Patent Application
20060206167
The present invention relates to medical devices and related methods. More particularly, various embodiments relate to ambulation and movement assist systems. The systems may include a biological interface apparatus and a movement assist apparatus, such as an ambulation assist apparatus. The biological interface apparatus may include one or more devices controlled by processed multicellular signals of a patient. A processing unit produces a control signal based on multicellular signals received from a sensor comprising multiple electrodes. The movement assist apparatus transmits information or other data to the biological interface apparatus to improve ambulation and other patient movements.
Biological interface devices, for example neural interface devices, are currently under development for numerous patient applications including restoration of lost function due to traumatic injury or neurological disease. Sensors, such as electrode arrays, implanted in the higher brain regions that control voluntary movement, can be activated voluntarily to generate electrical signals that can be processed by a biological interface device to create a thought invoked control signal. Such control signals can be used to control numerous devices including computers and communication devices, external prostheses, such as an artificial arm or functional electrical stimulation of paralyzed muscles, as well as robots and other remote control devices. Patients afflicted with amyotrophic lateral sclerosis (Lou Gehrig's Disease), particularly those in advanced stages of the disease, would also be appropriate for receiving a neural interface device, even if just to improve communication to the external world, including Internet access, and thus improve their quality of life.
Early attempts to utilize signals directly from neurons to control an external prosthesis encountered a number of technical difficulties. The ability to identify and obtain stable electrical signals of adequate amplitude was a major issue. Another problem that has been encountered is caused by the changes that occur to the neural signals that occur over time, resulting in a degradation of system performance. Neural interface systems that utilize other neural information or other neural data, such as electrocorticogram (ECoG) signals, local field potentials (LFPs) and electroencephalogram (EEG) signals have similar issues to those associated with individual neuron signals. Since all of these signals result from the activation of large groups of neurons, the specificity and resolution of the control signal that can be obtained is limited. However, if these lower resolution signals could be properly identified and the system adapt to their changes over time, simple control signals could be generated to control rudimentary devices or work in conjunction with the higher power control signals processed directly from individual neurons.
Commercialization of these neural interfaces has been extremely limited, with the majority of advances made by universities in a preclinical research setting. As the technologies advance and mature, the natural progression will be to more sophisticated human applications, such as those types of devices regulated by various governmental regulatory agencies including the Food and Drug Administration in the United States.
As sophisticated biological interface apparatuses are approved by the FDA and become commercially available, these apparatuses will be used with other assistive systems by paraplegic, quadriplegic, and other motor impaired patients. In order to provide safe and reliable ambulation and other body movements to these patients, those assistive systems may need to communicate and/or otherwise cooperate with each other to create a robust and predictable system. These systems may be self-monitoring and handle malfunctions in a manner to prevent injury. Simplified use, as well as convenience and flexibility to the patient, their caregivers, and family members, may be desirable. There is therefore a need for an improved movement assist system and biological interface apparatus to adequately serve these patient populations.
According to an exemplary aspect of the invention, an ambulation system for a patient is disclosed. The ambulation system includes a biological interface apparatus and an ambulation assist apparatus. The biological interface apparatus collects multicellular signals emanating from one or more living cells of a patient and transmits processed signals to a controlled device. The biological interface apparatus includes a sensor for detecting multicellular signals, the sensor comprising a plurality of electrodes. The electrodes are designed to detect the multicellular signals. A processing unit is designed to receive the multicellular signals from the sensor and process the multicellular signals to produce the processed signals transmitted to the controlled device. The ambulation assist apparatus comprises a rigid structure that is configured to provide support between a portion of the patient's body and a surface such as a floor, sidewalk, moving walkway and even stairs. Data from the ambulation assist apparatus is transferred to the biological interface apparatus.
In an embodiment, the controlled device is an apparatus to assist in the movement of one or more limbs of the patient such as an exoskeleton device or a Functional Electrical Stimulation (FES) device. Ambulation assist apparatus may consist of a patient walker, a cane, a scooter, a wheelchair, or other device applicable to a patient with impaired motor function such as a paraplegic or quadriplegic patient. One or more sensors in the ambulation assist apparatus produces data signals that can be used by the system to improve performance and safety, as well as detect a potentially dangerous situation such as a condition in which the patient has fallen. Data can be transferred from the ambulation assist apparatus to the biological interface apparatus with wired or wireless means.
According to another exemplary aspect of the invention, a movement assist system for moving a patient from a sitting to a standing position is disclosed. The movement assist system includes a biological interface apparatus and a movement assist apparatus. The biological interface apparatus collects multicellular signals emanating from one or more living cells of a patient and transmits processed signals to a controlled device. The biological interface apparatus includes a sensor for detecting multicellular signals, the sensor comprising a plurality of electrodes. The electrodes are designed to detect the multicellular signals. A processing unit is designed to receive the multicellular signals from the sensor and process the multicellular signals to produce the processed signals transmitted to the controlled device. The movement assist apparatus is configured to exert a force on the patient in a direction to cause movement from a sitting position to a standing position. Data from the movement assist apparatus is transferred to the biological interface apparatus.
In an embodiment, the controlled device and/or the movement assist apparatus is an exoskeleton device or a FES device. One or more sensors in the movement assist apparatus produces data signals that can be used by the system to improve performance and safety, as well as detect a potentially dangerous situation such as a condition in which the patient has fallen. Data can be transferred from the movement assist apparatus to the biological interface apparatus with wired or wireless means.
According to still another aspect of the invention, a movement assist system for moving a patient from a standing to a sitting position is disclosed. The movement assist system includes a biological interface apparatus and a movement assist apparatus. The biological interface apparatus collects multicellular signals emanating from one or more living cells of a patient and transmits processed signals to a controlled device. The biological interface apparatus includes a sensor for detecting multicellular signals, the sensor comprising a plurality of electrodes. The electrodes are designed to detect the multicellular signals. A processing unit is designed to receive the multicellular signals from the sensor and process the multicellular signals to produce the processed signals transmitted to the controlled device. The movement assist apparatus is configured to provide a supporting force in a direction to support the patient while moving from a standing to a sitting position. Data from the movement assist apparatus is transferred to the biological interface apparatus.
In an embodiment, the controlled device and/or the movement assist apparatus is an exoskeleton device or a FES device. One or more sensors in the movement assist apparatus produces data signals that can be used by the system to improve performance and safety, as well as detect a potentially dangerous situation such as a condition in which the patient has fallen. Data can be transferred from the movement assist apparatus to the biological interface apparatus with wired or wireless means.
