Source: http://www.google.ca/patents/US8012107
Timestamp: 2015-09-02 12:52:37
Document Index: 409038503

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60']

Patent US8012107 - Methods and apparatus for rehabilitation and training - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA method of rehabilitation comprising: providing a first actuator 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...http://www.google.ca/patents/US8012107?utm_source=gb-gplus-sharePatent US8012107 - Methods and apparatus for rehabilitation and trainingAdvanced Patent SearchPublication numberUS8012107 B2Publication typeGrantApplication numberUS 10/597,675PCT numberPCT/IL2005/000141Publication date6 Sep 2011Filing date4 Feb 2005Priority date5 Feb 2004Fee statusPaidAlso published asCA2555239A1, EP1732495A2, EP1732495A4, EP1734912A2, EP1734912A4, EP1734913A2, EP1734913A4, US8753296, US20070282228, US20080004550, US20090062698, US20140296750, WO2005074371A2, WO2005074371A3, WO2005074371A8, WO2005074372A2, WO2005074372A3, WO2005074373A2, WO2005074373A3Publication number10597675, 597675, PCT/2005/141, PCT/IL/2005/000141, PCT/IL/2005/00141, PCT/IL/5/000141, PCT/IL/5/00141, PCT/IL2005/000141, PCT/IL2005/00141, PCT/IL2005000141, PCT/IL200500141, PCT/IL5/000141, PCT/IL5/00141, PCT/IL5000141, PCT/IL500141, US 8012107 B2, US 8012107B2, US-B2-8012107, US8012107 B2, US8012107B2InventorsOmer Einav, Haim Einav, Benny Rousso, Doron Shabanov, Eran Katzir, Gad BinyaminiOriginal AssigneeMotorika LimitedExport CitationBiBTeX, EndNote, RefManPatent Citations (79), Non-Patent Citations (102), Referenced by (22), Classifications (48), Legal Events (6) External Links: USPTO, USPTO Assignment, EspacenetMethods and apparatus for rehabilitation and training
US 8012107 B2Abstract
A method of rehabilitation comprising: providing a first actuator 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; coupling said first actuator to a first point on a human body; providing a second actuator 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; coupling said second actuator to a second point on a human body; and applying different forces to said points using said actuators.
1. A rehabilitation device, comprising:
an actuator that includes a movement mechanism capable of applying a force that interacts with a motion along a rehabilitation exercise trajectory of a patient's limb in a volume of at least 30 cm in diameter and capable of preventing substantial motion in any point in any direction in said volume;
a controller adapted to adjust the rehabilitation exercise trajectory according to the relative positions of said actuator and at least one of said patient and said support; and,
a compliance mechanism adapted to provide resistance to motion of said actuator away from said trajectory.
2. A device according to claim 1, further comprising a coupler which couples said actuator to a point on a human body, wherein said controller drives said actuator to apply a force vector to said point, said force including a rotation.
3. A device according to claim 1, wherein said force vector includes at least two rotations directions relative to the force vector.
4. A device according to claim 1, comprising a second actuator driven by said controller to apply a second force to at least a second point on said body, simultaneously with said force.
a coupler for coupling said actuator to a first point on a human body;
a second actuator 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;
a coupler for coupling said second actuator to a second point on a human body; and
wherein said controller drives said actuators to apply different forces to said points using said actuators.
6. A device according to claim 5, wherein said first actuator applies a rotation.
7. A device according to claim 5, wherein said different points are on a same limb.
8. A device according to claim 5, wherein said different points are on different limbs.
9. A device according to claim 8, wherein said controller is configured to exercise the two limbs in concert.
10. A device according to claim 8, wherein said controller is configured for copying motion from one limb to the other limb.
11. A device according to claim 1 configured to control a position of at least a second point on the limb; and
wherein said controller is configured to reconstruct a value of a bending of at least one joint of said organ from said motion and said position.
12. A device according to claim 1, comprising a distance sensor for determining said relative positions.
13. A device according to claim 1, comprising an imaging sensor for determining said relative positions.
14. A device according to claim 1, wherein said controller relates to the relative placement of said patient and said actuator.
