Patent Grant
11298533
[Not Applicable]
Non-invasive neurostimulator or neuromodulation devices have been described in the art and are used to deliver therapy to patients to treat a variety of symptoms or conditions such as post traumatic pain, chronic pain, neuropathy, neuralgia, epilepsy, and tremor. Little progress has been made in the prior art of using a neuromodulator for restoration function to the damaged nervous system. With regards to locomotion, neuronal circuitries have shown levels of activation attributable to electromagnetic spinal cord stimulation (Gerasimenko et al. (2010) J. Neurosci. 30: 3700-3708). Additionally, it has been shown that a traditional technique to apply transcutaneous electrical spinal cord stimulation (tSCS) can facilitate locomotor output in spinal cord injury patients. Most recently, a non-invasive transcutaneous electrical stimulation strategy has been shown to effectively modulate spinal cord physiology enabling restoration and/or enhancement of voluntary motor controlled stepping.
Robotic exoskeleton therapy as applied to rehabilitation has been described in the art as a wearable, electronic modulator of movement that otherwise would have been unfit for functional use. Robotic therapy has been tested as a method to improve locomotion in paralyzed subjects.
In various embodiments the methods described herein provide means and systems for the facilitation of movement using a bionic exoskeleton designed to enable individuals with lower extremity weakness to stand and step over ground as a compliment to chronic stimulation of any and all components of the nervous system with a rechargeable neuromodulator that delivers an electric charge non-invasively through conductive electrodes. The neuromodulator electrodes containing single or multiple arrays may be placed on the skin overlying the spinal cord, spinal nerve(s), nerve root(s), ganglia, peripheral nerve(s), brainstem or target areas such as skeletal muscles.
Stimulation and control parameters of the stimulator can be adjusted to levels that are safe and efficacious using parameters chosen to target specific neural components, or end organs and customized to each patient based on response to evaluation and testing. The neuromodulator can also have a variable activation control for providing stimulation either intermittently or continuously, allowing for adjustments to frequency, amplitude, and duration.
Various embodiments contemplated herein may include, but need not be limited to, one or more of the following:
A method of stimulating or improving postural and/or locomotor activity and/or postural or locomotor strength, and/or reaching or grasping, and/or fine motor control of a hand in a human subject having a spinal cord injury, a brain injury, and/or a neurodegenerative pathology, said method comprising:
The method according of embodiment 1, wherein the combination of said transcutaneous stimulation and exoskeletal system modulates in real time the electrophysiological properties of spinal circuits in said subject so they are activated by proprioceptive information derived from the desired region of the subject.
The method according to any one of embodiments 1-2, wherein said method enhances autonomic functions in said subject.
The method of embodiment 3, wherein said autonomic functions comprise one or more functions selected from the group consisting of comprise cardiovascular function, and thermoregulation.
The method of embodiment 3, wherein said autonomic functions comprise one or more functions selected from the group consisting of bladder function, bowel function, sexual function, digestive function, metabolic function, and pulmonary function.
The method according to any one of embodiments 1-5, wherein the enhancement provided by the combination of transcutaneous stimulation and exoskeletal system is synergistic.
The method according to any one of embodiments 1-6, wherein said exoskeletal system partially or fully controls movement of a leg, arm, and/or hand.
The method according to any one of embodiments 1-7, wherein said exoskeletal system fully controls a load bearing positional change in the region of the subject where locomotor activity is to be facilitated.
The method according to any one of embodiments 1-7, wherein said exoskeletal system partially controls a load bearing positional change in the region of the subject where locomotor activity is to be facilitated.
The method according to any one of embodiments 1-7, wherein said exoskeletal system provides variable assistance where corrective assistance is provided based on the extent of deviation by the human from a healthy and/or predetermined motion and/or by the variation in resistance to a load provided by the subject.
The method according to any one of embodiments 1-10, wherein said exoskeletal system provides assistance to said subject in standing.
The method according to any one of embodiments 1-11, wherein said exoskeletal system provides assistance to said subject in rising to standing from a seated or reclining position.
The method according to any one of embodiments 1-12, wherein said exoskeletal system provides assistance to said subject in stepping.
The method according to any one of embodiments 1-13, wherein said exoskeletal system provides assistance to said subject in sitting down or laying down.
The method according to any one of embodiments 1-14, wherein said exoskeletal system provides assistance to said subject in stabilizing sitting or standing posture.
The method according to any one of embodiments 1-15, wherein said exoskeletal system provides assistance to said subject in reaching.
The method according to any one of embodiments 1-16, wherein said exoskeletal system provides assistance to said subject in grasping.
The method according to any one of embodiments 1-17, wherein said transcutaneous stimulation is at a frequency ranging from about 0.5 Hz, or from about 1 Hz, or from about 3 Hz, or from abut 5 Hz up to about 1,000 Hz, or up to about 500 Hz, or up to about 100 Hz, or up to about 80 Hz, or up to about 40 Hz, or from about 3 Hz or from about 5 Hz up to about 80 Hz, or from about 5 Hz up to about 30 Hz, or up to about 40 Hz, or up to about 50 Hz.
The method according to any one of embodiments 1-18, wherein said transcutaneous stimulation is at an amplitude ranging from 10 mA to about 500 mA, or up to about 300 mA, or up to about 150 mA, or from about 20 mA to about 300 mA, or up to about 50 mA or up to about 100 mA, or from about 20 mA or from about 30 mA, or from about 40 mA to about 50 mA, or to about 60 mA, or to about 70 mA or to about 80 mA.
The method according to any one of embodiments 1-19, wherein said transcutaneous stimulation pulse width ranges from about 100 μs up to about 200 ms, or from about 100 μs, or from about 150 μs, or from about 200 μs, up to about 900 μs, or up to about 800 μs, or up to about 700 μs, or up to about 600 μs, or up to about 500 μs, or up to about 450 μs, or from about 1 ms, or from about 2 ms, or from about 5 ms, or from about 10 ms, or from about 20 ms, or from about 50 ms up to about 200 ms, or up to about 150 ms, or up to about 100 ms, or up to about 80 ms, or up to about 60 ms.
The method according to any one of embodiments 1-20, wherein said transcutaneous stimulation is superimposed on a high frequency carrier signal.
The method of embodiment 21, wherein said high frequency carrier signal ranges from 3 kHz, or about 5 kHz, or about 8 kHz up to about 100 kHz, or up to about 80 kHz, or up to about 50 kHz, or up to about 40 kHz, or up to about 30 kHz, or up to about 20 kHz, or up to about 15 kHz.
The method of embodiment 22, wherein said high frequency carrier signal is about 10 kHz.
The method according to any one of embodiments 21-23, wherein said carrier frequency amplitude ranges from about 30 mA, or about 40 mA, or about 50 mA, or about 60 mA, or about 70 mA, or about 80 mA up to about 500 mA, or up to about 300 mA, or up to about 200 mA, or up to about 150 mA.
The method according to any one of embodiments 1-24, wherein said transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate and/or to improve postural and/or locomotor activity and/or postural or locomotor strength.
The method according to any one of embodiments 1-24, wherein said transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate and/or improve reaching and/or grasping and/or fine motor control of a hand.
The method according to any one of embodiments 1-26, wherein said transcutaneous stimulation is provided in a monopolar configuration.
The method according to any one of embodiments 1-26, wherein said transcutaneous stimulation is provided in a bipolar configuration.
The method according to any one of embodiments 1-28, wherein said transcutaneous stimulation is provided in a monophasic configuration.
The method according to any one of embodiments 1-28, wherein said transcutaneous stimulation is provided in a biphasic configuration.
The method according to any one of embodiments 1-30, wherein said transcutaneous stimulation comprises tonic stimulation.
The method according to any one of embodiments 1-31, wherein said transcutaneous stimulation comprises stimulation of a single region of the spinal cord.
The method according to any one of embodiments 1-31, wherein said transcutaneous stimulation comprises simultaneous or sequential stimulation of different spinal cord regions.
The method according to any one of embodiments 1-33, wherein said transcutaneous stimulation is applied on the skin surface over the cervical spine or a region thereof and/or over the thoracic spine or a region thereof, and/or over the lumbosacral spine or a region thereof.
The method according to any one of embodiments 1-34, wherein said transcutaneous stimulation is applied on the skin surface over a region of the spinal cord that controls the lower limbs to stimulate or improve postural and/or locomotor activity and/or postural or locomotor strength.
The method according to any one of embodiments 1-31, and 33-35, wherein said transcutaneous stimulation is applied on the skin surface over a region of the thoracic spinal cord and over a region of the lumbar spinal cord.
The method according to any one of embodiments 35-36, wherein said transcutaneous stimulation is applied on the skin surface over a region comprising T11.
The method according to any one of embodiments 35-37, wherein said transcutaneous stimulation is applied on the skin surface over a region comprising the coccygeal nerve Co1.