According to some exemplary aspects, an ambulation system for a patient is disclosed. The movement assist system includes a biological interface apparatus, an exoskeleton device and an FES device. The biological interface apparatus collects multicellular signals emanating from one or more living cells of a patient and transmits processed signals to a controlled device. The biological interface apparatus includes a sensor for detecting multicellular signals, the sensor comprising a plurality of electrodes. The electrodes are designed to detect the multicellular signals. A processing unit is designed to receive the multicellular signals from the sensor and process the multicellular signals to produce the processed signals transmitted to the controlled device. The exoskeleton device is attached to one or more limbs of the patient. The FES device is implanted or partially implanted in the patient. The device controlled by the biological interface apparatus is either the exoskeleton device or the FES device.
Additional objects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objects and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various embodiments of the present invention, and, together with the description, serve to explain the principles of the invention. In the drawings:
To facilitate an understanding of the invention, a number of terms are defined immediately herebelow.
Definitions
As used herein, the term “biological interface system” refers to a neural interface system or any system that interfaces with living cells that produce electrical activity or cells that produce other types of detectable signals.
The term “cellular signals,” as used herein, refers to signals or combination of signals that may emanate from any living cell, such as, for example, subcellular signals, intracellular signals, and extracellular signals. For example, “cellular signals” may include, but not be limited to: neural signals (e.g., neuron action potentials or spikes, local field potential (LFP) signals, electroencephalogram (EEG) signals, electrocorticogram signals (ECoG), and signals whose frequency range falls between single neuron spikes and EEG signals); cardiac signals (e.g., cardiac action potentials); electromyogram (EMG) signals; glial cell signals; stomach cell signals; kidney cell signals; liver cell signals; pancreas cell signals; osteocyte cell signals; sensory organ cell signals (e.g., signals emanating from the eye or inner ear); tumor cell signals; and tooth cell signals.
The term “multicellular signals,” as used herein, refers to signals emanating from two or more cells, or multiple signals emanating from a single cell. The term “subcellular signals,” as used herein, refers to, for example, a signal derived from a part of a cell, a signal derived from one particular physical location along or within a cell, a signal from a cell extension (e.g., dendrite, dendrite branch, dendrite tree, axon, axon tree, axon branch, pseudopod, or growth cone), and signals from organelles (e.g., golgi apparatus or endoplasmic reticulum). The term “intracellular signals,” as used herein, refers to a signal that is generated within a cell or by the entire cell that is confined to the inside of the cell up to and including the membrane. The term “extracellular signals,” as used herein, refers to signals generated by one or more cells that occur outside of the cell(s).
As used herein, the term “patient” refers to any animal, such as a mammal and preferably a human. Specific examples of a “patient” include, but are not limited to: individuals requiring medical assistance; healthy individuals; individuals with limited function; and individuals with lost motor or other function due to traumatic injury or neurological disease.
As used herein, the term “configuration” refers to any alteration, improvement, repair, calibration, or other system modifying event whether manual in nature or partially or fully automated. The term “configuration parameter,” as used herein, refers to a variable, or a value of the variable, of a component, device, apparatus, and/or system. A configuration parameter has a value that can be: set or modified; used to perform a function; used in a mathematical or other algorithm; used as a threshold value to perform a comparison; and any combinations thereof. A configuration parameter's value determines the characteristics or behavior of something. System configuration parameters are variables of the system of the present invention, such as those used to by the processing unit to produce processed signals.
Other, numerous subsets of configuration parameters are applicable, these subsets including but not limited to: calibration parameters such as a calibration frequency parameter; controlled device parameters such as a time constant parameter; processing unit parameters such as a cell selection criteria parameter; patient parameters such as a patient physiologic parameter such as heart rate; multicellular signal sensor parameters; other sensor parameters; system environment parameters; mathematical algorithm parameters; a safety parameter; and other parameters. Certain parameters may be controlled by the patient's clinician, such as a password-controlled parameter securely controlled by an integral permission routine of the system. Certain parameters may represent a “threshold” such as a success threshold used in a comparison to determine if the outcome of an event was successful. In numerous steps of a system configuration or other function, a minimum performance or other measure may be maintained by comparing a detected signal, or the output of an analysis of one or more signals, to a success threshold.
As used herein, the term “discrete component” refers to a component of a system such as those defined by a housing or other enclosed or partially enclosed structure, or those defined as being detached or detachable from another discrete component. Each discrete component can transmit information to a separate component through the use of a physical cable, including one or more of electrically conductive wires or optical fibers, or transmission of information can be accomplished wirelessly. Wireless communication can be accomplished with a transceiver that may transmit and receive data such as through the use of “Bluetooth” technology or according to any other type of wireless communication means, method, protocol or standard, including, for example, code division multiple access (CDMA), wireless application protocol (WAP), Infrared or other optical telemetry, radio frequency or other electromagnetic telemetry, ultrasonic telemetry or other telemetric technologies.
As used herein, the term “routine” refers to an established function, operation, or procedure of a system, such as an embedded software module that is performed or is available to be performed by the system. Routines may be activated manually such as by an operator of a system, or occur automatically such as a routine whose initiation is triggered by another function, an elapsed time or time of day, or other trigger.
The devices, apparatus, systems and methods of the present invention may include or otherwise have integrated into one or their components, numerous types and forms of routines. An “adaptive processing routine” is activated to determine and/or cause a routine or other function to be modified or otherwise adapt to maintain or improve performance. A competitive routine is activated to provide a competitive function for the patient of the present invention to compete with, such as a function which allows an operator of the system to compete with the patient in a patient training task; or an automated system function which controls a visual object which competes with a patient controlled object. A “configuration routine” is activated to configure one or more system configuration parameters of the system, such as a parameter that needs an initial value assigned or a parameter that needs an existing parameter modified.
A system “diagnostic routine” is activated, automatically or with operator intervention, to check one or more functions of the system to insure proper performance and indicate acceptable system status to one or more components of the system or an operator of the system. A “language selection routine” is activated to change a language displayed in text form on a display and/or in audible form from a speaker. A “patient training routine” is activated to train the patient in the use of the system and/or train the system in the specifics of the patient, such as the specifics of the patient's multicellular signals that can be generated by the patient and detected by the sensor. A “permission routine” is activated when a system configuration or other parameter is to be initially set or modified in a secured manner. The permission routine may use one or more of: a password; a restricted user logon function; a user ID; an electronic key; a electromechanical key; a mechanical key; a specific Internet IP address; and other means of confirming the identify of one or more operators prior to allowing a secure operation to occur. A “remote technician routine” is activated to allow an operator to access the system of the present invention, or an associated device, from a location remote from the patient, or a system component to be modified. A “system configuration routine” is activated to configure the system, or one or more components or associated devices of the system. In a system configuration routine, one or more system configuration parameters may be modified or initially set to a value. A “system reset routine” is activated to reset the entire system or a system function. Resetting the system is sometimes required with computers and computer based devices such as during a power failure or a system malfunction.
