Patent Grant
10596058
This application is the national phase entry of International Application No. PCT/TR2015/050067, filed on Aug. 13, 2015, which is based upon and claims priority to Turkish Patent Application No. 2014/10105 filed on Aug. 28, 2014, the entire contents of which are incorporated herein by reference.
The invention according to the application relates to a locomotion therapy and rehabilitation device developed for patients whose locomotion function is either lost or declined due to spinal disorders, orthopaedic surgeries and central nervous system disorders to redevelop and improve their walking ability.
In the state-of-the-art there are several devices developed for patients whose locomotion function is either lost or declined due to spinal disorders, orthopaedic surgeries and central nervous system disorders to redevelop and improve their walking ability.
The basic operation of these devices which are generally called walkers or walking aids is designed to relieve the patient of a significant part of body weight by means of various sling mechanisms and thereby allow the patient to receive rehabilitation treatment by performing only walking and foot movement exercises for extended periods.
However, in these devices, parts that provide the basic advantage for the patient to regain locomotion function are not the sling mechanisms which reduce body weight but stepping mechanisms which allow foot and walking movements.
The closer the movement model achieved by the stepping mechanism is closer to the natural walking motion, the easier the brain refocuses on the learnt walking movement and the motor nervous system repeats the same movements. For this reason, the main motive behind the development of these devices is to achieve a movement model that is closest to the natural walking movement.
Some of the prior art devices are based on treadmills, wherein the patient's weight is carried by extra equipment and leg and foot movements are coordinated externally for proper walking exercises. The invention disclosed in the U.S. Pat. No. 6,821,233B1 numbered U.S. Patent is an example of this type of devices. The most important technical problem related to the devices that depend on a treadmill is that the device does not provide any assistance in adapting patient's stepping movements to the natural movement.
The invention disclosed in the US2005239613A1 numbered U.S. Patent Application may be provided as an example for mechanisms which are currently used in numerous walkers and intended for supporting patients by carrying their weight. The said application discloses how the patient's weight is supported, while no information is present regarding walking therapy.
Another prior art device belongs to Jungwon Yoon (YOON JEONG WON) and is disclosed in “Machine and Its Applications to Locomotion Interface and Lower Limb Rehabilitation, Gwangju Institute of Science and Technology, 2005, 124p, Advisor: Prof. Jeha Ryu” and the KR20040072197A numbered Korean Patent Application.
In the invention according to the said patent application, walking movement is simulated by vertical lifting elements that support forefoot and hindfoot's vertical movement. In order to fully simulate walking movement, one of the vertical lifting elements which provide mechanism's front and rear vertical movement should have joint freedom. An angle α is present between Position 1 and Position 2 as seen in
In the invention according to the present application formation of an angle α such as in the Jungwon Yoon invention is avoided and the motion curve formed by the foot during walking is simulated in such a manner that it is controlled and close to actual walking movement.
The locomotion therapy and rehabilitation device according to the invention basically consists of an upper body (53), a weight balancing module (54), a sling and carrying system (55), 2 independent leg support mechanisms (52), 2 independent robotic walking mechanisms (56) and a horizontal base (51) on which these walking mechanisms operate.
The height of the upper body (53) is designed in such a manner that it is higher than the sum of the horizontal base's (51) and the patient's heights and it is intended to carry the patient by slinging in order to support a portion of patient's weight.
The following has been aimed in the development of the locomotion therapy and rehabilitation device according to the invention:
The figures used for a better explanation of the locomotion therapy and rehabilitation device developed with this invention are explained below.
The parts, sections and elements included in the figures are enumerated to provide a better explanation of the locomotion therapy and rehabilitation device developed with this invention and a corresponding definition for each number is provided below.
The invention according to the application is a locomotion therapy and rehabilitation device developed for patients whose locomotion function is either lost or declined due to spinal disorders, orthopaedic surgeries and central nervous system disorders to redevelop and improve their walking ability.
The invention basically consists of an upper body (53), a weight balancing module (54), a sling and carrying system (55), 2 independent leg support mechanisms (52), 2 independent robotic walking mechanisms (56) and a horizontal base (51) on which all these are fastened.
Upper Body (53):
The height of the upper body (53) is designed in such a manner that it is higher than the sum of the horizontal base's (51) and the patient's heights and it is intended to carry the patient by slinging in order to support a portion of patient's weight.
