Stabilizing unintentional muscle movements

• US 9,925,034 B2
• Filed: 07/03/2013
• Issued: 03/27/2018
• Est. Priority Date: 09/30/2011
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Verily Life Sciences LLC (Alphabet Inc.)
• Inventors: Pathak, Anupam
• Primary Examiner(s): Snow, Bruce E
• Assistant Examiner(s): HOBAN, MELISSA A
• Application Number:
  US13/935,387
• Publication Number:
  US 20130297022A1
• Time in Patent Office: 1,728 Days
• Field of Search: 600595
• CPC Class Codes: A47G 2200/046 of holding or grasping
• CPC Class Codes: A61B 5/1101 Detecting tremor
• CPC Class Codes: A61B 5/4082 Diagnosing or monitoring movement diseases, e.g. Parkinson, Huntington or Tourette
• CPC Class Codes: A61B 5/4836 Diagnosis combined with treatment in closed-loop systems or methods A61B5/0036 takes precedence
• CPC Class Codes: A61F 2/08 Muscles; Tendons; Ligaments sutures A61B17/04
• CPC Class Codes: A61F 4/00 Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body operating or control means for prostheses A61F2/48, A61F2/68

Abstract

A system and method for stabilizing unintentional muscle movements are disclosed. In a first aspect, a non-contact sensing system comprises a stabilization unit, at least one non-contact position sensor coupled to the stabilization unit, and a processing unit coupled to the at least one non-contact position sensor, wherein the processing unit transmits motion commands to the stabilization unit to cancel unintentional muscle movements. In a second aspect, the method comprises a processing unit of a non-contact sensing system receiving position data of a stabilization unit that is detected by at least one non-contact position sensor and filtering the position data to identify the unintentional muscle movements. The method includes modeling the position data to create a system model and determining motor commands based upon the system model to cancel the unintentional muscle movements.

Claims

1. A human tremor compensation system, comprising:

a stabilization unit including;

a base portion adapted to be held in a user'"'"'s hand and having a motion-generating mechanism in an interior of the base portion, wherein the motion-generating mechanism includes an actuator; and

an implement portion coupled by an attachment arm to the motion-generating mechanism, wherein the motion-generating mechanism is coupled to move the attachment arm and the implement portion relative to the base portion;

at least one remote non-contact position sensor external to and not in physical contact with the stabilization unit, wherein the non-contact position sensor can sense a position in a three-dimensional coordinate system of at least the base portion; and

a processing unit coupled to the at least one remote non-contact position sensor, wherein the processing unit is disposed external to the stabilization unit and wirelessly transmits motion commands to the motion-generating mechanism within the base portion of the stabilization unit to move the implement portion relative to the base portion to dynamically cancel the user'"'"'s unintentional muscle movements.

2. The human tremor compensation system of claim 1, wherein the at least one non-contact position sensor is any of an infrared (IR) optical camera, a visible light camera, a stereo camera, a laser displacement sensor, and an ultrasonic sensor.

3. The human tremor compensation system of claim 1, wherein the processing unit receives the position data from the at least one remote non-contact position sensor and calculates the motion commands based upon the position data.

4. The human tremor compensation system of claim 3, wherein the processing unit calculates the motion commands utilizing a signal processing algorithm.

5. The human tremor compensation system of claim 4, wherein the signal processing algorithm is developed utilizing any of low pass filters, weighted-frequency Fourier linear combiners, and notch filters.

6. The human tremor compensation system of claim 4, wherein the signal processing algorithm further comprises position data filtration, tremor identification, system modeling, and actuator command generation.

7. The human tremor compensation system of claim 1, wherein the base portion of the stabilization unit switches between utilizing embedded sensor data and utilizing position data detected by the at least one remote non-contact position sensor.

8. The human tremor compensation system of claim 1, wherein:

the base portion includes a housing having therein a subsystem that comprises a power source coupled to the motion-generating mechanism, a controller coupled to the motion-generating mechanism, a control system coupled to the controller, and at least one first sensor coupled to the control system; and

wherein at least one second sensor is placed along the attachment arm, wherein the attachment arm is configured to receive an implement, and wherein in response to the user'"'"'s unintentional muscle movement the subsystem stabilizes a position of the implement.

9. The human tremor compensation system of claim 1, further comprising one or more embedded sensors disposed with the stabilization unit, and wherein the base portion of the stabilization unit is configured to switch between utilizing the position data of one or more embedded sensors of the stabilization unit to control the motion-generating mechanism and utilizing the motion commands wirelessly communicated from the processing unit.

10. A human tremor compensation system, comprising:

a stabilization unit including;

a base portion adapted to be held in a user'"'"'s hand and having a motion-generating mechanism in an interior of the base portion, wherein the motion-generating mechanism includes an actuator; and

an implement portion coupled by an attachment arm to the motion-generating mechanism, wherein the motion-generating mechanism is coupled to move the attachment arm and the implement portion ‘

1relative to the base portion;

at least one remote non-contact position sensor external to and not in physical contact with the stabilization unit, wherein the non-contact position sensor can sense the position in a three-dimensional coordinate system of at least the base portion;

a processing unit disposed external to the base portion and in communication with the stabilization unit via a wireless link, wherein the processing unit is further coupled to the at least one remote non-contact position sensor and transmits motion commands to the motion-generating mechanism within the base portion of the stabilization unit via the wireless link to move the implement portion relative to the base portion to dynamically cancel the user'"'"'s unintentional muscle movements.

11. The human tremor compensation system of claim 10, wherein:

the base portion includes a housing having therein a subsystem that comprises a power source coupled to the motion-generating mechanism, a controller coupled to the motion-generating mechanism, a control system coupled to the controller, and at least one first sensor coupled to the control system; and

wherein at least one second sensor is placed along the attachment arm, wherein the attachment arm is configured to receive an implement, and wherein in response to the user'"'"'s unintentional muscle movement the subsystem stabilizes a position of the implement.

12. The human tremor compensation system of claim 10, further comprising one or more embedded sensors disposed with the stabilization unit, and wherein the base portion of the stabilization unit is configured to switch between utilizing position data of the one or more embedded sensors of the stabilization unit to control the motion-generating mechanism and utilizing the motion commands wirelessly communicated from the processing unit.