Systems, methods, apparatus, and devices, consistent with the invention, detect cellular signals generated within a patient's body and implement signal processing techniques to generate processed signals for transmission to one or more devices to be controlled. The systems include a biological interface apparatus that allows the patient's voluntary control of a controlled device. The systems further include a movement assist apparatus such as an ambulation assist apparatus. Data transferred from the movement assist apparatus to a component of the system improves patient movement such as ambulation.
The biological interface apparatus includes a sensor comprising a plurality of electrodes that detect multicellular signals from one or more living cells from, for example, the central or peripheral nervous system of a patient. The biological interface apparatus further includes a processing unit that receives and processes the multicellular signals and transmits a processed signal to a controlled device. The processing unit utilizes various electronic, mathematic, neural net, and other signal processing techniques in producing the processed signal.
Also disclosed is an ambulation system that includes a Functional Electrical Stimulation (FES) device and an exoskeleton device. The ambulation system further includes a biological interface apparatus that includes a sensor that detects multicellular signals and a processing unit that processes the multicellular signals to produce processed signals. These processed signals are used by the system to control the FES device and/or the exoskeleton device to provide an effective patient ambulation system.
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
Referring to
Biological interface apparatus 100 includes sensor 200 and a processing unit for processing the multicellular signals that are detected by sensor 200. The processing unit comprises two discrete components: processing unit first portion 130a that is implanted in patient 500; and processing unit second portion 130b that is external to the patient. Sensor 200 is illustrated through a view of the skull that has been cutaway, the sensor being implanted in the motor cortex of patient's brain. A wire bundle connects sensor 200 to processing unit first portion 130a that has been placed in a recess, surgically created in patient's skull, viewed in
Processing unit first portion 130a transmits data, such as with RF or infrared transmission mechanisms, to a receiver of processing unit second portion 130b, which is shown as having been removably placed at a location near the implant site of processing unit first portion 130a. In an embodiment, magnets integral to either or both processing unit discrete components are used to maintain the components in appropriate proximity and alignment to assure accurate transmissions of data. An eyebrow switch 191 (e.g., an eyebrow EMG switch manufactured by Words+ Inc. of Lancaster, Calif.) is attached to patient's eyebrow, and the switch is used to provide a patient activated input signal to biological interface apparatus 100.
In an alternative or additional embodiment, eyebrow switch 191 provides a patient activated input to one or more of the exoskeleton devices or to walker 40. It should be understood that multiple forms of patient input devices could alternatively or additionally used. These devices include, but are not limited to: chin joystick; EEG activated switch (e.g., switch manufactured by BrainFingers of Yellow Springs, Ohio, USA); eye tracker (e.g., device manufactured by LC Technologies of Fairfax, Va., USA); head tracker (e.g., device manufactured by Synapse Adaptive of San Rafael, Calif., USA); neck movement switch; a shoulder movement switch; sip-n-puff joystick controller (e.g., controller manufactured by QuadJoy of Sheboygan, Wis., USA); speech recognition switch; tongue switch (e.g., a tongue palate switch); and any combination thereof. Eyebrow switch 191 and/or other patient input switches incorporated into one or more systems of the present invention can be used to perform various system functions or routines and/or to initiate various system functions or routines. In an embodiment, a patient input switch is used to change the state of the system, such as when the system state changes to: a reset state; the next step of a configuration routine, a stopped state; an alarm state; a message sending state; a limited control of controlled device state; and any combination thereof. Alternative to the patient input switch is a monitored biological signal that is used for a similar change of state function. Applicable monitored biological signals are selected from the group consisting of: eye motion; eyelid motion; facial muscle activation or other electromyographic activity; heart rate; EEG; LFP; respiration; and any combination thereof.
Ambulation system 10 further includes multiple exoskeleton devices, elbow control exoskeleton device 20a, hip control exoskeleton device 20b, and knee control exoskeleton device 20c, all of which are controlled devices of biological interface apparatus 100. Patient 500 includes corresponding exoskeleton devices on the right side of the body as well. Each of the exoskeleton devices include a motor assembly unit, motor 21a, motor 21b, and motor 21c, respectively. Each of these motor assemblies preferably includes an integral power supply as well as one or more sensors that provide signals containing data regarding function of the exoskeleton device. Ambulation system 10 further includes prosthetic arm 30, another controlled device of biological interface apparatus 100 that is controlled by the processed signals of the processing unit. Each of the controlled devices of
Ambulation system 10 further includes electronic module 91 which includes wireless communication mechanisms to transmit data to or from one or more components of biological interface apparatus 100 such as to or from the multiple exoskeleton devices via a wireless transceiver included in the motor assemblies of the exoskeleton devices, and/or to wireless transceiver 43 of walker 40. Electronic module 91 further includes signal processing means such that data received from the various components of ambulation system 10 can be processed or further processed such as to provide a control signal to exoskeleton device 20a, 20b or 20c. Data received from wireless transceiver 43 of walker 40 may be further processed by electronic module 91 and then transmitted to a component of biological interface apparatus 100 such as processing unit second portion 130b. This data can be used by processing unit second portion 130b to modify one or more signal processing parameters or other system configuration parameters of biological interface apparatus 100.
Walker 40 is a motion assist apparatus, such as an ambulation assist apparatus. Walker 40 is a rigid structure that provides support between the patient and the surface that the patient is walking on such as a floor, road, sidewalk, moving walkway, and even stairs and ramps. In an embodiment, one or more surfaces include surface data transmission apparatus, used to transmit specific data about the surface such as surface contour, step height, slope angle, and/or other surface parameter. Such transmission apparatus sends the surface data to one or more components of ambulation system 10 such as processing unit second portion 130b, wireless transceiver 43 of walker 40, and/or electronic module 91. The surface data is used in one or more calculations to produce signals to control one or more devices, such as the controlled device of biological interface apparatus 100.
