Actuated prosthesis for amputees

• US 9,358,137 B2
• Filed: 06/14/2010
• Issued: 06/07/2016
• Est. Priority Date: 08/22/2002
• Status: Expired due to Term

• Current Assignee: Victhom Laboratory Inc (Ergoresearch Ltd.)
• Original Assignee: Victhom Laboratory Inc (Ergoresearch Ltd.)
• Inventors: Bedard, Stephane, Roy, Pierre-Olivier
• Primary Examiner(s): Willse, David H
• Application Number:
  US12/815,166
• Publication Number:
  US 20100262260A1
• Time in Patent Office: 2,185 Days
• Field of Search: 623/FOR.39, 623/FOR.43, 623/FOR.44, 623/FOR.45
• US Class Current: 1/1
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/644 of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/741 using powered actuators, e.g. stepper motors or solenoids
• CPC Class Codes: A61F 2002/30359 Pyramidally- or frustopyramidally-shaped protrusion and recess
• CPC Class Codes: A61F 2002/5041 having bearing bushes between the rotating parts
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/6685 S-shaped
• 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 2002/705 Electromagnetic data transfer for implantable prostheses A61F2250/0002
• CPC Class Codes: A61F 2002/762 for measuring dimensions, e.g. a distance
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• 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 2220/0033 made by longitudinally pushing a protrusion into a complementary-shaped recess, e.g. held by friction fit

Abstract

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

Claims

1. An actuated knee joint prosthesis, the knee joint prosthesis comprising:

a proximal connection member configured to operatively connect the knee joint prosthesis to an amputee;

an actuator assembly comprising a first end, a second end, a powered actuator, and a mechanical elastic member spaced from the powered actuator, the powered actuator and the mechanical elastic member being positioned in series between the first and second ends, the actuator assembly being operatively connected to the proximal connection member at the first end at a position generally corresponding to that of a knee joint, the mechanical elastic member configured for shock absorption caused by the motion of the knee joint prosthesis, the mechanical elastic member and the powered actuator being located distally from the knee joint;

a tibial member operatively connected to the second end of the actuator assembly and rotatably connected to the proximal connection member at least by the actuator assembly; and

at least one torque sensor configured to measure a torque exerted by the actuator assembly,

wherein movement of the actuator causes a corresponding relative rotation between the proximal connection member and the tibial member, and

wherein there is only one powered actuator between the proximal connection member and the tibial member.

2. The actuated prosthesis of claim 1, wherein the actuator assembly is provided at a rear portion of the prosthesis.

3. The actuated prosthesis of claim 1, wherein the proximal connection member comprises a socket connector.

4. The actuated prosthesis of claim 1, further comprising a controller to control the powered actuator, the controller outputting control signals in response to input signals from at least the torque sensor.

5. The actuated prosthesis of claim 4, wherein the controller has an output connected to a power drive, the power drive supplying electrical energy to the powered actuator, coming from a power source, in response to the control signals.

6. The actuated prosthesis of claim 4, wherein the input signals further comprise signals from sensors mounted on the prosthesis and located outside the prosthesis.

7. The actuated prosthesis of claim 1, wherein the tibial member comprises a bottom portion configured to operatively connect to a foot prosthesis.

8. The actuated prosthesis of claim 1, wherein the powered actuator is a linear actuator.

9. The actuated prosthesis of claim 1, wherein the proximal connection member and the tibial member are directly rotatably connected.

10. The actuated prosthesis of claim 1, wherein the proximal connection member and the tibial member are indirectly rotatably connected by the actuator assembly.

11. The actuated prosthesis of claim 1, wherein the proximal connection member and the tibial member are both directly rotatably connected, and indirectly rotatably connected by the actuator assembly.

12. The actuated prosthesis of claim 1, wherein the powered actuator is a motor.

13. The actuated prosthesis of claim 12, wherein the motor is a rotary motor.

14. The actuated prosthesis of claim 12, wherein the motor can provide power in two directions.

15. The actuated prosthesis of claim 1, wherein the torque sensor measures compression of the elastic member while the actuator is actuated.

16. The actuated prosthesis of claim 1, wherein the actuator assembly is configured to provide relatively stable force control.

17. The actuated prosthesis of claim 1, wherein the prosthesis comprises only one actuator assembly.

18. The actuated prosthesis of claim 1, wherein the elastic member allows for shock absorption while the actuator is actuated.

19. The actuated prosthesis of claim 1, wherein the elastic member allows for energy storage while the actuator is actuated.