The method according to any one of embodiments 1-34, wherein said transcutaneous stimulation is applied on the skin surface over a region of the spinal cord that controls the upper limbs to improve reaching and/or grasping and/or to improve improving motor control and/or strength in a hand and/or upper limb of a subject with a neuromotor disorder affecting motor control of the hand and/or upper limb.
The method of embodiment 39, wherein said transcutaneous stimulation is applied on the skin surface over a region comprising the cervical spinal cord.
The method according to any one of embodiments 1-40, wherein the transcutaneous stimulation is under control of the subject.
The method according to any one of embodiments 1-41, wherein said exoskeletal system is under control of the subject.
The method according to any one of embodiments 1-42, wherein said exoskeletal system comprises a wearable powered orthotic system.
The method of embodiment 43, wherein said powered orthotic system comprises: a torso portion configurable to be coupled to an upper body of a person; and a lower limb orthotic component configured to provide assistance in locomotion of a lower limb and/or an upper limb powered orthotic component configured to provide assistance in locomotion of an upper limb; and a plurality of sensors for monitoring positions of said lower limb orthotic component and/or said upper limb orthotic component; and a controller configured to control assistance provided by said lower limb orthotic component and/or configured to control assistance provided by said upper limb orthotic component.
The method of embodiment 44, wherein said exoskeletal system comprises a lower limb orthotic component comprising at least one leg support configurable to be coupled to a first lower limb of the person, with the at least one leg support including at least a thigh link rotatably connected to the torso portion at a hip joint, and a shank link rotatably connected to the thigh link at a knee joint; a first lower limb actuator for controlling motion of said hip joint; and a second lower limb actuator for controlling motion of said knee joint.
The method of embodiment 45, wherein said controller is configured to control the first and second lower limb actuators with adaptive, variable levels of assistance in response to signals from the plurality of sensors.
The method according to any one of embodiments 44-46, wherein said exoskeletal system comprises an upper limb orthotic component comprising at least one arm support configured to be coupled to a first upper limb of the person, with the at least one arm support including at least an upper arm (brachium) link rotatably connected to the torso portion at a shoulder joint, and a forearm (antebrachium) link rotatably connected to the upper arm link at an elbow; a first upper limb actuator for controlling motion of said shoulder joint; and a second upper limb actuator for controlling motion of said elbow joint.
The method of embodiment 47, wherein said controller is configured to control the first and second upper limb actuators with adaptive, variable levels of assistance in response to signals from the plurality of sensors.
The method according to any one of embodiments 1-48, wherein said exoskeletal system is configured to perform gait functions for the subject based on a predetermined level of assistance.
The method according to any one of embodiments 1-48, wherein said exoskeletal system is configured to perform gait functions where the level of assistance is adaptively varied based on performance of the subject.
The method according to any one of embodiments 1-48, wherein said exoskeletal system is configured to perform arm movements for the wearer based on a predetermined level of assistance.
The method according to any one of embodiments 1-48, wherein said exoskeletal system is configured to perform arm movements where the level of assistance is adaptively varied based on performance of the subject.
The method according to any one of embodiments 43-52, wherein said controller is integrated into said exoskeleton system.
The method according to any one of embodiments 43-52, wherein said controller is external to said exoskeleton.
The method according to any one of embodiments 43-54, wherein a power source is integrated into said exoskeletal system.
The method according to any one of embodiments 43-54, wherein a power source is external to said exoskeleton system.
The method according to any one of embodiments 55-56, wherein the same power source provides power for both operation of the exoskeletal system and for said transcutaneous stimulation.
The method according to any one of embodiments 55-56, wherein different power sources provide power for both operation of the exoskeletal system and for said transcutaneous stimulation.
The method of embodiment 43, wherein said exoskeleton comprises an EKSO GT™ exoskeleton.
The method according to any one of embodiments 1-58, wherein said subject is administered at least one neuromodulatory drug.
The method of embodiment 60, wherein said subject is administered at least one monoaminergic agonist.
The method of embodiment 61, wherein said at least one monoaminergic agonist comprises an agent selected from the group consisting of a serotonergic drug, a dopaminergic drug, a noradrenergic drug, a GABAergic drug, and a glycinergic drug.
The method of embodiment 61, wherein said agent is selected from the group consisting of 8-hydroxy-2-(di-n-propylamino)tetralin (8-OH-DPAT), 4-(benzodioxan-5-yl) 1-(indan-2-yl)piperazine (S15535), N-{2-[4-(2-methoxyphenyl)-1-piperazinyl]ethyl}-N-(2-pyridinyl)cyclo-hexanecarboxamide (WAY 100.635), Quipazine, Ketanserin, 4-amino-(6-chloro-2-pyridyl)-1 piperidine hydrochloride (SR 57227A), Ondanesetron, Buspirone, Methoxamine, Prazosin, Clonidine, Yohimbine, 6-chloro-1-phenyl-2,3,4,5-tetrahydro-1H-3-benzazepine-7,8-diol (SKF-81297), 7-chloro-3-methyl-1-phenyl-1,2,4,5-tetrahydro-3-benzazepin-8-ol (SCH-23390), Quinpirole, and Eticlopride.
The method of embodiment 61, wherein said monoaminergic agonist is buspirone.
The method of embodiment 60, wherein said neuromodulatory drug is a molecule that activates (e.g., selectively activates) an α2c adrenergic receptor subtype and/or that blocks (e.g., selectively blocks) blocking an α2a adrenergic receptor subtype.
The method of embodiment 65, wherein said molecule that activates an α2c adrenergic receptor subtype is 2-[(4,5-Dihydro-1H-imidazol-2-yl)methyl]-2,3-dihydro-1-methyl-1H-isoindole (BRL-44408).
The method of embodiment 65, wherein said molecule that activates an α2c adrenergic receptor subtype is (R)-3-nitrobiphenyline and/or a compound according to the formula:
The method of embodiment 65, wherein said agonist is Clonidine.
The method of embodiment 65, wherein said neuromodulatory drug further comprises a 5-HT1 and/or a 5-HT7 serotonergic agonist.
The method according to any one of embodiments 1-69, wherein said subject has a spinal cord injury.
The method of embodiment 70, wherein said spinal cord injury is clinically classified as motor complete.
The method according to any one of embodiments 1-70, wherein said spinal cord injury is clinically classified as motor incomplete.
The method according to any one of embodiments 1-69, wherein said subject has an ischemic brain injury.
The method of embodiment 73, wherein said ischemic brain injury is brain injury from stroke or acute trauma.
The method according to any one of embodiments 1-69, wherein said subject has a neurodegenerative pathology.
The method of embodiment 75, wherein said neurodegenerative pathology is associated with a condition selected from the group consisting of stroke, Parkinson's disease, Huntington's disease, Alzheimer's disease, amyotrophic lateral sclerosis (ALS), primary lateral sclerosis (PLS), dystonia, and cerebral palsy.
A system for said system comprising:
The system of embodiment 77, wherein said orthotic exoskeleton is a powered orthotic exoskeleton.
The system according to any one of embodiments 77-78, wherein said orthotic exoskeleton is configured to manipulate a limb or region of a human subject and/or to apply postural and/or weight bearing loads to said subject.
The system according to any one of embodiments 77-79, wherein said system is configured to perform a method according to any one of embodiments 1-40.
The system according to any one of embodiments 77-80, wherein the combination of said transcutaneous stimulation and exoskeletal system modulates in real time the electrophysiological properties of spinal circuits in said subject so they are activated by proprioceptive information derived from the desired region of the subject.
The system according to any one of embodiments 77-81, wherein said exoskeletal system is configured to partially or fully control movement of a leg, arm, and/or hand.
The system according to any one of embodiments 77-81, wherein said exoskeletal system is configured to partially control a load bearing positional change in the region of the subject where locomotor activity is to be facilitated.
The system according to any one of embodiments 77-81, wherein said exoskeletal system is configured to fully control a load bearing positional change in the region of the subject where locomotor activity is to be facilitated.
The system according to any one of embodiments 77-81, wherein said exoskeletal system is configured to provide variable assistance where corrective assistance is provided based on the extent of deviation by the human from a healthy and/or predetermined motion and/or by the variation in resistance to a load provided by the subject.
The system according to any one of embodiments 77-85, wherein said exoskeletal system is configured to provide assistance to said subject in standing.
The system according to any one of embodiments 77-86, wherein said exoskeletal system is configured to provide assistance to said subject in rising to standing from a seated or reclining position.
The system according to any one of embodiments 77-87, wherein said exoskeletal system is configured to provide assistance to said subject in stepping.
The system according to any one of embodiments 77-88, wherein said exoskeletal system is configured to provide assistance to said subject in sitting down or laying down.