Walker 40 further includes multiple sensors that provide a signal representing one or more conditions of walker 40, such as a vertical position sensor indicating an unsafe angle of walker 40, a strain gauge sensor that indicates an uneven load being placed walker 40 by patient 500, or other relevant data that can be used by an ambulation system 10 component to modify the control of one or more devices. Tilt switch 41 is included to indicate an unsafe vertical position of walker 40. When an unsafe position is detected, an integral safety routine can be activated, such as a routine that activates an audible transducer or dials a predetermined telephone number (e.g., 911) or a phone number of a family member, and sends a pre-recorded message to correct a potentially dangerous situation. The safety routine can send a signal to one or more components of ambulation system 10 such as a component of biological interface apparatus 100. Biological interface apparatus 100 may further process one or more signals based on data from the safety routine, and then cause the activation of an audible alert or make a predetermined phone call.
Walker 40 further includes strain gauge 42, as well as multiple other sensors to determine the condition of the walker. The sensors can be used to determine one or more parameters of a portion of walker 40 such as stress, strain, torque and vertical position. The data output by these sensors is output to wireless transceiver 43. The wireless transceiver is preferably an RF transmitter and receiver, such that data can be transmitted to one or more devices or components of ambulation system 10. Alternate sensors include but are not limited to: a pressure sensor; a force sensor; a strain sensor; a torsional sensor; a piezoelectric sensor; a force sensing resistor; a mercury switch; an angular orientation sensor; a load cell; a vacuum sensor; a temperature sensor; a humidity sensor; a power sensor such as a voltage or current sensor; an electromagnetic field sensor; and any combination thereof.
The movement assist system 10′ further includes movement assist apparatus 90. Movement assist apparatus 90 is preferably one or more of: a wheelchair such as a motorized wheelchair; a walker; a cane; a scooter such as a motorized scooter; and any combination thereof. Movement assist apparatus 90 includes one or more sensors used to provide a signal representative of one or more conditions of movement assist apparatus 90. These sensors, as described in detail with reference to
Movement assist apparatus 90 may include integral signal processing means such that signals from one or more sensors can be processed prior to transmission to processing unit 130. The transmitted data may signify an alert condition detected by the signal processing of movement assist apparatus 90, such as a signal from a vertical position sensor or tilt condition sensor which indicates that the patient has fallen down. The data may trigger one or more system configuration parameters to change such as a configuration parameter of biological interface apparatus 100 used to produce the processed signals. In an embodiment, the processed signal controls a gain on a force generating assembly of controlled device 300 and the configuration parameter change modifies the gain of the processed signal. The force generating assembly includes one or more components selected from the group consisting of: motor; linear actuator; solenoid; servo; electromagnet; liquid pump; air pump; Nitinol™ wire; and any combination thereof. In another embodiment, the data sent to processing unit 130 is indicative of the patient leaning in an undesirable way such as detected by sensors that detect an uneven force pattern on a walker or a vertical position sensor. Processing unit 130 utilizes the lean data to adjust the processed signal to remove the leaning condition, such as to apply more force to an exoskeleton device on the side of the patient corresponding to the leaning condition. In an alternative embodiment, data is sent from the processing unit 130 to the movement assist apparatus 90 and movement assist apparatus 90 modifies one or more parameters to correct the leaning condition.
In an embodiment, processing unit 130 can present information to the patient based on the data received from movement assist apparatus 90. The information can include information of the following types: visual; audible; gustatory; olfactory; tactile; electrical stimulation such as cortical stimulation; and any combination thereof. In another embodiment, movement assist system 10′ comprises an adaptive processing routine that may cause one or more system configuration parameters to change. In still another embodiment, movement assist system 10′ may comprise a configuration routine for configuring both biological interface apparatus 100 and movement assist apparatus 90, such as a simultaneous configuration. In some embodiments, movement assist system 10′ comprise means to stop or deactivate the data transfer from movement assist apparatus 90 to processing unit 130. The means to stop or deactivate the data transfer may comprise a patient input device, such as those described in detail throughout this application.
Movement assist apparatus 90 transmits data to processing unit 130 via wired or wireless means. Movement assist apparatus 90 may be an ambulation assist apparatus that interfaces with multiple types of rigid surfaces such as floors, roads, moving walkways, stairs, sloped surfaces, sidewalks, and other surfaces. An ambulation assist apparatus may comprise three or more legs, and may include one or more wheels. Ambulation assist apparatus may comprise a walker, a cane, a scooter such as a motorized scooter, and a wheelchair such as a motorized wheelchair. A scooter may include a steering wheel, and the steering wheel may be manipulated by a controlled device 300 such as a prosthetic limb. A wheelchair may have wheels that are moved by a controlled device 300 such as an exoskeleton device moving a human limb. The controlled device may further include a prosthetic leg or a partial leg. In an embodiment incorporating a wheelchair, the wheelchair includes one or more brakes, and a brake is a controlled device of the present invention such that the patient can voluntarily activate the brake with the patient's multicellular signals.
Referring to
Electrodes 212 are configured to detect electrical brain signals or impulses, such as individual neuron spikes or signals that represent clusters of neurons such as local field potential (LFP) and electroencephalogram (EEG) signals. Each electrode 212 may be used to individually detect the firing of multiple neurons, separated by neuron spike discrimination techniques. Other applicable signals include electrocorticogram (ECoG) signals and other signals, such as signals between single neuron spikes and EEG signals. Sensor 200 may be placed in any location of a patient's brain allowing for electrodes 212 to detect these brain signals or impulses. In an embodiment, electrodes 212 can be inserted into a part of brain 250 such as the cerebral cortex. Alternative forms of penetrating electrodes, such as wire or wire bundle electrodes, can make up or be a component of the sensor of the present invention. In addition to or alternative from neural signals, the system of the present invention may utilize other types of cellular signals to produce a processed signal to control a device. The various forms of penetrating electrodes described above can be placed into tissue within or outside of the patient's cranium, such tissue including but not limited to: nerve tissue such as peripheral nerve tissue or nerves of the spine; organ tissue such as heart, pancreas, liver or kidney tissue; tumor tissue such as brain tumor or breast tumor tissue; other tissue and any combination thereof.
