position of the membrane to change of level of immersion of the user in the liquid.

12. The device according to claim 10, further comprising means for symmetrically tensioning and untensioning the membrane at sides of the user to avoid moving the user.

13. The device according to claim 10, further comprising means for asymmetrically tensioning and untensioning the membrane sides of the user to move the user.

14. The device according to claim 1, wherein the buoyancy changing means include means for raising and lowering the manipulator to change a level of immersion of the user in the liquid.

15. The device according to claim 1, wherein the buoyancy changing means include a pump operatively connected to the container for changing a level of the liquid in the container to change a level of immersion of the user in the liquid.

16. The device according to claim 1, wherein the buoyancy changing means include a valved conduit operatively connected to the container for changing a level of the liquid in the container to change a level of immersion of the user in the liquid.

17. The device according to claim 1, wherein the buoyancy changing means include means for injecting gas into the liquid to change the density of the liquid and to change a level of immersion of the user in the liquid.

18. The device according to claim 1, further comprising means for prompting the user to perform exercises.

19. The device according to claim 18, wherein a body weight of the user is part of exercise resistance and further comprising means for adjusting buoyancy of the user to change the body weight of the user.

20. The device according to claim 18, wherein the controller is adapted to selectively move the manipulator and reposition the user to multiple postures.

21. The device according to claim 18, the prompting means includes means for providing an audio signal.

22. The device according to claim 1, further comprising suction restraints engagable with the user to hold the user in place during manipulation.

23. The device according to claim 22, wherein the controller is adapted to at least partially submerge the user by the suction.

24. The device according to claim 22, further comprising means for monitoring a respiration cycle of the user and wherein the controller is adapted to at least partially submerge the user by the suction synchronously with an exhalation phase of the respiration cycle.

25. The device according to claim 22, wherein the controller is adapted to selectively apply the suction restraints to the user as a therapy.

26. The to claim 1, wherein the controller is adapted to dynamically adjust the pressure intensity changing means so that the pressure intensity begins at a low intensity at a beginning of a therapy session and is increased to a greater intensity which is applied for a majority of a duration of the massage session.

27. The device according to claim 1, wherein the controller is adapted to dynamically adjust the pressure intensity changing means so that the pressure intensity ends at a low intensity at an end of a therapy session after applying a greater intensity for a majority of a duration of the massage session.

28. The device according to claim 1, further comprising a sensor carried by the manipulator to sense force of the manipulator normal to the user a means for modifying manipulation configuration to maintain a desired intensity.

29. The device according to claim 1, further comprising a sensor carried by the manipulator to sense a presence of the user at the manipulator.

30. The device according to claim 29, wherein the controller is connected to the sensor and is adapted to begin manipulation of the user when the sensor indicates the presence of the user and to stop manipulation of the user when the sensor indicates no presence of the user.

31. The device according to claim 1, wherein the movement actuator includes a cable drive system including a first stage carrying the manipulator and movable along a first axis, a second stage carrying the first motion stage movable along a second axis perpendicular to the first axis, cables operably connected to the first and second stages to independently move the first and second stage, and at least one motor operably connected to the cables to independently drive the cable and selectively move the first and second stages.

32. The device according to claim 1, wherein the manipulator is adapted to raise and lower and the controller is adapted to raise and lower the manipulator to ease entry and egress of the user.

33. The device according to claim 1, further comprising first support surface configured to support the user in a supine position and a second support surface in close proximity to the first support surface and configured to support the user in a prone position.

34. The device according to claim 1, wherein the manipulator is reconfigurable to support the user in both supine and prone positions.

35. The device according to claim 1, further comprising means for disengaging the manipulator from a location on the user at a rate faster than a drop rate of the user and re-engaging the manipulator to the user at the location on the user to provide at least one of a tapping manipulation and a release of flesh tension in the user.

36. The device according to claim 1, further comprising means for disengaging the manipulator from a first location on the user at a rate faster than a drop rate of the user and re-engaging the manipulator to the user in a second location on the user different than the first location to allow the manipulator to move while disengaged from the user.

37. The device according to claim 1, wherein the manipulator has first and second portions adapted to engage the user and further comprising means for disengaging the first portion of the manipulator from the user at a rate faster than a drop rate of the user and re-engaging the manipulator to the user using the second portion of the manipulator.

38. The device according to claim 1, wherein there is a second manipulator adapted to engage the user and further comprising means for disengaging the second manipulator from the user at a rate faster than a drop rate of the user and re-engaging the second manipulator to the user.

39. The device according to claim 1, further comprising a restraint adapted to attach at least one extremity of the user.

40. The device according to claim 1, further comprising a curved roller adapted to cradle a limb of the user.

41. The device according to claim 1, further comprising at least one guide adapted to contact the user near the manipulator and to retain the user in engagement with the manipulator.

42. The device according to claim 41, wherein the guide is movable toward and away from the manipulator in at least one axis.

43. The device according to claim 41, wherein the guide is provided with a sensor for sensing pressure exerted on the user by the guide.

44. The device according to claim 43, wherein there are first and second guides on opposite sides of the manipulator and the controller is adapted to change a distance between the guides depending on pressure measured at the sensors.