The system according to any one of embodiments 77-89, wherein said exoskeletal system is configured to provide assistance to said subject in stabilizing sitting or standing posture.
The system according to any one of embodiments 77-90, wherein said exoskeletal system is configured to provide assistance to said subject in reaching.
The system according to any one of embodiments 77-91, wherein said exoskeletal system is configured to provide assistance to said subject in grasping.
The system according to any one of embodiments 77-92, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation at a frequency ranging from about 0.5 Hz or from about 3 Hz, or from about 5 Hz, or from about 10 Hz up to about 50 kHz, or up to about 30 kHz, or up to about 20 kHz, or up to about 10 kHz, or up to about 1,000 Hz, or up to about 500 Hz, or up to about 100 Hz, or up to about 80 Hz, or up to about 40 Hz, or from about 3 Hz or from about 5 Hz up to about 80 Hz, or from about 5 Hz up to about 30 Hz, or up to about 40 Hz, or up to about 50 Hz.
The system according to any one of embodiments 77-93, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation at an amplitude ranging from 10 mA to about 500 mA, or up to about 300 mA, or up to about 150 mA, or from about 20 mA to about 300 mA, or up to about 50 mA or up to about 100 mA, or from about 20 mA or from about 30 mA, or from about 40 mA to about 50 mA, or to about 60 mA, or to about 70 mA or to about 80 mA.
The system according to any one of embodiments 77-94, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation having a pulse width that ranges from about 100 μs up to about 200 ms, or from about 100 μs, or from about 150 μs, or from about 200 μs, up to about 900 μs, or up to about 800 μs, or up to about 700 μs, or up to about 600 μs, or up to about 500 μs, or up to about 450 μs, or from about 1 ms, or from about 2 ms, or from about 5 ms, or from about 10 ms, or from about 20 ms, or from about 50 ms up to about 200 ms, or up to about 150 ms, or up to about 100 ms, or up to about 80 ms, or up to about 60 ms.
The system according to any one of embodiments 77-95, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation superimposed on a high frequency carrier signal.
The system of embodiment 96, wherein said high frequency carrier signal ranges from 3 kHz, or about 5 kHz, or about 8 kHz up to about 100 kHz, or up to about 80 kHz, or up to about 50 kHz, or up to about 40 kHz, or up to about 30 kHz, or up to about 20 kHz, or up to about 15 kHz.
The system of embodiment 97, wherein said high frequency carrier signal is about 10 kHz.
The system according to any one of embodiments 96-98, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation with a carrier frequency having an amplitude that ranges from about 30 mA, or about 40 mA, or about 50 mA, or about 60 mA, or about 70 mA, or about 80 mA up to about 500 mA, or up to about 300 mA, or up to about 200 mA, or up to about 150 mA.
The system according to any one of embodiments 77-99, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation at a frequency and amplitude sufficient to stimulate and/or to improve postural and/or locomotor activity and/or postural or locomotor strength.
The system according to any one of embodiments 77-99, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation at a frequency and amplitude sufficient to stimulate and/or improve reaching and/or grasping and/or fine motor control of a hand.
The system according to any one of embodiments 77-101, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation in a monopolar configuration.
The system according to any one of embodiments 77-101, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation in a bipolar configuration.
The system according to any one of embodiments 77-103, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation in a monophasic configuration.
The system according to any one of embodiments 77-103, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation in a biphasic configuration.
The system according to any one of embodiments 77-105, wherein said transcutaneous electrical stimulator is configured to provide tonic stimulation.
The system according to any one of embodiments 77-105, wherein said transcutaneous electrical stimulator is configured to provide intermittent stimulation.
The system according to any one of embodiments 77-106, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation of a single region of the spinal cord.
The system according to any one of embodiments 77-106, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation simultaneous or sequentially to different spinal cord regions.
The system according to any one of embodiments 77-109, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over the cervical spine or a region thereof and/or over the thoracic spine or a region thereof, and/or over the lumbosacral spine or a region thereof.
The system according to any one of embodiments 77-110, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over a region of the spinal cord that controls the lower limbs upper limbs to stimulate or improve postural and/or locomotor activity and/or postural or locomotor strength.
The system according to any one of embodiments 77-107, and 109-111, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over a region of the thoracic spinal cord and over a region of the lumbar spinal cord.
The system according to any one of embodiments 111-112, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over a region comprising T11.
The system according to any one of embodiments 111-113, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over a region comprising the coccygeal nerve Co1.
The system according to any one of embodiments 77-110, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over a region of the spinal cord that controls the upper limbs to improve reaching and/or grasping and/or to improve improving motor control and/or strength in a hand and/or upper limb of a subject with a neuromotor disorder affecting motor control of the hand and/or upper limb.
The system of embodiment 115, wherein said transcutaneous electrical stimulator is configured to provide transcutaneous stimulation on the skin surface over a region comprising the cervical spinal cord.
The system according to any one of embodiments 77-116, wherein the transcutaneous electrical stimulator is configured to provide transcutaneous stimulation under control of the subject.
The system according to any one of embodiments 77-117, wherein said exoskeletal system is configured to operate under control of the subject.
The system according to any one of embodiments 77-117, wherein said exoskeletal system is configured to operate under control of a person other than the subject.
The system according to any one of embodiments 77-118, wherein said exoskeletal system comprises a wearable orthotic system.
The system of embodiment 120, wherein said exoskeletal system comprises a wearable unpowered orthotic system.
The system of embodiment 120, wherein said exoskeletal system comprises a wearable powered orthotic system.
The system of embodiment 122, wherein said powered orthotic system comprises: a torso portion configurable to be coupled to an upper body of a person; and a powered lower limb orthotic component configured to provide assistance in locomotion of a lower limb and/or an upper limb powered orthotic component configured to provide assistance in locomotion of an upper limb; and a plurality of sensors for monitoring positions of said lower limb orthotic component and/or said upper limb orthotic component; and a controller configured to control assistance provided by said lower limb orthotic component and/or configured to control assistance provided by said upper limb orthotic component.
The system of embodiment 123, wherein said exoskeletal system comprises a lower limb orthotic component comprising:
The system of embodiment 124, wherein said controller is configured to control the first and second lower limb actuators with adaptive, variable levels of assistance in response to signals from the plurality of sensors.
The system according to any one of embodiments 123-125, wherein said exoskeleton system comprises:
The system of embodiment 126, wherein said controller is configured to control the first and second upper limb actuators with adaptive, variable levels of assistance in response to signals from the plurality of sensors.
The system according to any one of embodiments 77-127, wherein said exoskeletal system is configured to perform gait functions for the subject based on a predetermined level of assistance.
The system according to any one of embodiments 77-127, wherein said exoskeletal system is configured to perform gait functions where the level of assistance is adaptively varied based on performance of the subject.
The system according to any one of embodiments 77-127, wherein said exoskeletal system is configured to perform arm movements for the wearer based on a predetermined level of assistance.
The system according to any one of embodiments 77-127, wherein said exoskeletal system is configured to perform arm movements where the level of assistance is adaptively varied based on performance of the subject.
The system according to any one of embodiments 120-131, wherein said controller is integrated into said exoskeleton system.
The system according to any one of embodiments 120-131, wherein said controller is external to said exoskeleton.
The system according to any one of embodiments 132-133, wherein said controller controls said transcutaneous electrical stimulator in addition to said exoskeleton.
The system according to any one of embodiments 77-134, wherein the exoskeleton and stimulator are configured to adjust transcutaneous stimulation patterns based on feedback from the exoskeleton.
The system according to any one of embodiments 120-135, wherein a power source is integrated into said exoskeletal system.
The system according to any one of embodiments 120-135, wherein a power source is external to said exoskeleton system.
The system according to any one of embodiments 136-137, wherein the same power source provides power for both operation of the exoskeletal system and for said transcutaneous stimulation.
The system according to any one of embodiments 136-137, wherein different power sources provide power for both operation of the exoskeletal system and for said transcutaneous stimulation.
The system of embodiment 77, wherein said exoskeleton comprises an EKSO GT™ exoskeleton.
Experiments were performed to determine whether coordinated voluntary movement of the lower limbs could be regained in an individual having been completely paralyzed (>4 yr) and completely absent of vision (>15 yr) using a novel strategy—transcutaneous spinal cord stimulation at selected sites over the spinal vertebrae with just one week of training. Experiments were also performed to determine whether this stimulation strategy could facilitate stepping assisted by an exoskeleton (EKSO, EKSO Bionics) that is designed so that the subject can voluntarily complement the work being performed by the exoskeleton. It was discovered that that spinal cord stimulation enhanced the level of effort that the subject could generate while stepping in the exoskeleton. In addition, stimulation improved the coordination patterns of the lower limb muscles resulting in a more continuous, smooth stepping motion in the exoskeleton. These stepping sessions in the presence of stimulation were accompanied by greater cardiac responses and sweating than could be attained without the stimulation. Based on the data from this case study it is believed that there is considerable potential for positive synergistic effects after complete paralysis by combining the overground stepping in an exoskeleton, a novel transcutaneous spinal cord stimulation paradigm, and daily training.