Alternatively or additionally, the sensor of the present invention may employ non-penetrating electrode configurations, not shown, such as subdural grids placed inside the cranium such as to record LFP signals. In addition to subdural grids, the sensor may comprise other forms of non-penetrating electrodes such as flat electrodes, coil electrodes, cuff electrodes and skin electrodes such as scalp electrodes. These non-penetrating electrode configurations are placed in, on, near or otherwise in proximity to the cells whose signals are to be detected, such as neural or other cellular signals. In another alternative embodiment, the sensor of the present invention includes detectors other than electrodes, such as photodetectors that detect cellular signals represented by a light emission. The light emission can be caused by a photodiode, integrated into the sensor or other implanted or non-implanted system component, shining one or more wavelengths of light on the appropriate cells. In addition to the numerous types of cells described above, one or more of the various configurations of the sensor of the present invention may utilize any living cell of the body that emanates cellular signals. In an embodiment, the cellular signals are under voluntary control of the patient.
Although
Sensor 200 serves as the multicellular signal sensor of the biological interface apparatus of the present invention. While
Referring back to
In the embodiment depicted in
In an alternative embodiment, processing unit first portion 130a may be placed entirely within skull 260 or be geometrically configured and surgically placed to fill the craniotomy hole instead of bone flap 261. Processing unit first portion 130a can be placed in close proximity to sensor 200, or a distance of 5-20 cm can separate the two components. Processing unit first portion 130a includes a biocompatible housing which creates a fluid seal around wire bundle 220 and numerous internal components of processing unit first portion 130a, internal components not shown. Internal components of Processing unit first portion 130a may provide one or more of the following functions: signal processing of the cellular signals received from sensor 200 such as buffering, amplification, digital conversion and multiplexing, wireless transmission of cellular signals, a partially processed, or derivative form of the cellular signals, or other data; inductive power receiving and conversion; and other functions well known to implanted electronic assemblies such as implanted pacemakers, defibrillators, and pumps.
Processing unit second portion 130b, removably placed at a location proximate to implanted processing unit first portion 130a, but external to patient 500, receives data from processing unit first portion 130a via wireless communication through the skin, such as infrared or radiofrequency wireless data transfer means. Processing unit second portion 130b includes, in addition to wireless data receiving means, wireless power transfer means such as an RF coil which inductively couples to an implanted coil, signal processing circuitry, an embedded power supply such as a battery, and data transfer means. The data transfer means of processing unit second portion 130b may be wired or wireless, and transfer data to one or more of: implanted processing unit first portion 130a; a different implanted device; and an external device such as an additional component of the processing unit of the present invention, a controlled device of the present invention or a computer device such as a configuration computer with Internet access.
Referring to
Processing unit first portion 130a and processing unit second portion 130b independently or in combination preprocess the received cellular signals (e.g., impedance matching, noise filtering, or amplifying), digitize them, and further process the cellular signals to extract neural data that processing unit second portion 130b may then transmit to an external device, such as an additional processing unit component and/or any device to be controlled by the processed multicellular signals. For example, the external device may decode the received neural data into control signals for controlling a prosthetic limb or limb assist device or for controlling a computer cursor. In an alternative embodiment, the external device may analyze the neural data for a variety of other purposes. In another alternative embodiment, the device receiving transmissions from processing unit second portion 130b is an implanted device.
Processing unit first portion 130a and processing unit second portion 130b independently or in combination include signal processing circuitry to perform multiple signal processing functions including but not limited to: amplification, filtering, sorting, conditioning, translating, interpreting, encoding, decoding, combining, extracting, sampling, multiplexing, analog to digital converting, digital to analog converting, mathematically transforming and/or otherwise processing cellular signals to generate a control signal for transmission to a controlled device. Processing unit first portion 130a and processing unit second portion 130b may include one or more components to assist in processing the multicellular signals or to perform additional functions. These components include but are not limited to: a temperature sensor; a pressure sensor; a strain gauge; an accelerometer; a volume sensor; an electrode; an array of electrodes; an audio transducer; a mechanical vibrator; a drug delivery device; a magnetic field generator; a photo detector element; a camera or other visualization apparatus; a wireless communication element; a light producing element; an electrical stimulator; a physiologic sensor; a heating element; and a cooling element.
Processing unit first portion 130a transmits raw or processed cellular signal data to processing unit second portion 130b through integrated wireless communication means, such as the infrared communication means of
In addition to or in place of power transmission, the integrated coil of processing unit first portion 130a and its associated circuitry may receive data from an external coil whose signal is modulated in correlation to a specific data signal. The power and data can be delivered to processing unit first portion 130a simultaneously such as through simple modulation schemes in the power transfer that are decoded into data for processing unit first portion 130a to use, store or facilitate another function. A second data transfer means, in addition to a wireless means such as an infrared LED, can be accomplished by modulating a signal in the coil of processing unit first portion 130a that data is transmitted from the implant to an external device including a coil and decoding elements. In an embodiment, the processing unit first portion 130a includes an embedded ID, which can be wirelessly transmitted to the processing unit second portion 130b or a separate discrete component via the various wireless transmission means described above. In another embodiment, processing unit second portion 130b includes means of confirming proper ID from processing unit first portion 130a, and processing unit second portion 130b also includes an embedded ID.
Processing unit first portion 130a and processing unit second portion 130b may independently or in combination conduct adaptive processing of the received cellular signals by changing one or more parameters of the system to achieve acceptable or improved performance. Examples of adaptive processing include, but are not limited to: changing a system configuration parameter during a system configuration; changing a method of encoding neural or other cellular signal data; changing the type, subset, or amount of cellular signal data that is processed; or changing a method of decoding neural or other cellular signal data. Changing an encoding method may include changing neuron spike sorting methodology, calculations, thresholds, or pattern recognition methodologies. Changing a decoding methodology may include changing variables, coefficients, algorithms, and/or filter selections. Other examples of adaptive processing may include changing over time the type or combination of types of signals processed, such as EEG, ECoG, LFP, neural spikes, or other cellular signal types.
Processing unit first portion 130a and processing unit second portion 130b may independently or in combination also transmit electrical signals to one or more electrodes 212 such as to stimulate, polarize, hyperpolarize or otherwise cause an effect on one or more cells of neighboring tissue. Specific electrodes may record cellular signals only, or deliver energy only, and specific electrodes may provide both functions. In an alternative embodiment, a separate device, not shown but preferably an implanted device with the ability to independently or in combination provide an electrical signal to multiple electrodes, delivers stimulating energy to one or more electrodes 212 or different electrodes. Stimulating electrodes in various locations can transmit signals to the central nervous system, peripheral nervous system, other body systems, body organs, muscles and other tissue or cells. The transmission of these signals is used to perform one or more functions including but not limited to: pain therapy; muscle stimulation; seizure disruption; stroke rehabilitation; coma recovery; and patient feedback.