The upper body (53) is in the form of two vertical towers, which may be prismatic or curved. The relative distance of the towers that constitute the upper body (53) is sufficient to allow position a patient on a wheelchair on the horizontal base (51).
The upper body (53) is fastened onto ground or the horizontal base (51) by means of bolt/nut mounting system.
One back support slide mounting profile (86) is provided for each tower on the uppermost section of the upper body (53) towers. These mounting profiles (86) are fastened onto the upper body (53) towers by means of bolt/nut mounting system and mount the sling and carrying system (55) to the upper body (53).
Sling and Carrying System (55) and Weight Balancing Module (54):
A sling and carrying system (55) that extends above the horizontal base (51) is provided on the top section of the upper body (53).
The sling and carrying system (55) that provides adequate support to patient's back consists of;
Patient's weight is reduced at a desired rate by means of a weight balancing module (54) which has been specifically designed for this purpose.
The weight balancing module (54);
During simultaneous use of the sling and carrying system (55) and the weight balancing module (55); first, patient should be lifted from the chair into a standing position and then desired rate of weight reduction is applied.
The main problem experienced during this process is to perform weight balancing effectively after patient is quickly moved into vertical position. In principle, after patient is moved into an upright position, the weight piece (90) is slid along the lever arm (94) to reduce patient's weight at a desired rate with the balancing force formed on the opposite end of the lever arm (94). By this means, the carriage wire used to reduce patient's weight during therapy may be extended or retracted without limiting patient's movements. Thus, tensile force on the wire does not change and the system allows quick positioning of patient.
In order to prevent inertia forces that may be caused by the counterweight motion motor's (104) and the motor mounting apparatus' (92) weight during motion, the counterweight motion motor (104) and the motor mounting apparatus (92) are mounted on the rotational axis of the lever arm (94).
Since the electric motor (99) and the small wheel (102) are connected to each other by means of the shaft bearing connector (105) and the orientation bushing (106), the wire attached to the lever arm's (94) end on the electric motor (99) side is connected to the large wheel (101) and the large wheel (101) is located on the connector (100), when the electric motor (99) is operated in the direction where wire is wound on the small wheel (102), until patient is moved into vertical position, patient may stand by means of the sling apparatus which is attached to the end of wire. During this operation, the large wheel (101) is located on the connector (100) and in no contact with the small wheel (102).
After patient is moved into vertical position, counterweight force should be transferred to the wire which lifts patient at a rate equal to the desired weight reduction. For this end, by means of the orienting arm (98) and the orientation motor (96), the large wheel (101) is slid towards the small wheel (102) to lock it therein.
Similarly, the orienting arm (98) slides the orienting bushing (106) with the help of the orienting ring (107) to separate the main motor (99) and the small wheel's (102) shaft, and thereby the connection between the small wheel (102) and the electric motor (99) is severed.
Thus, two wheels join into a single wheel and the lever arm (94) act as a scale pan by means of the wire attached to the large wheel (101) to balance patient's weight during therapy, while the main motor (99) has no effect on the movement.
When patient is being returned to the wheelchair, the orienting arm (98) slides the large wheel (101) in the opposite direction and separates it from the small wheel (102). Meanwhile, the orientation bushing (106) slides in the opposite direction with the help of the orientation ring (107) and locks the small wheel (102) to the main motor (99) shaft, thereby allowing lowering patient down onto the wheelchair with the help of the main motor (99).
The orienting lever (98) and the orientation motor (96) are mounted on the main plate (89) by means of the connector (97).
Leg Support Mechanism (52):
After weight reduction is performed, patient's uncontrolled muscle groups should be balanced during her movements for therapy purposes.
The goal herein is to provide patient a support element to prevent uncontrolled leg movements during therapy caused by patient's lack of movement and control ability.
The leg support mechanism (52) consists of a two-piece upper leg and a two-piece lower leg parts in order to be adjusted according to patient's leg length. Said parts are movable telescopically with the help of a gear or sliding mechanism.
The leg support mechanism (52) is bendable in the knee region and each piece has a connector apparatus for attaching them to legs. By this means full support for legs is provided during walking therapy.
Two leg support mechanisms (52) are present in the system which can be controlled independently. This allows a more effective therapy as movement of patient's each leg is controlled independently. In the prior art rehabilitation devices leg support (52) and back support (82) mechanisms are in the form of a single piece. This prevents independent rehabilitation of patients' legs.