More generally, in view of the experiments described herein, it is believed that exoskeletal orthotic systems can be used in combination with transcutaneous stimulation of regions of the spinal cord to stimulate and/or improve postural and/or locomotor activity and/or postural or locomotor strength and/or reaching or grasping, and/or fine motor control of a hand in a human subject having a spinal cord injury, a brain injury, and/or a neurodegenerative pathology. In various embodiments the methods typically involve applying transcutaneous stimulation to the spinal cord, brainstem or brain, or sacral nerves of the subject thereby activating neural networks of the spinal cord; and utilizing a powered orthotic exoskeletal system to expose the subject to relevant postural, and/or weight bearing, and/or locomotor and/or motor proprioceptive signals. It is believed the combination of transcutaneous stimulation and exoskeletal system use enhances postural and/or locomotor activity and/or postural or locomotor strength, and/or reaching or grasping, and/or fine motor control of a hand. In certain embodiments the combination of said transcutaneous stimulation and exoskeletal system modulates in real time the electrophysiological properties of spinal circuits in said subject so they are activated by proprioceptive information derived from the desired region of the subject. In certain embodiments the methods enhance autonomic functions (e.g., cardiovascular function, thermoregulation, etc.) in the subject. In certain embodiments the enhancement provided by the combination of transcutaneous stimulation and exoskeletal system is synergistic.
In certain embodiments systems provided for use in the methods described herein. In certain embodiments the system(s) comprise a transcutaneous electrical stimulator; and a powered orthotic exoskeleton. In certain embodiments the system(s) comprise a transcutaneous electrical stimulator; and a non-powered orthotic exoskeleton. In certain embodiments the transcutaneous stimulator is integrated into the exoskeleton, while in other embodiments the transcutaneous stimulator is provided as a separate component. In certain embodiments the exoskeleton comprises a controller and the controller can additionally control the transcutaneous electrical stimulator. In certain embodiments the transcutaneous stimulator has a controller and the controller can additionally control the exoskeleton. In certain embodiments the orthotic exoskeletal system and the stimulator are configured to create a closed loop system. In certain embodiments the exoskeleton also contains an integrated power source and in certain embodiments that power source can also be used to power the transcutaneous stimulator. In other embodiments, the transcutaneous stimulator can utilize a different power source than the exoskeleton. In certain embodiments the stimulation may be applied using an implantable stimulator system with electrode array as described in U.S. Pat. No. 9,409,023 B2.
Exoskeletons for Use in the Methods and Systems Described Herein.
As explained above, in various embodiments, exoskeletal systems, especially robotic powered orthotic exoskeletal systems are used in combination with transcutaneous electrical stimulation of the spinal cord (e.g., to increase excitability of neural networks present in the spinal cord), to stimulate or improve postural and/or locomotor activity and/or postural or locomotor strength, and/or reaching or grasping, and/or fine motor control of a hand in a human subject having a spinal cord injury, a brain injury, and/or a neurodegenerative pathology.
Numerous powered and non-powered orthotic exoskeletons are known to those of skill in the art. Suitable exoskeletons include, but are not limited to single joint orthoses (e.g., ankle foot orthoses, active knee orthoses, and full leg orthoses (e.g., EKSO GT™ (Ekso Bionics) as described herein. For a discussion of various orthotic exoskeleton systems, see Dollar and Herr (2008) IEEE Trans. Robotics, 24(1): 144-148).
Numerous powered orthotic exoskeletons are known to those of skill in the art, (see, e.g., U.S. Patent No: US 2016/0158593, US 2016/0206497, US 2016/0151176, US 2016/0128890, US 2016/0067137, US 2016/0045385, US 2016/0030201, US 2015/0338189, US 2015/0321341, US 2015/0290818, US 2015/0209214, US 2015/0134078, US 2015/0127118, US 2014/0213951, US 2014/0100493, US 2013/0289452, US 2013/0261513, US 2013/0253385, US 2013/0226048, US 2013/0158438, US 2013/0102935, US 2013/0040783, US 2010/0113987, US 2009/0292369, and the like) and can readily be adapted for use in the methods and systems described herein.
By way of illustration,
It will be recognized that this is but one illustrative lower limb exoskeleton that can be used in the methods and systems described herein. In certain embodiments the exoskeleton can comprise lower limb powered orthotic component(s) and/or upper limb powered orthotic components. In certain embodiments the exoskeleton can comprise lower limb non-powered orthotic component(s) and/or upper limb non-powered orthotic components. In other embodiments only a lower limb or only an upper limb orthotic exoskeletal component is utilized.
One illustrative, but non-limiting, embodiment of exoskeletal orthotic units that can be used in the systems and methods described herein is schematically illustrated in
In various embodiments the lower limb orthotic component 204L and/or 204R comprises functions to provide at least one leg support (e.g., 206 in combination with 208) (configurable to be coupled e.g., via a strap 224) to a first lower limb of the person, with the at least one leg support including at least a thigh link 206 rotatably connectable to the torso portion 202 at a hip joint 218, and a shank link 208 rotatably connectable to the thigh link at a knee joint 210. Typically the lower limb orthotic component comprises a first lower limb actuator 216 for controlling motion of the hip joint; and a second lower limb actuator 212 for controlling motion of the knee joint. In certain embodiments to containing sensors that monitor positions of the lower limb orthotic components, in certain embodiments, the lower limb orthotic components contain sensors that measure force exerted by the user against the exoskeleton to facilitate calibration of the degree of augmentation provided. As illustrated in
Another illustrative, but non-limiting, embodiment of an upper limb (upper body) exoskeletal orthotic unit that can be used in the systems and methods described herein is schematically illustrated in
In various embodiments the upper limb orthotic component 304L and/or 304R comprises functions to provide at least one arm support (e.g., 306 in combination with 308) (configured to be coupled e.g., via a strap 324) to a first upper limb of the person, with the at least one upper limb support including at least a including at least an upper arm (brachium) link rotatably 306 rotatably connected to the torso portion 302 at a shoulder joint 318, and a forearm (antebrachium) link 308 rotatably connected to the thigh link at an elbow joint 310. Typically the upper limb orthotic component comprises a first upper limb actuator 316 for controlling motion of the shoulder joint; and a second upper limb actuator 312 for controlling motion of the elbow joint. As illustrated in
In certain embodiments, in addition to containing sensors that monitor positions of the lower limb and/or upper limb orthotic components, the exoskeletons contain sensors that measure force exerted by the user against the exoskeleton to facilitate calibration of the degree of augmentation provided. As illustrated in
Although not shown in certain embodiments, various sensors in communication with the controller (e.g., CPU) can be provided so that the controller can monitor the orientation of the device, and wearer. Such sensors may include, without restriction, encoders, potentiometers, accelerometers, and gyroscopes. In certain embodiments the exoskeleton (e.g., the EKSO GT™) can contain various tilt and position sensors that maintain the position of various joints within a fixed trajectory. It was discovered that tonic or intermittent transcutaneous electrical spinal cord stimulation can be used to re-engage the spinal circuitry to facilitate stepping in the EKSO and to progressively recover voluntary control of specific joint movements after complete paralysis.
In certain embodiments the controller is configured to control the various actuators with adaptive, variable levels of assistance in response to signals from the plurality of sensors. As the particular structure of the exoskeleton can take various forms, and such exoskeletons are known in the art further detail is not required herein.
As described herein in certain embodiments, systems are provided where a transcutaneous electrical stimulator (222 in
The foregoing configurations of exoskeletons and stimulators are illustrative and non-limiting. Using the teachings provided herein numerous other configurations and systems will be available to one of skill in the art.
Transcutaneous Stimulation
Without being bound by a particular theory, it is believed that transcutaneous stimulation, e.g., over one spinal level, over two spinal levels, or over three spinal levels providing stimulation simultaneously, or in sequence, intermittently or continuously optionally in combination with use of the powered exoskeleton as described herein can facilitate recovery of stepping and standing (or other locomotor function) in human subjects following a partial or complete spinal cord injury, a brain injury, or a neurodegenerative pathology. Thus the methods described herein find use in subjects with a motor incomplete or motor complete spinal cord injury, in subjects with an ischemic brain injury (e.g., from stroke or acute trauma), and in subjects with a neurodegenerative pathology (e.g., stroke, Parkinson's disease, Huntington's disease, Alzheimer's disease, multiple sclerosis (MS), amyotrophic lateral sclerosis (ALS), primary lateral sclerosis (PLS), dystonia, cerebral palsy, and the like).