15. A device according to claim 1, wherein said controller assumes the relative positions differ only in two dimensions.
16. A device according to claim 1, comprising a pointer which indicates a desired patient placement.
17. A device according to claim 1, wherein said controller is configured to use said actuator to determine said relative placement.
18. A device according to claim 1, wherein said controller is configured to use said actuator to indicate a desired relative placement.
19. A device according to claim 1, wherein said controller is configured to adjust said exercise on the fly, during an exercise session and in response to patient movement.
20. A rehabilitation device according to claim 1, comprising:
a memory storing therein a correspondence between exercises and payment codes;
wherein said controller is adapted to generate a report including a code from said memory corresponding to said exercise.
21. A rehabilitation device according to claim 1, further comprising:
at least one sensor associated with the actuator and measuring said motion; wherein
the controller analyses said measured motion and generates a measure of quality of motion and modifies a rehabilitation plan responsive to said quality of motion measure.
22. A device according to claim 21, wherein the controller modifies a selection of future exercises according to a measured quality of motion.
23. A device according to claim 21, wherein the controller modifies a selection of parameters for future exercises according to a measured quality of motion.
24. A device according to claim 21, wherein the quality of motion measure used is defined as the degree of matching to a ⅔ power law.
25. A device according to claim 1, wherein said controller is configured to:
cause a person to carry out at least one exercise;
estimate a mental state of said person from a result of said at least one exercise; and
automatically select at least one second exercise according to said estimation.
26. A device according to claim 25, wherein said controller estimates a mental state using a comparing of performance between two exercises, one or which is expected to elicit a higher compliance.
27. A device according to claim 25, wherein said controller estimates a mental step using a comparing of performance within an exercise, using the maximum ability of the patient as a base line against which variation can be determined.
28. A device according to claim 25, wherein said estimating is automatic.
29. A device according to claim 1, wherein said controller is configured to:
determine a patient's ability to perform a motor task;
determine a patient's ability to perform a non-motor task; and
automatically select an exercise or parameters of an exercise for the patient according to said determinations.
30. A device according to claim 29, wherein said controller is configured to select using a matching of an instruction or feedback modality to a perceptive ability.
31. A device according to claim 29, wherein said controller is configured to selected using a matching of an instruction or feedback modality to a cognitive ability.
32. A device according to claim 29, wherein said controller is configured to select an exercise or series of exercises designed to rehabilitate both of said motor and said non-motor abilities.
33. A device according to claim 29, wherein said exercise rehabilitates visual-motor coordination.
34. A device according to claim 1, wherein said actuator includes a tip which said actuator moves to a spatial location and wherein said controller is configured to
instruct a patient to apply force against said tip, wherein said actuator provides a compliant resistance to said force.
35. A device according to claim 34, wherein said controller is configured to select the resistance according to the spatial location.
36. A device according to claim 1, wherein said controller is configured to adjust a force applied during said exercise, based on one or more patient characteristics.
37. A device according to claim 1, wherein the compliance mechanism comprises at least one brake.
38. A device according to claim 1, wherein the compliance mechanism comprises at least one resilient element.
39. A device according to claim 1, wherein the compliance mechanism is adapted to have variable compliance for at least one of different rehabilitation exercises or within a single rehabilitation exercise.
The present application is a U.S. National Phase of PCT Application No. PCT/IL2005/000141, filed on Feb. 4, 2005.
This application also claims the benefit under 119(e) of U.S. Provisional Application No. 60/542,022 filed on Feb. 5, 2004, U.S. Provisional Application No. 60/566,078 filed on Apr. 29, 2004, U.S. Provisional Application No. 60/566,079 filed on Apr. 29, 2004, U.S. Provisional Application No. 60/604,615 filed on Aug. 25, 2004, U.S. Provisional Application No. 60/633,428 filed on Dec. 7, 2004, U.S. Provisional Application No. 60/633,429 filed on Dec. 7, 2004 and U.S. Provisional Application No. 60/633,442 filed on Dec. 7, 2004 the disclosures of which are incorporated herein by reference.
