Methods and apparatus for rehabilitation and training

• US 8,545,420 B2
• Filed: 02/04/2005
• Issued: 10/01/2013
• Est. Priority Date: 02/05/2004
• Status: Active Grant

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Einav, Omer, Einav, Haim, Rousso, Benny, Shabanov, Doron, Katzir, Eran, Binyamini, Gad
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US10/597,671
• Publication Number:
  US 20070299371A1
• Time in Patent Office: 3,161 Days
• Field of Search: 601/5, 601/23, 601/24, 601/26, 601/33, 601/34, 601/35, 482/9
• US Class Current: 601/5
• 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

The invention relates to a rehabilitation device which guides a patient to perform a motion with a correct spatial trajectory, by the device applying one or more pushing, assisting, reminding, responding and/or resisting forces during a motion (or intent to move) by the patient. The forces are applied by an actuator, for example, a robotic articulated arm or a spherically jointed lever. The applied forces act as a force fields, optionally continuous, which impeded and/or guides a patient. The device can be programmable with various trajectories (paths and/or velocities) and/or forces. The forces at one point in the trajectory can vary responsive to an actual trajectory by the patient and/or responsive to a rehabilitation plan and/or improvement of the patient. The device can learn a motion entered by a physiotherapist and replay it for the patient.

Claims

1. A rehabilitation device comprising:

a frame with a curved portion and configured to at least partially surround a patient in a three dimensional space;

an actuator that includes a movement mechanism capable of applying a force to a patient'"'"'s limb that interacts with a motion of the 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 of the patient'"'"'s limb in any point in any direction in said volume;

a single joint interconnecting said frame and said actuator and allowing multiple different relative placements of said movement mechanism on said frame, such that said volume moves relative to said frame and around the patient.

2. A device according to claim 1, wherein said movement mechanism has different motion limitations in different spatial directions and wherein said multiple relative placements include changing an orientation of said mechanism relative to the patient.

3. A device according to claim 1, wherein said joint comprises a linear joint.

4. A device according to claim 1, wherein said joint comprises a swiveling joint.

5. A device according to claim 1, wherein said joint is motorized.

6. A device according to claim 5, comprising a controller that controls said joint according to an exercise stored in said controller to be performed.

7. A device according to claim 1, comprising at least one sensor that reports an angular position of said joint.

8. A rehabilitation device according to claim 1, further comprising:

at least one weight that balances said actuator such that no force is required to maintain said actuator in space.

9. A rehabilitation device according to claim 1, wherein the joint has freedom of motion in rotational and elevation directions, said freedom allowing positioning of said joint in substantially any angular position within a range of at least 30 degrees in each angular direction, and the device further comprising:

a substantially rigid radial extension attached to said joint and adapted for movement with the patient'"'"'s limb at least one point thereof; and

a controller adapted to control motion of said joint and thereby motion of said radial extension.

10. A device according to claim 9, wherein said radial extension is balanced such that said point remains stable if no force is applied and moves if force is applied by said patient.

11. A device according to claim 10, wherein said balancing can be varied to match a weight of an attachment selectively attached to said extension.

12. A device according to claim 10, wherein said balancing can be varied by said controller along a path of motion to match a change in moment on said point.

13. A device according to claim 10, wherein said balancing can be set to provide a neutral buoyancy to said limb.

14. A device according to claim 9, wherein said joint is a ball joint.

15. A device according to claim 9, wherein said joint comprises two orthogonal hinges with a common center of rotation.

16. A device according to claim 9, wherein said controller comprises a mechanical controller.

17. A device according to claim 9, wherein said controller comprises an electrical controller.

18. A device according to claim 9, comprising at least one brake adapted to selectively resist said freedom of motion of the actuator.

19. A device according to claim 18, wherein said brake is continuously controlled by said controller.

20. A device according to claim 18, wherein said brake is uni-directional in only one of said rotational and elevation directions.

21. A device according to claim 18, wherein said brake is operative in both said rotational and elevation directions.

22. A device according to claim 9, comprising at least one motor adapted to move said joint.

23. A device according to claim 22, wherein said motor is adapted to apply at least 10 Kg of force at said point.

24. A device according to claim 22, wherein said motor is continuously controlled by said controller.

25. A device according to claim 22, wherein said motor cannot be back-driven by said extension.

26. A device according to claim 9, comprising at least one resilient element adapted to provide resilient compliance when said patient moves said point in a trajectory other than a trajectory for which motion is controlled to move by said controller.

27. A device according to claim 26, wherein said controller sets a degree of said resilient compliance.

28. A device according to claim 9, wherein said extension is extendible.

29. A device according to claim 9, wherein extension includes a conduit for electrical power.

30. A device according to claim 9, including at least one position sensor which reports on a angular position of said joint.

31. A device according to claim 9, including at least one force sensor which reports on a force applied to said joint.

32. A device according to claim 9, wherein said controller is configured to control said motion of the actuator and provide at least one of assisting motion by said patient limb, resisting motion by said patient limb, guiding motion by said patient limb, nudging said patient limb to move and moving said patient limb.

33. A device according to claim 32, wherein said controllers stores thereon a plurality of different rehabilitation exercises.

34. A method of setting up a rehabilitation system comprising:

providing said rehabilitation system with an actuator that includes a movement mechanism capable of applying a force to a patient'"'"'s limb that interacts with a motion of the 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;

determining a rehabilitation exercise to be performed;

selecting a desired position for said movement mechanism for said exercise on a frame of the system, the frame provided with a curved portion configured to at least partially surround the patient in a three dimensional space; and

adjusting a position of the mechanism on the frame according to said desired position.

35. A method according to claim 34, comprising automatically adjusting said position.

36. A method according to claim 34, comprising automatically reporting to the patient said desired position.