In some embodiments, the location of electrode(s) in addition to the stimulation parameters may be important in defining the motor response. The use of surface electrode(s), as described herein, facilitates selection or alteration of particular stimulation sites as well as the application of a wide variety of stimulation parameters.
In certain embodiments, the transcutaneous electrodes are disposed on the surface of a subject in one or more locations to stimulate the spinal cord (or regions thereof) and thereby activate various central pattern generators and restore endogenous activation patterns to stimulate or improve postural and/or locomotor activity and/or postural or locomotor strength, and/or reaching or grasping and/or hand or upper limb strength, and/or to enable one or more functions such as voluntary voiding of the bladder and/or bowel, sexual function, autonomic control of cardiovascular function, control/regulation of body temperature control, control of digestive functions, control of kidney functions, chewing, swallowing, drinking, talking, or breathing in a normal subject or a subject having a neurologically derived paralysis. The methods typically involve neuromodulating the spinal cord of the subject or a region thereof by administering transcutaneous stimulation to one or more locations on the spinal cord or a region thereof using an electrical stimulator electrically coupled to one or more transcutaneous electrodes and/or electrode arrays. In certain embodiments the transcutaneous electrodes described herein are disposed over the spinal cord or over one or more regions thereof.
Accordingly, in various embodiments methods and devices are provided to facilitate movement in a mammalian subject (e.g., a human) having spinal cord injury, brain injury, or neurological disease. In certain embodiments the methods involve transcutaneous stimulation of the spinal cord of the subject, in combination with use of the orthotic exoskeleton, where the stimulation modulates the electrophysiological properties of selected spinal circuits in the subject so they can be activated, e.g., by proprioceptive derived information and/or from supraspinal input.
In particular illustrative embodiments, the devices (systems) and methods described herein stimulate the spinal cord to modulate the proprioceptive and/or supraspinal information that controls the lower limbs during standing and/or stepping and/or the upper limbs during reaching and/or grasping conditions. This “sensory” and “motor” information can guide the activation of the muscles via spinal networks in a coordinated manner and in a manner that accommodates the external conditions, e.g., the amount of loading, speed and direction of stepping or whether the load is equally dispersed on the two lower limbs, indicating a standing event, alternating loading indicating stepping, or sensing postural adjustments signifying the intent to reach and grasp.
Unlike approaches that involve specific stimulation of motor neurons to directly induce a movement, the methods described herein enable the spinal circuitry to control the movements. More specifically, the devices and methods described herein exploit the spinal circuitry and its ability to interpret proprioceptive and/or cutaneous information and to respond to that proprioceptive and/or cutaneous information in a functional way. For example, the human spinal cord can receive sensory input associated with a movement such as stepping, and this sensory information can be used to modulate the motor output to accommodate the appropriate speed of stepping and level of load that is imposed on lower limbs. In some embodiments, the present methods can utilize the central-pattern-generation-like properties of the human spinal cord (e.g., the lumbosacral spinal cord, the thoracic spinal cord, the cervical spinal cord). Thus, for example, exploiting inter alia the central-pattern-generation-like properties of the lumbosacral spinal cord, oscillations of the lower limbs can be induced simply by vibrating the vastus lateralis muscle of the lower limb, and/or by transcutaneous stimulation of the spinal cord and/or ganglia, and/or by stretching the hip. The methods described herein exploit the fact that the human spinal cord, in complete or incomplete SCI subjects, can receive and interpret proprioceptive and somatosensory information that can be used to control the patterns of neuromuscular activity among the motor pools necessary to generate particular movements, e.g., standing, stepping, reaching, grasping, and the like. In various embodiments this is in contrast to other approaches where the actual movement is induced/controlled by direct stimulation (e.g., of particular motor neurons and/or muscles).
In one illustrative embodiment, the subject is fitted with one or more transcutaneous stimulation electrodes (or electrode arrays) described herein that afford selective stimulation and control capability to select sites, mode(s), and intensity of stimulation via electrodes placed over, for example, the lumbosacral spinal cord, and/or the thoracic spinal cord, and/or cervical spinal cord and/or brainstem to facilitate movement of the arms and/or legs of individuals with a spinal cord injury or another severely debilitating neuromotor disorder.
In certain embodiments the transcutaneous electrodes (or electrode arrays) herein can be disposed on the surface of the subject and typically the subject can be immediately tested to identify the most effective subject specific stimulation paradigms for facilitation of movement (e.g., stepping and standing and/or arm and/or hand movement). In certain embodiments, using these stimulation paradigms the subject can practice standing and stepping and/or reaching or grabbing in an interactive rehabilitation program while being subject to spinal stimulation. In certain embodiments this localization of stimulation is performed in conjunction with the use of the exoskeleton.
Depending on the site/type of injury and the locomotor and motor activity it is desired to facilitate particular spinal stimulation protocols include, but are not limited to specific stimulation sites along the lumbosacral and/or thoracic, and/or cervical spinal cord; specific combinations of stimulation sites along the lumbosacral and/or thoracic, and/or cervical spinal cord; specific stimulation amplitudes; specific stimulation polarities (e.g., monopolar and bipolar stimulation modalities); specific stimulation frequencies; and/or specific stimulation pulse widths.
In various embodiments, the methods described herein can comprise transcutaneous stimulation of one or more regions of the spinal cord and/or brain, and/or brain stem, and/or the coccygeal nerve (e.g., Co1) in combination with locomotor or motor activities provided/induced by the exoskeleton thereby providing modulation of the electrophysiological properties of spinal circuits in the subject so they are activated by proprioceptive information derived from the region of the subject where locomotor or motor activity is to be facilitated. Further, spinal stimulation in combination with pharmacological agents and locomotor or motor activity may result in the modulation of the electrophysiological properties of spinal circuits in the subject so they are activated by proprioceptive information derived from the region of the subject where locomotor or motor activity is to be facilitated.
In certain embodiments locomotor activity of the region of interest can be assisted or accompanied by any of a number of methods known. For example by way of illustration, individuals after severe SCI can generate standing and stepping patterns when provided with body weight support from the exoskeleton while on a treadmill. During both stand and step training of human subjects with SCI, the subjects in an exoskeleton can be placed on a treadmill in an upright position and, the exoskeleton can provide sufficient support to avoid knee buckling and trunk collapse. During bilateral standing, both legs can be loaded simultaneously with the degree of load being determined by the exoskeleton and extension can be the predominant muscular activation pattern, although co-activation of flexors can also occur. Additionally, or alternatively, during stepping the legs can be loaded in an alternating pattern by the exoskeleton and extensor and flexor activation patterns within each limb also alternated as the legs moved from stance through swing.
Transcutaneous Stimulation of a Region of the Thoracic Spine
In various embodiments, the methods described herein involve transcutaneous electrical stimulation of the thoracic spinal cord or a region of the thoracic spinal cord of the subject utilizing one or more of the transcutaneous electrodes and/or electrode arrays as described herein. Illustrative regions include, but are not limited to, one or more regions straddling or spanning a region selected from the group consisting of T1-T1, T1-T2, T1-T3, T1-T4, T1-T5, T1-T6, T1-T7, T1-T8, T1-T9, T1-T10, T1-T11, T1-T12, T2-T1, T2-T2, T2-T3, T2-T4, T2-T5, T2-T6, T2-T7, T2-T8, T2-T9, T2-T10, T2-T11, T2-T12, T3-T1, T3-T2, T3-T3, T3-T4, T3-T5, T3-T6, T3-T7, T3-T8, T3-T9, T3-T10, T3-T11, T3-T12, T4-T1, T4-T2, T4-T3, T4-T4, T4-T5, T4-T6, T4-T7, T4-T8, T4-T9, T4-T10, T4-T11, T4-T12, T5-T1, T5-T2, T5-T3, T5-T4, T5-T5, T5-T6, T5-T7, T5-T8, T5-T9, T5-T10, T5-T11, T5-T12, T6-T1, T6-T2, T6-T3, T6-T4, T6-T5, T6-T6, T6-T7, T6-T8, T6-T9, T6-T10, T6-T11, T6-T12, T7-T1, T7-T2, T7-T3, T7-T4, T7-T5, T7-T6, T7-T7, T7-T8, T7-T9, T7-T10, T7-T11, T7-T12, T8-T1, T8-T2, T8-T3, T8-T4, T8-T5, T8-T6, T8-T7, T8-T8, T8-T9, T8-T10, T8-T11, T8-T12, T9-T1, T9-T2, T9-T3, T9-T4, T9-T5, T9-T6, T9-T7, T9-T8, T9-T9, T9-T10, T9-T11, T9-T12, T10-T1, T10-T2, T10-T3, T10-T4, T10-T5, T10-T6, T10-T7, T10-T8, T10-T9, T10-T10, T10-T11, T10-T12, T11-T1, T11-T2, T11-T3, T11-T4, T11-T5, T11-T6, T11-T7, T11-T8, T11-T9, T11-T10, T11-T11, T11-T12, T12-T1, T12-T2, T12-T3, T12-T4, T12-T5, T12-T6, T12-T7, T12-T8, T12-T9, T12-T10, T12-T11, T12-T12, T12-L1, and L5 to S1. In certain embodiments the transcutaneous stimulation is to a region over T11.