20. An actuated prosthesis, the prosthesis comprising:

a connector configured to operatively connect the actuated prosthesis to an amputee;

a first member operatively connected to the connector;

an actuator assembly comprising a first end, a second end, a powered actuator, and a mechanical elastic member spaced from the powered actuator, the powered actuator and the mechanical elastic member being positioned in series between the first and second ends, the actuator assembly being operatively connected to the first member at the first end, the mechanical elastic member configured to store energy during use of the actuated prosthesis independent of rotary movement of the powered actuator;

a second member operatively connected to the second end of the actuator assembly and rotatably connected to the first member at least by the actuator assembly and a first pivot assembly such that the first member and the second member rotate relative to each other about a first pivot axis, the second member also rotatably connected to the first member by a second pivot assembly independent of the actuator assembly;

at least one torque sensor configured to measure a torque exerted by the actuator assembly; and

a controller configured to control the powered actuator based at least in part on signals from the at least one torque sensor;

wherein rotary movement of the powered actuator causes a corresponding relative rotation between the first member and the second member about a second pivot axis associated with the second pivot assembly, and the relative rotation is affected at least in part by the controller by way of the powered actuator, and

wherein the relative rotation is affected by only one powered actuator.

21. The actuated prosthesis of claim 20, wherein the actuator assembly is provided at a rear portion of the prosthesis.

22. The prosthesis according to claim 20, wherein the controller has an output connected to a power drive, the power drive supplying electrical energy to the powered actuator, coming from a power source, in response to the signals from the at least one torque sensor.

23. The prosthesis according to claim 22, wherein the power drive is also configured to supply electrical energy to the powered actuator in response to signals from sensors mounted on the prosthesis and located outside the prosthesis.

24. The actuated prosthesis of claim 20, wherein the powered actuator is a linear actuator.

25. The actuated prosthesis of claim 20, wherein the actuated prosthesis is a knee joint prosthesis.

26. The actuated prosthesis of claim 20, wherein the second member is a tibial member.

27. The actuated prosthesis of claim 20, wherein the first and second members are directly rotatably connected by the second pivot assembly.

28. The actuated prosthesis of claim 20, wherein the first and second members are indirectly rotatably connected by the actuator assembly.

29. The actuated prosthesis of claim 20, wherein the first and second members are both directly rotatably connected by the second pivot assembly, and indirectly rotatably connected by the actuator assembly.

30. The actuated prosthesis of claim 20, wherein the powered actuator is a motor.

31. The actuated prosthesis of claim 30, wherein the motor is a rotary motor.

32. The actuated prosthesis of claim 30, wherein the motor can provide power in two directions.

33. The actuated prosthesis of claim 20, wherein the at least one torque sensor measures torque by measuring compression of the elastic member while the actuator is actuated.

34. The actuated prosthesis of claim 20, wherein the actuator assembly is configured to provide relatively stable force control.

35. The actuated prosthesis of claim 20, wherein the prosthesis comprises only one actuator assembly between the first member and the second member.

36. The actuated prosthesis of claim 20, wherein the elastic member allows for shock absorption while the actuator is actuated.

37. The actuated prosthesis of claim 20, wherein the elastic member allows for energy storage while the actuator is actuated.

38. An actuated prosthesis to replace the knee joint of an amputee, the prosthesis comprising:

a proximal male pyramid connector;

a first prosthetic member connected to the proximal male pyramid connector;

a second prosthetic member pivotally connected to the first prosthetic member to provide relative rotation between the first and second prosthetic members;

an actuator assembly comprising a motor primarily powered by electricity, and an elastic member in series with and spaced from the motor, the actuator assembly configured to affect the relative rotation between the first and second prosthetic members at a position corresponding to a natural knee joint, the elastic member and the powered actuator being positioned distally from the knee joint; and

a controller configured to control the actuator assembly in response to input signals from one or more sensors, at least one of said one or more sensors configured to measure compression of the elastic member while the actuator is actuated, wherein the at least one sensor configured to measure compression of the elastic member is configured to provide an estimate of torque on the prosthesis while the actuator is actuated.

39. The actuated prosthesis of claim 38, wherein the first prosthetic member comprises a knee member and the second prosthetic member comprises a trans-tibial member.

40. The actuated prosthesis of claim 38, wherein the first prosthetic member and the second prosthetic member form part of a leg prosthesis.

41. The actuated prosthesis of claim 40, wherein the leg prosthesis comprises an artificial foot.

42. The actuated prosthesis of claim 38, wherein there is only one motor that affects relative rotation between the first and second prosthetic members.

43. The actuated prosthesis of claim 38, wherein the elastic member is configured to provide shock absorption.

44. The actuated prosthesis of claim 38, wherein the elastic member is configured to provide energy storage.

45. The actuated prosthesis of claim 38, wherein the motor can provide power in two directions.

46. The actuated prosthesis of claim 38, wherein the actuator assembly is configured to provide relatively stable force control.

47. The actuated prosthesis of claim 38, further comprising a socket connected to the proximal male pyramid connector.