In an alternative embodiment, processing unit first portion 130a and potentially additional signal processing functions are integrated into sensor 200, such as, for example, through the use of a bonded electronic microchip. In another alternative embodiment, processing unit first portion 130a may also receive non-neural cellular signals and/or other biologic signals, such as from an implanted sensor. These signals may be in addition to received neural multicellular signals, and they may include but are not limited to: EKG signals, respiration signals, blood pressure signals, electromyographic activity signals and glucose level signals. Such biological signals may be used to change the state of the biological interface apparatus of the present invention or one of its discrete components. Such state changes include but are not limited to: turn system or component on or off; to begin a configuration routine; to initiate or conclude a step of a configuration or other routine; and to start or stop another system function. In another alternative embodiment, processing unit first portion 130a and processing unit second portion 130b independently or in combination produce one or more additional processed signals, to additionally control the controlled device of the present invention or to control one or more additional controlled devices.
In an alternative configuration of implanted components, a discrete component such as a sensor of the present invention is implanted within the cranium of the patient, such as sensor 200 of
As shown in
Alternatively, system 100 can be utilized by patient 500 to enhance performance, such as, for example, if patient 500 did not have a disease or condition from which a therapy or restorative device could provide benefit, but did have an occupation wherein thought control of a device provided an otherwise unachieved advancement in healthcare, crisis management and national defense. Thought control of a device can be advantageous in numerous healthy individuals including but not limited to: a surgeon, such as an individual surgeon using thought control to maneuver three or more robotic arms in a complex laparoscopic procedure or a surgeon controlling various instruments at a location remote from the instruments and the surgical procedure; a crisis control expert, such as a person who in attempting to minimize death and injury uses thought control to communicate different pieces of data and/or control multiple pieces of equipment, such as urban search and rescue equipment, simultaneously during an event such as an earthquake or other disaster, both natural disasters and those caused by man; a member of a bomb squad, such as an expert who uses thoughts to control multiple robots and/or robotic arms to remotely diffuse a bomb; and military personnel who uses thought control to communicate with other personnel and control multiple pieces of defense equipment, such as artillery, aircraft, watercraft, land vehicles, and reconnaissance robots. It should be noted that the above advantages of system 100 to a healthy individual are also advantages achieved in a patient such as a quadriplegic or paraplegic. In other words, a quadriplegic could provide significant benefit to society, such as in controlling multiple bomb diffusing robots, in addition to his or her own ambulation and other quality of life devices. Patients undergoing implantation and use of the system 100 of the present invention may provide numerous occupational and other functions not available to individuals that do not have the biological interface apparatus of the present invention.
The sensor electrodes of system 100 can be used to detect various multicellular signals as has been described in detail in reference to
In
Processing unit second portion 130b includes a unique electronic ID, such as a unique serial number or any alphanumeric or other retrievable, identifiable code associated uniquely with the system 100 of patient 500. The unique electronic identifier may take many different forms in processing unit second portion 130b, such as, for example, a piece of electronic data stored in a memory module; a semiconductor element or chip that can be read electronically via serial, parallel or telemetric communication; pins or other conductive parts that can be shorted or otherwise connected to each other or to a controlled impedance, voltage or ground, to create a unique code; pins or other parts that can be masked to create a binary or serial code; combinations of different impedances used to create a serial code that can be read or measured from contacts, features that can be optically scanned and read by patterns and/or colors; mechanical patterns that can be read by mechanical or electrical detection means or by mechanical fit, a radio frequency ID or other frequency spectral codes sensed by radiofrequency or electromagnetic fields, pads and/or other marking features that may be masked to be included or excluded to represent a serial code, or any other digital or analog code that can be retrieved from the discrete component.
Alternatively or in addition to embedding the unique electronic ID in processing unit second portion 130b, the unique electronic ID can be embedded in one or more implanted discrete components. Under certain circumstances, processing unit second portion 130b or another external or implanted component may need to be replaced, temporarily or permanently. Under these circumstances, a system compatibility check between the new component and the remaining system components can be confirmed at the time of the repair or replacement surgery through the use of the embedded unique electronic ID. The unique electronic ID can be embedded in one or more of the discrete components at the time of manufacture, or at a later date such as at the time of any clinical procedure involving the system, such as a surgery to implant the sensor electrodes into the brain of patient 500. Alternatively, the unique electronic ID may be embedded in one or more of the discrete components at an even later date such as during a system configuration routine (e.g., a calibration routine).
Processing unit second portion 130b communicates with one or more discrete components of system 100 via wireless communication means. Processing unit second portion 130b communicates with selector module 400, a component utilized to select the specific device or devices to be controlled by the processed signals of system 100. Selector module 400 includes a touch screen set of buttons, input element 402, used to perform the selection process. Processing unit second portion 130b also communicates with controlled device CPU 305, such as to control a cursor, joystick, keyboard or other function of CPU 305. Processing unit second portion 130b further communicates with processing unit third portion 130c. Processing unit third portion 130c provides additional signal processing functions, as have been described above, to control wheelchair 310. An additional processing unit discrete component (e.g., processing unit fourth portion 130d) may be included to perform additional processing of the multicellular signals and/or derivatives of these processed signals and/or processing of additional data, such as collective processing used to control one or more additional controlled devices of the present invention. System 100 may utilize selector module 400 to select one or more of CPU 305, wheelchair 310, or another controlled device to be controlled by the processed signals produced by the processing unit of the present invention. In system 100 of
The various components of system 100 communicate with wireless transmission means. However, it should be appreciated that physical cables can be used to transfer data alternatively or in addition to wireless means. These physical cables may include electrical wires, optical fibers, sound wave guide conduits, other physical means of transmitting data, and/or power, and any combination of those means.
