Methods and apparatus for rehabilitation and training

• US 8,753,296 B2
• Filed: 02/04/2005
• Issued: 06/17/2014
• 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:
  US10/597,633
• Publication Number:
  US 20080004550A1
• Time in Patent Office: 3,420 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 hand-held, A61H2201/0153; fore-arm support, A61H2003/006
• 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 cooperative rehabilitation using a rehabilitation system, comprising:

exercising using a first actuator at a first place of rehabilitation that includes a movement mechanism comprising at least a ball and an arm extending from the ball capable of applying a motive force that interacts with a motion of a patient'"'"'s limb operatively connected to the arm 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,

wherein exercising using the first actuator is controlled by a controller that switches the first actuator between a plurality of modes of motion, including causing motion and resisting motion, in which one or more of motivation, cognitive ability and motor ability is either high or low, and wherein the controller is programmed to automatically switch from one of the plurality of modes to another one of the plurality of modes based on a determination of a change in at least one of motivation, cognitive ability and motor ability; and

,

exercising using a second actuator at a second place of rehabilitation that includes a movement mechanism capable of applying a force that interacts with a motion of a person'"'"'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 passive rehabilitation exercise movement and preventing substantial motion in any point in any direction in said volume.

2. A method of rehabilitation according to claim 1, wherein at least one of said actuators is coupled to a person in a home setting;

and

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

3. A method according to claim 2, wherein said daily activity is outdoors.

4. A method according to claim 2, wherein said at least one actuator interacts using a stored rehabilitation plan.

5. A method according to claim 2, wherein said at least one actuator reports to a remote location on a progress of rehabilitation.

6. A method according to claim 2, wherein said at least one actuator prevents unsafe motions by said person.

7. A method according to claim 2, comprising first practicing said daily activity at a rehabilitation clinic prior to performing said daily activity in said home setting.

8. A method of cooperative rehabilitation according to claim 1, further comprising:

engaging said first and said second actuators by the patient and by the person respectively, wherein the person is a non-therapist; and

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

9. A method of rehabilitation according to claim 8 wherein the non-therapist is a second patient, further comprising:

rehabilitating the second patient on the second actuator; and

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

10. A method according to claim 9, wherein said patients play a game together using said actuators for input and output.

11. A method according to claim 10, wherein said patients play against each other.

12. A method according to claim 10, wherein said first rehabilitation actuator provides a first support for said first patient and said second actuator provides a second support for said second patient, to compensate for differences in ability between the two patients.

13. A method according to claim 9, wherein said information is passed in real-time.

14. A method according to claim 9, wherein said information is passed using a wireless connection.

15. A method according to claim 9, comprising monitoring said first and said second patients by a remote therapist.

16. A method according to claim 9, comprising remotely connecting into a therapy group by said patients.

17. A method according to claim 9, wherein said two actuators are in a same room.

18. A method according to claim 8, wherein said non-therapist is a blood relative.

19. A method according to claim 8, comprising guiding said non-therapist and said patient by instructions by a controller.

20. A method according to claim 8, wherein said non-therapist is under an age of 18.

21. A method according to claim 8, wherein said non-therapist is under an age of 10.

22. A method according to claim 8, wherein said second place of rehabilitation is at a home of said non-therapist.

23. A method according to claim 8, wherein said non-therapist has fewer than 50 hours experience in physical therapy.

24. A method according to claim 8, wherein said non-therapist has fewer than 10 hours experience in physical therapy.

25. A rehabilitation system configuration, comprising:

a first rehabilitation device at a first place of rehabilitation using an actuator that includes a movement mechanism comprising at least a ball and an arm extending from the ball capable of applying a motive force adapted to interact with a motion of a patient'"'"'s limb operatively connected to the arm 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,

the first rehabilitation device further comprising a controller adapted to control the actuator of the first rehabilitation device by switching between a plurality of modes of motion, including causing motion and resisting motion, in which one or more of motivation, cognitive ability and motor ability is either high or low, and wherein the controller is programmed to automatically switch from one of the plurality of modes to another one of the plurality of modes based on a determination of a change in at least one of motivation, cognitive ability and motor ability; and

,

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

26. A rehabilitation system configuration according to claim 25, further comprising:

a wireless data link between the first rehabilitation device and the second rehabilitation device such that the two rehabilitation devices can act in synchrony.

27. A rehabilitation system configuration according to claim 25, wherein:

the first rehabilitation device at the first place of rehabilitation uses a first operational setting; and

,

the second rehabilitation device at the second place of rehabilitation uses a second operational setting.

28. A system according to claim 27, wherein the first and second places of rehabilitation are selected from a bed, a wheel-chair, a clinic, a hospital and a home.

29. A system according to claim 27, wherein the first operational setting includes applying a force that interacts with a motion of the 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 the person'"'"'s limb in two degrees of freedom.

30. A system according to claim 27, wherein the first operational setting includes having a software set and the second operational setting includes having only a portion of the software set.

31. A system according to claim 27, wherein the first operational setting includes having a software set and the second operational setting includes having a different software set.

32. A system according to claim 27, wherein the first operational setting includes a set of modes and the second operation setting includes having only a portion of the set of modes.

33. A system according to claim 27, wherein the first rehabilitation device is provided with a first display type and the second rehabilitation device is provided with a different display type.

34. A system according to claim 27, wherein the second rehabilitation device is adapted for the second place of rehabilitation.

35. A system according to claim 34, wherein the second rehabilitation device is adapted by providing mobility.

36. A system according to claim 34, wherein second first rehabilitation device is adapted by changing its size relative to the first rehabilitation device.

37. A system according to claim 27, wherein the first and second rehabilitation devices are connected in a network.

38. A system according to claim 37, wherein the network is provided with a database shared between at least the first and second rehabilitation devices.

39. A system according to claim 37, wherein the system is adapted to generate a report from the first and second rehabilitation devices.

40. A system according to claim 27, wherein the first rehabilitation device and the second rehabilitation device are monitored by the same therapist.

41. A system according to claim 27, wherein the first and second rehabilitation devices are adapted to be used by the same patient.