Transcutaneous Stimulation of the Lumbosacral Spinal Cord.
In various embodiments, the methods described herein involve transcutaneous electrical stimulation of the lumbosacral spinal cord or a region of the lumbosacral spinal cord of the subject utilizing a transcutaneous electrodes and/or electrode arrays. Illustrative regions include, but are not limited to, one or more regions straddling or spanning a region selected from the group consisting of L1-L1, L1-L2, L1-L3, L1-L4, L1-L5, L2-L1, L2-L2, L2-L3, L2-L4, L2-L5, L3-L1, L3-L2, L3-L3, L3-L4, L3-L5, L4-L1, L4-L2, L4-L3, L4-L4, L4-L5, L5-L1, L5-L2, L5-L3, L5-L4, L5-L5, L5-S1. In certain embodiments transcutaneous stimulation is applied on the skin surface over a region comprising the coccygeal nerve Co1. In certain embodiments the transcutaneous stimulation is to both a region over T11 and to a region over Co1.
Transcutaneous Stimulation of a Region of the Cervical Spine
In certain embodiments, particular where upper limb activation is desired the methods described herein can involve transcutaneous electrical stimulation of the cervical spinal cord or a region of the cervical spinal cord of the subject utilizing one or more of the transcutaneous electrodes and/or electrode arrays. Illustrative regions include, but are not limited to, one or more regions straddling or spanning a region selected from the group consisting of C0-C1, C0-C2, C0-C3, C0-C4, C0-C5, C0-C6, C0-C7, C1-C1, C1-C2, C1-C3, C1-C4, C1-C7, C1-C6, C1-C7, C1-T1, C2-C2, C2-C3, C2-C4, C2-C5, C2-C6, C2-C7, C2-T1, C3-C3, C3-C4, C3-C5, C3-C6, C3-C7, C3-T1, C4-C4, C4-C5, C4-C6, C4-C7, C4-T1, C5-C5, C5-C6, C5-C7, C5-T1, C6-C6, C6-C7, C6-T1, C7-C7, and C7-T1.
Transcutaneous Stimulation Parameters.
In certain embodiments, the transcutaneous stimulation is at a frequency ranging from about 0.5 Hz, or 3 Hz, or from about 5 Hz, or from about 10 Hz, up to about 1,000 Hz, or up to about 500 Hz, or up to about 100 Hz, or up to about 80 Hz, or up to about 40 Hz, or from about 3 Hz or from about 5 Hz up to about 80 Hz, or from about 5 Hz up to about 30 Hz, or up to about 40 Hz, or up to about 50 Hz.
In certain embodiments, the transcutaneous stimulation is applied at an intensity (amplitude) ranging from about 10 mA up to about 500 mA, or up to about 300 mA, or up to about 150 mA, or from about 20 mA up to about 300 mA, or up to about 50 mA or up to about 100 mA, or from about 20 mA or from about 30 mA, or from about 40 mA up to about 50 mA, or up to about 60 mA, or up to about 70 mA or up to about 80 mA.
In certain embodiments, the pulse width ranges from about 100 μs up to about 200 ms, or from about 100 μs, or from about 150 μs, or from about 200 μs, up to about 900 μs, or up to about 800 μs, or up to about 700 μs, or up to about 600 μs, or up to about 500 μs, or up to about 450 μs, or from about 1 ms, or from about 2 ms, or from about 5 ms, or from about 10 ms, or from about 20 ms, or from about 50 ms up to about 200 ms, or up to about 150 ms, or up to about 100 ms, or up to about 80 ms, or up to about 60 ms.
In certain embodiments the stimulation pulse is delivered superimposed on a high frequency carrier signal. In certain embodiments the high frequency ranges from about 3 kHz, or about 5 kHz, or about 8 kHz up to about 100 kHz, or up to about 80 kHz, or up to about 50 kHz, or up to about 40 kHz, or up to about 30 kHz, or up to about 20 kHz, or up to about 15 kHz. In certain embodiments the carrier frequency amplitude ranges from about 30 mA, or about 40 mA, or about 50 mA, or about 60 mA, or about 70 mA, or about 80 mA up to about 500 mA, or up to about 400 mA, or up to about 300 mA, or up to about 200 mA, or up to about 150 mA.
In one illustrative, but non-limiting embodiment, a bipolar rectangular stimulus (1-msec duration) with a carrier frequency of 10 kHz and at intensities ranging from 30 to 300 mA is used. The stimulation can be at 5 Hz, for example, with an illustrative, but non-limiting exposure duration ranging from 10 to 30 sec. An illustrative, but non-limiting signal intensity is from about 80 mA, or from about 100 mA, or from about 110 mA to about 200 mA, or to about 180 mA, or to about 150 mA.
In certain embodiments the transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate or improve postural and/or locomotor activity and/or postural or locomotor strength. In certain embodiments the transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate or improve postural and/or locomotor activity and/or postural or locomotor strength when applied in conjunction with a neuromodulatory agent (e.g., a monoaminergic agent). In certain embodiments the transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate grasping, and/or improve hand strength and/or fine hand control. In certain embodiments the transcutaneous stimulation is at a frequency and amplitude sufficient to improve stimulate grasping and/or to improve hand strength and/or fine hand control when applied in conjunction with a neuromodulatory agent (e.g., a monoaminergic agent). In certain embodiments the transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate voluntary voiding of the bladder and/or bowel, and/or return of sexual function, and/or autonomic control of cardiovascular function, and/or body temperature, control of digestive functions, control of kidney functions, chewing, swallowing, drinking, talking, or breathing in a normal subject or a subject having a neurologically derived paralysis. In certain embodiments the transcutaneous stimulation is at a frequency and amplitude sufficient to stimulate voluntary voiding of the bladder and/or bowel, and/or return of sexual function, and/or autonomic control of cardiovascular function, and/or body temperature when applied in conjunction with a neuromodulatory agent (e.g., a monoaminergic agent). In certain embodiments the carrier frequency, when present, is at frequency and intensity sufficient to minimize subject discomfort.
By way of illustration, non-invasive transcutaneous electrical spinal cord stimulation (tSCS) can induce locomotor or motor-like activity in non-injured humans. Continuous tSCS (e.g., at 5-40 Hz) applied paraspinally over the T11-T12 vertebrae can induce involuntary stepping movements in subjects with their legs in a gravity-independent position. These stepping movements can be enhanced when the spinal cord is stimulated at two to three spinal levels (C5, T12, and/or L2) simultaneously with frequency in the range of 5-40 Hz. Further, locomotion can be improved, in some embodiments substantially, when locomotor and postural spinal neuronal circuitries are stimulated simultaneously.
In another illustrative, but non-limiting embodiment transcutaneous electrical stimulation (5 Hz) delivered simultaneously at the T11, and Co1 vertebral levels facilitated involuntary stepping movements that were significantly stronger than stimulation at T11 alone. Accordingly, simultaneous spinal cord stimulation at multiple sites can have an interactive effect on the spinal circuitry responsible for generating locomotion.
International Patent Publication No: WO/2012/094346 demonstrates that locomotor activity and/or strength and/or posture can be improved and/or restored by stimulation of the spinal circuitry. The methods described in WO/2012/094346 can be further enhanced by the use of the robotic exoskeletons as described herein.
With respect to hand control, it is noted that WO/2015/048563 (PCT/US2014/057886) shows that the cervical spinal cord can be neuromodulated using two paradigms, i.e., electrically and pharmacologically. Moreover, the data presented therein indicate that non-functional networks can become engaged and progressively improve motor performance. In addition, the further improvement in hand function after withdrawing painless cutaneous enabling motor control (pcEmc) and pharmacological Enabling motor control *(fEmc) suggests that once functional connections are established they remain active. The methods described in WO/2015/048563 can be further enhanced by the use of robotic exoskeletons as described herein.
Application of Transcutaneous Electrode Arrays.
As noted above, the transcutaneous electrodes or electrode arrays may applied to the surface of a body using any of a number of methods well known to those of skill in the art.
In one embodiment, the subject is fitted with one or more transcutaneous electrodes and/or electrode arrays described herein that afford selective stimulation and control capability to select sites, mode(s), and intensity of stimulation via electrodes placed superficially over, for example, the lumbosacral spinal cord and/or the thoracic spinal cord, and/or the cervical spinal cord to facilitate movement of the arms and/or legs of individuals with a severely debilitating neuromotor disorder.