This application is also related to PCT applications , PCT/IL2005/000138 entitled “Gait Rehabilitation Methods and Apparatuses”; PCT/IL2005/000137 entitled “Rehabilitation with Music”; PCT/IL2005/000135 entitled “Neuromuscular Stimulation”; PCT/IL2005/000139 entitled “Fine Motor Control Rehabilitation”; PCT/IL2005/000140 entitled “Methods and Apparatuses for Rehabilitation Exercise and Training”; and PCT/IL2005/000142 entitled “Methods and Apparatus for Rehabilitation and Training”; all filed on Feb. 4, 2005. The disclosures of all these applications are incorporated herein by reference.
An article in Journal of Rehabilitation Research and Development, Vol. 37 No. 6, November/December 2000, titled “Development of robots for rehabilitation therapy: The Palo Alto VA/Stanford experience”, by Charles G. Burgar, M D; Peter S. Lum, PhD; Peggy C. Shor, OTR; H. F. Machiel Van der Loos, PhD, the disclosure of which is incorporated herein by reference, describes usage of robots for rehabilitation.
A broad aspect of some embodiments of the invention relates to rehabilitation methods and apparatus suitable for a wide range of situations, including, temporal, mental, cognitive, motor, location and/or other situations.
An aspect of some embodiments of 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. In an exemplary embodiment of the invention, the forces are applied by an actuator, for example, a robotic articulated arm or a spherically jointed lever. In some embodiments, the applied forces act as a force field, optionally continuous, which impedes and/or guides a patient. Alternatively or additionally to spatial trajectories, orientation trajectories and/or speed trajectories are guided, supported and/or measured.
An aspect of some embodiments of the invention relates to a rehabilitation device adapted for home use. In an exemplary embodiment of the invention, the device is portable in a home, for example, not permanently attached to any surface and/or including wheels. In an exemplary embodiment of the invention, the device is collapsible on a regular basis. In an exemplary embodiment of the invention, the device is light enough to avoid structural overloading of residential floors, for example the device can weigh less than 100 kg, less than 50 Kg or less than 25 Kg. Optionally, the device can be folded down to fit in a trunk of a standard sedan-type car, for example having a maximum dimension of less than 120 cm. Optionally, the device breaks down into parts which are light enough to be carried by a non-handicapped person.
An aspect of some embodiments of the invention relates to rehabilitation of daily activities, for example, eating, pouring tea, knocking nails and cooking. In an exemplary embodiment of the invention, a kit including position sensors and/or other sensors is provided to attach to daily objects and track their use and provide feedback and/or instructions for rehabilitation. Optionally, such feedback and/or guidance are provided mechanically by a rehabilitation robot. In an exemplary embodiment of the invention, a daily activities training pedestal includes one or more adjustable work spaces on which daily activities is carried out, for example one surface emulating a table and another emulating a saucer (e.g., for training of tea pouring.
An aspect of some embodiments of the invention relates to long term rehabilitation and/or training. In an exemplary embodiment of the invention, a rehabilitation device is used for a long period of time, for example, months or years. Optionally, a same device is used both for rehabilitation and for training of a patient in correct motions. In an exemplary embodiment of the invention, a rehabilitation device is used for preventive training, for example, ensuring that a patient with developing arthritis does not start favoring a diseased joint. Optionally, a rehabilitation device is used to achieve a specific rehabilitation goal, such as rehabilitation of a particular limb. Optionally, the device is used for non-medical training, for example as a universal gym machine.
An aspect of some embodiments of the invention relates to support and/or measurement of various mental states of a patient, for example, motivation, depression, endurance, ability to train in pain, ability and/or desire to communicate and/or work and/or interact with others. These states often overlap. For example, depression, is often expressed as lack of motivation. In an exemplary embodiment of the invention, motivation is estimated by comparing performance in diagnosis, game and/or therapy situations. Such comparing optionally includes analyzing if a person achieved a same performance under different motivational states and/or how often did the person strain his limits. In an exemplary embodiment of the invention, the motivational state is used for one or more of estimating progress, suggesting psychological treatment, controlling difficulty of exercise and/or providing motivational incentives automatically.