45. The device according to claim 41, wherein the guide is also adapted to engage and manipulate the user.

46. The device according to claim 1, wherein the manipulator includes first and second portions adapted to engage the user and the controller is adapted to selectively move the first and second portions so that a desired one of the first and second portions can engage the user.

47. The device according to claim 1, wherein there is plurality of the manipulators and the plurality of the manipulators are adapted to pressure the user in succession and move along an unclosed path on the user and wherein a new one of the plurality of manipulators engages the user before a previous one of the plurality of manipulators disengages the user.

48. The device according to claim 1, wherein the controller adapted to move the manipulator under at least partially manual control of the user.

49. The device according to claim 1, wherein the controller is adapted to move the manipulator under at least partially manual control of an individual other than the user.

50. The device according to claim 1, wherein the controller is adapted to move the manipulator under at least partially manual control of an individual other than the user located at a remote location.

51. The device according to claim 1, wherein the controller is adapted to move the manipulator under pre-programmed automatic control.

52. The device according to claim 1, wherein controller adapted to move the manipulator in response to a multimedia stream.

53. The device according to claim 1, wherein the controller adapted to use a parametric pattern code based on user proportions to adapt pre-program ed patterns to users of different shape.

54. The device according to claim 1, further comprising at least one feedback device in communication with the controller and wherein the controller is adapted to generate evolving massage patterns for individual users based on incremental feedback from the individual users over time.

55. The device according to claim 1, wherein the controller is adapted for connection to a computer network.

56. The device according to claim 1, wherein the controller is adapted to provide feedback from the user to a remote location.

57. The device according to claim 1, further comprising hand-held feedback device connected to the controller.

58. The device according to claim 1, further comprising a camera connected to the controller.

59. The device according to claim 1, further comprising a microphone connected to the controller.

60. The device according to claim 1, further comprising at least one sensor in communication with the controller and capable of detecting presence of the user, and wherein the sensor is selected from the group of a motion sensor, a sound sensor, and a pressure sensor and the controller is adapted to adjust light intensities of at least one of the following to accommodate anticipated user interaction hand rail lights, step lights, feedback mechanism lights and more relevant control lights on a control panel.

61. The device according to claim 1, further comprising at least one sensor adapted to measure at least one biometric parameter of a user from the list of body shape, hand shape and fingerprint and to provide information to the controller to permit the controller to identify the user.

62. The device according to claim 1, further comprising means for monitoring the breath of a user.

63. The device according to claim 62, wherein the breath monitoring means comprise at least one weight sensor positioned to sense weight information of the user while the user is at least partially immersed in the liquid, and the controller operably connected to the weight sensor to receive the weight information and adapted to dynamically determined at least one of a respiratory phase of the user and a respiratory amplitude of the user using changes in the weight information over a period of time resulting from buoyancy changes of the user.

64. The device according to claim 63, wherein the controller is operably connected to the at least one manipulator to control movement of the manipulator synchronously with at least one of the respiratory phase of the user and the respiratory amplitude of the user.

65. The device according to claim 63, the at least one manipulator adapted to engage the user for therapeutic physical manipulation of the user, wherein the controller is operably connected to the at least one manipulator to control movement of the at least one manipulator and to the pressure intensity changing means to control pressure intensity of the at least one manipulator synchronously with the at least one of the respiratory phase of the user and the respiratory amplitude of the user.

66. The device according to claim 65, wherein the means for changing buoyancy of the user includes at least one of means for changing the immersion of the user in the container and means for aerating the liquid to change liquid density.

67. The device according to claim 62, wherein the controller is adapted to at least partially submerge the user in the liquid synchronously with the user'"'"'s exhalation and ascend the user in time for inhalation.

68. The device according to claim 62, wherein the controller is adapted to detect volitional breath commands of the user.

69. The device according to claim 62, wherein the controller is adapted to detect volitional breath commands of the user and the controller is operably connected to the at least one manipulator to control movement of the at least one manipulator in accordance with the volitional breath commands.

70. The device according to claim 62, wherein the controller is adapted to detect a pain threshold of the user using at least one of a respiratory phase of the user and a respiratory amplitude of the user.

71. The device according to claim 62, wherein the controller is adapted to detect a pain threshold of the user using at least one of a respiratory phase of the user and a respiratory amplitude of the user and the controller is operably connected to the at least one manipulator to control movement of the at least one manipulator in accordance with the pain threshold of the user.

72. The device according to claim 62, wherein the controller is adapted to change the intensity of the manipulator based upon a respiration cycle indicating at least one of breath holding and sharp intake of breath.

73. The device according to claim 62, further comprising an audible signal generator adapted to generate audible signals to the user synchronous with at least one of a respiratory phase of the user and a respiratory amplitude of the user.

74. The device according to claim 1, the at least one manipulator adapted to engage the user for therapeutic physical manipulation of the user.

75. The device according to claim 1, wherein the pressure intensity changing means includes at least one of:

(a) an automatic controller following a program;

(b) an automatic controller following a program adapting to user feedback;

(c) a user-activated switch;

(d) a user controlled manual mechanism;

(e) a remote user'"'"'s switch;

(f) a user'"'"'s respiratory phase;

(g) a user'"'"'s respiratory frequency; and

(h) a user'"'"'s respiratory tidal volume.