In some embodiments, the subject is provided a generator control unit and is fitted with an electrode(s) and then tested to identify the most effective subject specific stimulation paradigms for facilitation of movement (e.g., stepping and standing and/or arm and/or hand movement). Using the herein described stimulation paradigms, the subject practices standing, stepping, sitting, postural control, reaching, grabbing, pushing, pulling, breathing, and/or speech therapy in an interactive rehabilitation program while being subject to spinal stimulation.
Depending on the site/type of injury and the locomotor or motor activity it is desired to facilitate, particular spinal stimulation protocols include, but are not limited to, specific stimulation sites along the lumbosacral, thoracic, cervical spinal cord or a combination thereof; specific combinations of stimulation sites along the lumbosacral, thoracic, cervical spinal cord and/or a combination thereof; specific stimulation amplitudes; specific stimulation polarities (e.g., monopolar and bipolar stimulation modalities); specific stimulation frequencies; and/or specific stimulation pulse widths; and/or specific waves forms (square wave, sine wave) and patterns (monophasic, bi-phasic), etc.
In various embodiments, the system is designed so that the patient can use and control it in the home environment.
In various embodiments, transcutaneous electrodes and/or electrode arrays are operably linked to control circuitry that permits selection of electrode(s) to activate/stimulate and/or that controls frequency, and/or pulse width, and/or amplitude of stimulation. In various embodiments, the electrode selection, frequency, amplitude, and pulse width are independently selectable, e.g., at different times, different electrodes can be selected. At any time, different electrodes can provide different stimulation frequencies and/or amplitudes. In various embodiments, different electrodes or all electrodes can be operated in a monopolar mode and/or a bipolar mode, using, e.g., constant current or constant voltage delivery of the stimulation.
It will be recognized that any present or future developed stimulation system capable of providing an electrical signal to one or more regions of the spinal cord may be used in accordance with the teachings provided herein.
In one illustrative but non-limiting system a control module is operably coupled to a signal generation module and instructs the signal generation module regarding the signal to be generated. For example, at any given time or period of time, the control module may instruct the signal generation module to generate an electrical signal having a specified pulse width, frequency, intensity (current or voltage), etc. The control module may be preprogrammed prior to use or receive instructions from a programmer (or another source). Thus, in certain embodiments the pulse generator/controller is configurable by software and the control parameters may be programmed/entered locally, or downloaded as appropriate/necessary from a remote site.
In certain embodiments the control module is operably coupled to the orthotic exoskeleton system creating a closed loop system gathering and using information from the exoskeleton system to adjust the stimulation; by sending instructions to the signal generator.
In certain embodiments the pulse generator/controller may include or be operably coupled to memory to store instructions for controlling the stimulation signal(s) and may contain a processor for controlling which instructions to send for signal generation and the timing of the instructions to be sent.
While in certain embodiments, two leads are utilized to provide transcutaneous stimulation, it will be understood that any number of one or more leads may be employed. In addition, it will be understood that any number of one or more electrodes per lead may be employed. Stimulation pulses are applied to transcutaneous electrodes and/or electrode arrays (which typically are cathodes) with respect to a return electrode (which typically is an anode) to induce a desired area of excitation of electrically excitable tissue in one or more regions of the spine. A return electrode such as a ground or other reference electrode can be located on the same lead as a stimulation electrode. However, it will be understood that a return electrode may be located at nearly any location, whether in proximity to the stimulation electrode or at a more remote part of the body, or as part of a metallic case such as at a metallic case of a pulse generator. It will be further understood that any number of one or more return electrodes may be employed. For example, there can be a respective return electrode for each cathode such that a distinct cathode/anode pair is formed for each cathode.
In various embodiments, the approach is not to electrically induce a walking pattern, standing pattern, or moving pattern of activation, but to enable/facilitate it so that when the subject manipulates their body position, the spinal cord can receive proprioceptive information from the legs (or arms) that can be readily recognized by the spinal circuitry. Then, the spinal cord knows whether to step or to stand or to reach or to grasp, or to do nothing. In other words, this enables the subject to begin stepping or to stand or to reach and grasp when they choose after the stimulation pattern has been initiated.
Moreover, the methods and devices described herein are effective in a spinal cord injured subject that is clinically classified as motor complete; that is, there is no motor function below the lesion. In various embodiments, the specific combination of electrode(s) activated/stimulated and/or the desired stimulation of any one or more electrodes and/or the stimulation amplitude (strength) can be varied in real time, e.g., by the subject. Closed loop control can be embedded in the process by engaging the spinal circuitry as a source of feedback and feedforward processing of proprioceptive input and by voluntarily imposing fine tuning modulation in stimulation parameters based on visual, and/or kinetic, and/or kinematic input from selected body segments.
In various embodiments, the devices, optional pharmacological agents, and methods are designed so that a subject with no voluntary movement capacity can execute effective standing and/or stepping and/or reaching and/or grasping. In addition, the approach described herein can play an important role in facilitating recovery of individuals with severe although not complete injuries.
Use of Neuromodulatory Agents.
In certain embodiments, the stimulation methods described herein (e.g., noninvasive (e.g., transcutaneous) stimulation in combination with a robotic exoskeleton are used in conjunction with various pharmacological agents, particularly pharmacological agents that have neuromodulatory activity (e.g., that are monoamergic). In certain embodiments, the use of various serotonergic, and/or dopaminergic, and/or noradrenergic, and/or GABAergic, and/or glycinergic drugs is contemplated. These agents can be used in conjunction with transcutaneous stimulation and robotic aid as described above. This combined approach can help to put the spinal cord in an optimal physiological state for controlling a range of hand and/or upper limb movements or lower limb movements or for regulating posture, and the like.
In certain embodiments, the drugs are administered systemically, while in other embodiments, the drugs are administered locally, e.g., to particular regions of the spinal cord. Drugs that modulate the excitability of the spinal neuromotor networks include, but are not limited to combinations of noradrenergic, serotonergic, GABAergic, and glycinergic receptor agonists and antagonists.
Dosages of at least one drug or agent can be between about 0.001 mg/kg and about 10 mg/kg, between about 0.01 mg/kg and about 10 mg/kg, between about 0.01 mg/kg and about 1 mg/kg, between about 0.1 mg/kg and about 10 mg/kg, between about 5 mg/kg and about 10 mg/kg, between about 0.01 mg/kg and about 5 mg/kg, between about 0.001 mg/kg and about 5 mg/kg, or between about 0.05 mg/kg and about 10 mg/kg. Typically where the drug is an approved drug, it will be administered at dosage consistent with the recommended/approved dosage for that drug.
Drugs or agents can be delivery by injection (e.g., subcutaneously, intravenously, intramuscularly, intrathecal), orally, rectally, or inhaled.
Illustrative pharmacological agents include, but are not limited to, agonists and antagonists to one or more combinations of serotonergic: 5-HT1A, 5-HT2A, 5-HT3, and 5HT7 receptors; to noradrenergic alpha 1 and 2 receptors; and to dopaminergic D1 and D2 receptors (see, e.g., Table 1).
In certain embodiments the neuromodulatory agent (drug) is a molecule that activates (e.g., selectively activates) an α2c adrenergic receptor subtype and/or that blocks (e.g., selectively blocks) blocking an α2a adrenergic receptor subtype. In certain embodiments the molecule that activates an α2c adrenergic receptor subtype is 2-[(4,5-Dihydro-1H-imidazol-2-yl)methyl]-2,3-dihydro-1-methyl-1H-isoindole (BRL-44408). In certain embodiments the molecule that activates an α2c adrenergic receptor subtype is (R)-3-nitrobiphenyline and/or a compound according to the formula:
In certain embodiments the neuromodulatory agent comprises Clonidine. In certain embodiments the neuromodulatory agent further comprises a 5-HT1 and/or a 5-HT7 serotonergic agonist.
In certain embodiments the neuromodulatory includes any neuromodulatory agent or combination of agents described in US 2016/0158204 A1 which is incorporated herein by reference for the neuromodulatory agents and combinations thereof described therein.
The following examples are offered to illustrate, but not to limit the claimed invention.