An aspect of some embodiments of the invention relates to support and/or overcoming of cognitive problems while performing physical rehabilitation. In an exemplary embodiment of the invention, cognitive and/or perceptive limitations are overcome by providing one or more of instructions, feedback and guidance in a plurality of modalities, in less damaged modalities (e.g., selecting from various possibilities), and/or with a degree of enhancement congruent with the limitation (e.g., larger letters for weak eyesight). In an exemplary embodiment of the invention, the degree of enhancement is changed over time, as part of a rehabilitation of the limited function.
An aspect of some embodiments of the invention relates to multi-modal rehabilitation. In an exemplary embodiment of the invention, multiple body systems (e.g., motor, visual, auditory, visual-motor), skills and/or senses are rehabilitated using a same system, for example, motor control, motor propreception, visual perception and sound generation. In an exemplary embodiment of the invention, coordination between such systems is trained. In one example, hand-eye coordination is rehabilitated. In another example, hand-leg coordination is rehabilitated. In an exemplary embodiment of the invention, paths of coordination which are damaged are targeted for rehabilitation.
An aspect of some embodiments of the invention relates to using a rehabilitation device for both rehabilitation and testing, diagnosing and/or monitoring. In an exemplary embodiment of the invention, the device is used to assess the abilities of a patient and then to rehabilitate that patient. Alternatively or additionally, the device is used to measure the patient and calibrate future rehabilitation to those measurements. Exemplary measurements include size, strength, range of motion and motion quality, mental state and/or cognitive and/or perceptive abilities.
An aspect of some embodiments of the invention relates to correctness of motion. In an exemplary embodiment of the invention, a rehabilitation device is programmed with a correct movement. In an exemplary embodiment of the invention, a correct motion is programmed into the device by performing the correct motion and then storing the motion in a device-associated memory. Optionally, the motion is programmed in during a dedicated teaching mode or when the device is off-line. Alternatively, the device learns during usage by a patient.
Optionally, the device is used to teach a patient what correct motion is, for example using template and/or using rules (e.g., a ⅔ power rule for motor control). In an exemplary embodiment of the invention, correctness of motion is evaluated as a parameter of rehabilitation and feedback is provided thereon.
An aspect of some embodiments of the invention relates to positioning of a rehabilitation device including a motion mechanism. In an exemplary embodiment of the invention, a motion mechanism has a limited range of motion and/or accuracy. The rehabilitation device is optionally positioned to make maximum usage of this range of motion, e.g., by matching to a specific exercise. In an exemplary embodiment of the invention, the rehabilitation device includes a positioning element, for example a rail and/or one or more joints that can be used to fix the motion mechanism at a desired position and/or orientation. Optionally, the positioning element is motorized, for example, to allow automatic or non-manual motion of the motion mechanism.
An aspect of some embodiments of the invention relates to a mechanical structure for a rehabilitation device. In an exemplary embodiment of the invention, the device comprises an arm mounted on a joint, with a body attachment point, for attachment to or holding by a patient, mounted on the arm. The joint acts as a spherical joint, allowing movement of the arm along substantially any path on the surface of a sphere, within a range of angles, for example, �90 degrees relative to the center of the joint, in either of phi and theta directions (e.g., in spherical coordinates). Optionally, the center of rotation for such motions is substantially a same center of rotation for all the paths. In an exemplary embodiment of the invention, the joint and/or the arm as a whole lack singularity points in the range of motion. Optionally, the resistance to motion of the joint (the device may add resistance) is substantially uniform, substantially independently of the spherical motion.
In an exemplary embodiment of the invention, balancing is provided. In one example, the device includes a weight attached to said ball opposite of said arm and serving to balance the motion of said arm. Optionally, the motion of the arm is substantially balanced over the entire range of motion thereof. In an exemplary embodiment of the invention, the balancing includes prevention of a resting torque. Alternatively or additionally, balancing includes correction for an existing moment of inertia or an expected moment of inertia during use. Optio