However, in the invention according to the application, each leg is supported independently and the back support (82) may be used independently from the leg support mechanisms (52). This allows patient to learn how to use back and leg muscles more effectively while her posture problem is being corrected.
In order to be adjusted to patient's hip height, the leg support mechanism (52) is positioned by means of two separate lifting mechanisms controlled by a vertically movable rack or helical gear or a belt system.
The leg support mechanisms (52) are connected to this lifting mechanism via horizontally positioned telescopically extending-retracting arms. Thus, the leg support mechanism (52) can be adjusted to the position corresponding to patient's waist and hips.
The leg support mechanism (52) consists of
Patient's legs should be actuated in order to teach patient walking motion. For this end, 2 independently movable robotic walking mechanisms (56) are provided in the carrying module (103) which is located in the horizontal base (51).
The robotic walking mechanism (56) is movable forward-backward along the robotic walking mechanism slides (111) with the help of the robotic walking mechanism linear carriages (109). This movement may be actuated by electric motor (2) drive and with the help of a pinion gear (110) and a rack gear (112) connected thereto or by a belt and pulley mechanism connected to the electric motor (2). The rack gear (112) and the robotic walking mechanism slides (111) are mounted onto the lower main platform (113).
This will be used to simulate the forward movement of walking and patient will perform stationary walking.
The robotic walking mechanism (56) is adjustable according to patient's leg length, foot size and stance width. For this end, the foot mount module (108), which consists of an inner socket (20), a toe piece (21) and a front base, is designed as a modular structure in such a manner that it is movable internally to be adjusted to different foot sizes.
The foot mount module (108) is bendable on the line on which metatarsal bones are located in order to make the patient feel the momentum and the grip strength generated in toes while walking. This is crucial for transferring the momentum generated in patient's toes during walking motion to the patient. Toes and forefoot are lifted owing to the upward-downward motion of the linear lifting arms (16) to which they are attached. With the help of this mechanism, patients with various foot sizes can be treated with the device.
The robotic walking mechanism (56) consists of
The heel lifting module's dimensions may be seen in
While the forefoot lifting module may be connected to the motion shaft (27) by means of a reducer outlet coupling (6), it may also be connected with a belt and pulley mechanism.
Additionally, all parts connected to the electric motors included in the locomotion therapy and rehabilitation device according to the invention may be connected to the electric motors by means of couplings or a belt and pulley mechanism.
The motion mechanism of the forefoot lifting module of the robotic walking mechanism (56) operates as explained below.
While the horizontal lifting arm (7) rotates on the axis of the forefoot lifting module's motion shaft (27), the lower connection housing bearing (9) moves forward-backward along the grooves provided on the horizontal lifting arm (7) to rotate on the axis of the mounting pin for medium bearing for linear lifting arm (14) of the lower connection bearing (10), thereby moves the linear lifting arm of the forefoot lifting module (16) upwards-downwards.
With this mechanism, the locomotion therapy and rehabilitation device according to the invention is able to simulate all motions of a foot during stepping in a normal walking movement.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2014/10105 | Aug 2014 | TR | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/TR2015/050067 | 8/13/2015 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2016/032413 | 3/3/2016 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 4569352 | Petrofsky | Feb 1986 | A |
| 6821233 | Colombo et al. | Nov 2004 | B1 |
| 7163492 | Sotiriades | Jan 2007 | B1 |
| 20050239613 | Colombo et al. | Oct 2005 | A1 |
| 20080234113 | Einav | Sep 2008 | A1 |
| 20080249438 | Agrawal | Oct 2008 | A1 |
| 20140087922 | Bayerlein et al. | Mar 2014 | A1 |
| 20140100491 | Hu | Apr 2014 | A1 |
| Number | Date | Country |
|---|---|---|
| 103961240 | Aug 2014 | CN |
| 20040072197 | Aug 2004 | KR |
| WO2010105773 | Sep 2010 | WO |
| WO2010136160 | Dec 2010 | WO |
| WO2012137038 | Oct 2012 | WO |
| Entry |
|---|
| Yoon Jeong Won, “Design and Control of a Reconfigurable Virtual Walking Machine and Its Applications to Locomotion Interface and Lower”, Gwandiju Institute of Science and Technology, 2005, 124p, Advisor: Prof. Jeha Ryu. |
| Number | Date | Country | |
|---|---|---|---|
| 20170290728 A1 | Oct 2017 | US |