A qualified individual, such as an operator 110 in cooperation with patient 500, is performing a patient training routine, one of numerous configuration programs or routines of the system. In an alternative embodiment, patient 500 is the operator of the patient training routine or other configuration routine. The patient training routine may be performed with controlled device 305. Displayed on monitor 302 is planned trajectory 711, system controlled target 712 and patient controlled object 713. In the performance of the patient training routine, multiple time varying stimulus, such as a moving system controlled target 712 are provided to the patient such that the patient can imagine moving that target, and a set of multicellular signals can be collected by the processing unit to produce one or more algorithms to produce the processed signals. In an embodiment, after a first set of multicellular signals is collected, and a first transfer function for producing processed signals is developed, a second set of time varying stimulus is provided in combination with a patient controlled object, such as patient controlled object 713. During the time that the patient tries to mimic the motion of the system controlled target 712 with the visual feedback of the patient controlled target 713, and a second set of multicellular signals is collected and a second, improved transfer function is produced by the system. Additional forms of feedback can be provided to the patient, such as tactile transducer 701 shown attached to patient's neck, and speaker 702 shown attached (e.g., fixedly mounted to the back of controlled wheelchair 310) to processing unit third portion 130c. Speaker 702 and tactile transducer 701 can provide feedback in the form of a time varying stimulus, a derivative of the multicellular signals, and/or a representation of the processed signals as controlled by patient 500.
In an embodiment, one or more system configuration routines can be performed without an operator, with the patient as the operator, or with an operator at a remote location such as when the system of the present invention is electronically connected with a computer or computer network such as the Internet. In another embodiment, the patient training routine is performed at least one time during the use of the system, preferably before patient 500 is given, by the system, full control of one or more controlled devices. For example, limited control of CPU 305 may include the ability to send and receive email but not the ability to adjust a computer-controlled thermostat. Limited control of wheelchair 310 may be to turn left or right, but not move forward or back, or to only allow travel at a limited velocity. Limited control may also include no control of one or more controlled devices. Each controlled device will have different parameters limited by system 100 when patient 500 has not been given full control. In an embodiment, the selection of these parameters, the values to be limited, the criteria for achieving full control such as the value of a success threshold achieved during a system configuration routine such as a patient training routine, and any combinations of these may be modified only in a secured way such as only by a clinician utilizing electronic or mechanical keys or passwords.
In addition to successful completion of the patient training routine, completion of one or more other configuration routines may be required for patient 500 to have full control of one or more controlled devices, or multiple successful completions of a single routine. Success is preferably measured through the measurement of one or more performance parameters during or after the configuration routine. Success will be achieved by a performance parameter being above a threshold value, such as a threshold value adjustable only by a clinician, such as a clinician at a remote site utilizing a password, user identification, an electronic ID and/or a mechanical key. These configuration routines are utilized by the system to not only determine the applicability of full control to the patient, but to set or reset one or more system configuration parameters. System configuration parameters include but are not limited to: selection of cellular signals for processing by the processing unit; criteria for the selection of cells for processing; a coefficient of a signal processing function such as amplification, filtering, sorting, conditioning, translating, interpreting, encoding, decoding, combining, extracting, sampling, multiplexing, analog to digital converting, digital to analog converting, mathematically transforming; a control signal transfer function parameter such as a transfer function coefficient, algorithm, methodology, mathematical equation, a calibration parameter such as calibration frequency; a controlled device parameter such as a controlled device boundary limit; acceptable frequency range of cellular activity; selection of electrodes to include; selection of cellular signals to include; type of frequency analysis such as power spectral density; instruction information to patient such as imagined movement type or other imagined movement instruction; type, mode or configuration of feedback during provision of processed signal to patient; calibration parameter such as calibration duration and calibration frequency; controlled device parameter such as controlled device mode; alarm or alert threshold; and a success threshold.
As depicted in
Configuration apparatus 120 may include various elements, functions, and data including but not limited to: memory storage for future recall of configuration activities, operator qualification routines, standard human data, standard synthesized or artificial data, neuron spike discrimination software, operator security and access control, controlled device data, wireless communication means, remote (such as via the Internet) configuration communication means and other elements, functions and data used to provide an effective and efficient configuration on a broad base of applicable patients and a broad base of applicable controlled devices. A system electronic ID can be embedded in one or more of the discrete components at the time, including an ID embedded at the time of system configuration. In an alternative embodiment, all or part of the functionality of configuration apparatus 120 is integrated into selector module 400 such that system 100 can perform one or more configuration processes such as a calibration procedure or patient training routine, utilizing selector module 400 without the availability of configuration apparatus 120.
In order to change a system configuration parameter, system 100 includes a permission routine, such as an embedded software routine or software driven interface that allows the operator to view information and enter data into one or more components of system 100. The data entered must signify an approval of the parameter modification in order for the modification to take place. Alternatively, the permission routine may be partially or fully located in a separate device such as configuration apparatus 120 of
In an embodiment, the system 100 of
In an embodiment, an automatic or semi-automatic configuration function or routine is embedded in system 100. This embedded configuration routine can be used in place of a configuration routine performed manually by operator 110 as is described hereabove, or can be used in conjunction with one or more manual configurations. Automatic and/or semi-automatic configuration triggering event or causes can take many forms including but not limited to: monitoring of cellular activity, wherein the system automatically changes which particular signals are chosen to produce the processed signals; running parallel algorithms in the background of the one or more algorithms currently used to create the processed signals, and changing one or more algorithms when improved performance is identified in the background event; monitoring of one or more system functions, such as alarm or warning condition events or frequency of events, wherein the automated system shuts down one or more functions and/or improves performance by changing a relevant variable; and other methods that monitor one or more pieces of system data, identify an issue or potential improvement, and determine new parameters that would reduce the issue or achieve an improvement.
In an exemplary emdobiment, when specific system configuration parameters are identified, by an automated or semi-automated calibration or other configuration routine, to be modified for the reasons described above, an integral permission routine of the system requires approval of a specific operator when one or more of the system configuration parameters are modified.
Operator 110 may be a clinician, technician, caregiver, patient family member or even the patient themselves in some circumstances. Multiple operators may be needed or required to perform a configuration routine or approve a modification of a system configuration parameter, and each operator may be limited by system 100, via passwords and other control configurations, to only perform or access specific functions. For example, only the clinician may be able to change specific critical parameters, or set upper and lower limits on other parameters, while a caregiver, or the patient, may not be able to access those portions of the configuration procedure or the permission procedure. The configuration routine includes the setting of numerous parameters needed by system 100 to properly control one or more controlled devices. The parameters include but are not limited to various signal conditioning parameters as well as selection and de-selection of specific multicellular signals for processing to generate the device control creating a subset of signals received from the sensor to be processed. The various signal conditioning parameters include, but are not limited to: threshold levels for amplitude sorting, other sorting and pattern recognition parameters, amplification parameters, filter parameters, signal conditioning parameters, signal translating parameters, signal interpreting parameters, signal encoding and decoding parameters, signal combining parameters, signal extracting parameters, mathematical parameters including transformation coefficients and other signal processing parameters used to generate a control signal for transmission to a controlled device.