Introduction
Results in mice (Cai et al. (2006) Philos. Trans. R. Soc. Lond. B. Biol. Sci. 361: 1635-1646; Fong et al. (2005) J. Neurosci. 25: 11738-11747), rats (Courtine et al. (2009) Nat. Neurosci. 12: 1333-1342; van den Brand et al. (2012) Science, 336: 1182-1185), cats (Musienko et al. (2012) J. Neurophysiol. 107: 2072-2082; Musienko et al. (2012) J. Neurosci. 32: 17442-17453), and humans (Angeli et al. (2014) Brain, 137: 1394-1409; Harkema et al. (2011) Lancet, 377: 1938-1947) with motor complete paralysis have shown that the lumbosacral spinal circuitry can be neuromodulated using a combination of electrical epidural stimulation (Ichiyama et al. (2008) J. Neurosci. 28: 7370-7475; Lavrov et al. (2008) J. Neurosci. 28: 7774-7780), pharmacological interventions (Musienko et al. (2011) J. Neurosci. 31: 9264-9278), and locomotor training (Ichiyama et al. (2008) J. Neurosci. 28: 7370-7475; Barbeau and Rossignol (1994) Curr. Opin. Neurol. 7: 517-524) to enable weight-bearing standing (Harkema et al. (2011) Lancet, 377: 1938-1947; Gad et al. (2013) J. Neuroeng. Rehabil. 10: 2), stepping (Rossignol et al. (2006) Physiol. Rev. 86: 89-154; Edgerton et al. (2001)J. Physiol. 533: 15-22), voluntary movements (Angeli et al. (2014) Brain, 137: 1394-1409; Harkema et al. (2011) Lancet, 377: 1938-1947) and bladder control (Gad et al. (2014) PLoS One, 9: e 108184). We recently demonstrated the ability to noninvasively neuromodulate the lumbosacral neural circuitry to induce locomotor-like movements in healthy subjects using electromagnetic stimulation (Gerasimenko et al. (2010) J. Neurosci. 30: 3700-3708). Similar responses were observed using transcutaneous electrical spinal cord stimulation having a unique waveform that minimizes pain and discomfort in both healthy (Gorodnichev et al. (2012) Fiziol. Cheloveka, 38: 46-56) and paralyzed subjects.
Over the past several years, robotic therapy has been tested as a method to improve locomotion in paralyzed subjects with varying results. An assist-as-needed (AAN) paradigm was tested in mice using a specially designed robotic treadmill with arms to move the legs in a trajectory with an allowable error window (Fong et al. (2005) J. Neurosci. 25: 11738-11747). EKSO Bionics is a battery powered wearable bionic suit that enables individuals with lower extremity weakness to stand and step overground with partial weight bearing and reciprocal gait. The EKSO GT robotic exoskeleton used in this study is a class I medical device (United States FDA) that has the potential to facilitate functional rehabilitation. The variable assist mode offered by the EKSO allows active involvement of subjects having minimal voluntary ability and minimal supraspinal control (Angeli et al. (2014) Brain, 137: 1394-1409; Harkema et al. (2011) Lancet, 377: 1938-1947), even in patients with motor complete paralysis. Based on the effort applied by the subject, the onboard computer will provide the necessary assistance to complete the step cycle. The EKSO has several tilt and position sensors that maintain the position of various joints within a fixed trajectory. We hypothesized that tonic transcutaneous electrical spinal cord stimulation can be used to re-engage the spinal circuitry to facilitate stepping in the EKSO and to progressively recover voluntary control of specific joint movements after complete paralysis.
Methods
A. Clinical Assessment and Patient Information
The UCLA Review Board approved all procedures. The subject was a 38-year-old man at the time of the experiment. He lost his eyesight at the age of 22, and 4 years prior to the experiment fell from a second floor onto a concrete floor damaging his spinal cord at the T9 and L1 vertebral levels. He was assessed clinically as motor and sensory complete (AIS A). The subject had owned the EKSO bionics suit for ˜2 years and had completed ˜180,000 steps prior to the experiment. He signed an informed consent form. All experimental procedures were approved by the Institutional Review Board of the University of California, Los Angeles.
B. Training and Testing Procedures
The subject stepped in the EKSO for 1 hr/day in the active (with voluntary effort) mode with a 5 min warm-up in the passive (without voluntary effort) mode. The 1 hr session was divided into three 20-min laps (40 m in length). During the first lap, the stimulation was delivered at the T11 vertebral segment (30 Hz), the second involved stimulation at the Co1 vertebral level (5 Hz), and the third lap consisted of simultaneous stimulation at T11 and Co1. Blood pressure and heart rate were recorded at the end of each lap. At the end of 5 days of training, stepping ability was assessed while the subject walked in the EKSO with and without stimulation at T11 and/or Co1 in both a passive and an active mode. The following day, voluntary ability to perform movements in specific joints was assessed with and without stimulation at T11 and/or Co1 with the subject being in a supine position.
C. EMG and Kinematic Recordings
During every session, bipolar EMG surface electrodes were used to record bilaterally on the soleus, medial gastrocnemius (MG), tibialis anterior (TA), rectus femoris (RF) and vastus lateralis (VL) (Gorodnichev et al. (2012) Fiziol. Cheloveka, 38: 46-56). EMG signals were amplified differentially (bandwidth of 10 Hz to 5 KHz) and acquired at 10 KHz using a 16 channel hard-wired A/D board and a customized LabVIEW software (National Instruments, TX) acquisition program.
Results
Based on the subject's feedback, stimulation at T11 resulted in a feeling of ‘tension’ in all proximal lower limb muscles. The ‘tension’ was felt during sitting and increased when stepping (passive mode) in the EKSO. The tension greatly increased when the subject started stepping in the active mode. Tension was not felt with stimulation at Co1 when sitting and was minimal during passive stepping. During active stepping, however, the subject reported high levels of a tingling sensation in his entire leg, especially in the distal muscles, ankle joint and sole of the foot. During stimulation at T11+Co1, the subject reported tension and tingling in the entire leg. At the end of each 1-hr training session, perspiration was observed in different parts of the upper and lower back, the gluteus muscles, and the calf muscles. This was the first time the subject reported perspiration below the level of lesion since his spinal injury. During the 1-hr training session, the average heart rate increased from 75 to 110 beats/sec and the systolic and diastolic pressure changed from 95 to 72 and 140 to 89 mm of Hg, respectively.
The EMG activity was higher during active compared to passive stepping without stimulation, especially in the RF (
Discussion
Noninvasive Activation of the Spinal Cord
We have developed a novel method for noninvasively neuromodulating the spinal cord using painless transcutaneous stimulation using a special form of electrical pulses at a high frequency (Gerasimenko et al. (2010) J. Neurosci. 30: 3700-3708). This method enabled the activation of all leg muscles in a coordinated manner to aid in the performance of stepping in the EKSO as well as when performing voluntary tasks. This method has been shown to be effective in inducing locomotor-like activity in non-injured (Gorodnichev et al. (2012) Fiziol. Cheloveka, 38: 46-56) and SCI (under review) subjects when their legs were placed in a gravity-neutral position. As the subject is in a vertical position, combination partial weight bearing and activation of spinal neural networks via stimulation greatly enhances locomotor as well as autonomic functions.
Incongruity of Clinical and Physiological Assessments of Completeness of Paralysis
We have reported changes in the physiological state of the spinal cord in 4 out of 4 clinically motor complete subjects implanted with a 16-electrode epidural array over the L1-S1 spinal levels within weeks of implantation (Angeli et al. (2014) Brain, 137: 1394-1409; Harkema et al. (2011) Lancet, 377: 1938-1947). The results show recovery and progressive improvement in volitional motor control as a result of daily motor training, but only in the presence of epidural stimulation. This increase in excitability was sufficiently close to the motor threshold so that the newly evolved supraspinal descending input to the lumbosacral spinal cord was sufficient to reach motor threshold. Kakulas (1999) J. Spinal CordMed. 22: 119-124, reported a remarkable finding in the study of 564 human cadavers with SCI. He studied variables such as axonal lesions, traumatic demyelination-remyelination, and quantification of white matter tracts. Surprisingly, many of the cadavers had a proportion of their spinal cord white matter remaining across the level of lesion even though they were completely paralyzed as assessed clinically. The changes in both locomotor and autonomic systems reported by the subject under the influence of stimulation and descending cortical control suggests that the spinal cord of a paralyzed subject clinically diagnosed at AIS A can be physiologically neuromodulated to a functional state
Conclusion
We have shown we can successfully neuromodulate the spinal cord neural circuitry controlling overground stepping in the EKSO via transcutaneous spinal cord stimulation and minimal descending control after complete paralysis. This change in excitability also enables voluntary control of legs, cardiovascular function, and thermoregulation.
It is understood that the examples and embodiments described herein are for illustrative purposes only and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application and scope of the appended claims. All publications, patents, and patent applications cited herein are hereby incorporated by reference in their entirety for all purposes.
This application is a US 371 National Phase of PCT/US2016/049129, filed on Aug. 26, 2016, which claims benefit of and priority to U.S. Ser. No. 62/210,070, filed on Aug. 26, 2015, both of which are incorporated herein by reference in their entirety for all purposes.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US2016/049129 | 8/26/2016 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2017/035512 | 3/2/2017 | WO | A |
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| Number | Date | Country | |
|---|---|---|---|
| 20180280693 A1 | Oct 2018 | US |
| Number | Date | Country | |
|---|---|---|---|
| 62210070 | Aug 2015 | US |