The configuration routine will result in the setting of various system configuration output parameters, all such parameters to be considered system configuration parameters. Configuration output parameters may include but be not limited to: electrode selection, cellular signal selection, neuron spike selection, electrocorticogram signal selection, local field potential signal selection, electroencephalogram signal selection, sampling rate by signal, sampling rate by group of signals, amplification by signal, amplification by group of signals, filter parameters by signal and filter parameters by group of signals. In an embodiment, the configuration output parameters are stored in memory in one or more discrete components, and the parameters are linked to the system's unique electronic ID.
Calibration, patient training, and other configuration routines, including manual, automatic and semi-automatic routines, may be performed on a periodic basis, and may include the selection and deselection of specific cellular signals over time. The initial configuration routine may include initial values, or starting points, for one or more of the configuration output parameters. Setting initial values of specific parameters, may invoke a permission routine. Subsequent configuration routines may involve utilizing previous configuration output parameters that have been stored in a memory storage element of system 100. Subsequent configuration routines may be shorter in duration than an initial configuration and may require less patient involvement. Subsequent configuration routine results may be compared to previous configuration results, and system 100 may require a repeat of configuration if certain comparative performance is not achieved.
The configuration routine may include: (a) setting a preliminary set of configuration output parameters; (b) generating processed signals to control the controlled device; (c) measuring the performance of the controlled device control; and (d) modifying the configuration output parameters. The configuration routine may further include the steps of repeating steps (b) through (d). The configuration routine may also require invoking a permission routine.
In the performance of a configuration routine, the operator 110 may involve patient 500 or perform steps that do not involve the patient. In the patient training routine and other routines, the operator 110 may have patient 500 imagine one or more particular movements, imagined states, or other imagined events, such as a memory, an emotion, the thought of being hot or cold, or other imagined event not necessarily associated with movement. The patient participation may include: the patient training routine providing one or more time varying stimulus, such as audio cues, visual cues, olfactory cues, tactile cues, moving objects on a display such as a computer screen, moving mechanical devices such as a robotic arm or a prosthetic limb, moving a part of the patient's body such as with an exoskeleton or FES implant, changing audio signals, changing electrical stimulation such as cortical stimulation, moving a vehicle such as a wheelchair or car; moving a model of a vehicle; moving a transportation device; and other sensory stimulus. The imagined movements may include the imagined movement of a part of the body, such as a limb, arm, wrist, finger, shoulder, neck, leg, angle, and toe, as well as imagining moving to a location, moving in a direction, moving at a velocity or moving at an acceleration.
The patient imagines moving system controlled target 712 along planned trajectory 711, as target 712 is moving as controlled by the system or manually by operator 110. The current processed signal, hereinafter a representation of the processed signal, available by applying a transfer function to the multicellular signals detected during the imagined movement or other step of the patient training routine, is displayed in the form of control of patient controlled target 713. The transfer function is preferably based on multicellular signals stored during a previous imagined movement, or multiple previous imagined movements, preferably two or more sets of states of time varying stimulus. The representation of the processed signal may mimic the time varying stimulus, similar to patient controlled object 713 being a similar form to system controlled object 712.
Alternatively, the time varying stimulus and representation of the processed signals may take different forms, such as a time varying stimulus including an object on a visual display, wherein the representation is a moving mechanical structure, or the stimulus being a moving mechanical structure and the representation comprising an object on a visual display. The representation of the processed signals can be provided to the patient in visual form such as a visual representation of limb motion displayed on a computer monitor, or in one or more sensory forms such as auditory, olfactory, gustatory, and electrical stimulation such as cortical stimulation. The representation of the processed signals can be provided in combinations of these and other forms.
In some exemplary embodiments, the first patient training step may not include patient controlled object 713, or it may include a patient controlled target whose processed signal is not based on a set of multicellular signals collected during a previous imagined movement. Multiple steps of providing a set of states of the time varying stimulus and recording the multicellular signal data may involve different subsets of cells from which the multicellular signals are detected. Also, different sets of states of time varying stimulus may have different numbers of cells in each. Alternative to the system controlled target 712 along planned trajectory 711, the patient may imagine movements while viewing a time varying stimulus comprising a video or animation of a person performing the specific movement pattern. In an embodiment, this visual feedback is shown from the patient's perspective, such as a video taken from the person performing the motion's own eye level and directional view. Multiple motion patterns and multiple corresponding videos may be available to improve or otherwise enhance the patient training process. The patient training routine temporally correlates a set of states of the time varying stimulus with the set of multicellular signal signals captured and stored during that time period, such that a transfer function can be developed for future training or controlled device control. Correlations can be based on numerous variables of the motion including but not limited to: position, velocity and acceleration of the time varying stimulus; a patient physiologic parameter such as heart rate; a controlled device parameter; a system environment parameter; a password controlled parameter; a clinician controlled parameter; and a patient training routine parameter. In the patient training routine of
During the time period that a set of states of the time varying stimulus is applied, multicellular signal data detected by the implanted sensor is stored and temporally correlated to that set of states of the time varying stimulus provided to the patient. In an embodiment, the system of the present invention includes a second patient training routine and a second controlled device, wherein the first patient training routine is used to configure the first controlled device and the second patient training routine is used to configure the second controlled device. The two patient training routines may include different time varying stimulus, chosen to optimize the routine for the specific controlled device, such as a moving cursor for a computer mouse control system, and a computer simulated prosthetic limb for a prosthetic limb control system. In an exemplary system, the first controlled device is a prosthetic arm and the second controlled device is a prosthetic leg, this system having two different time varying stimulus in the two corresponding patient training routines.
In one embodiment, the first controlled device is a prosthetic arm and the second controlled device is a wheelchair. This system may also have two different time varying stimulus in the two corresponding patient training routines. In an alternative embodiment, a controlled device surrogate is utilized in the patient training routine. The controlled device surrogate preferably has a larger value of one or more of: degrees of freedom; resolution; modes; discrete states; functions; and boundary conditions. Numerous boundary conditions with greater values for the surrogate device can be employed. Such boundary conditions may include: maximum distance; maximum velocity; maximum acceleration; maximum force; maximum torque; rotation; and position. The surrogate device employing larger values of these parameters creates the scenario, wherein the patient is trained and/or tested with a device of more complexity than the eventual controlled device to be used.
The time varying stimulus may be supplied to the patient in numerous forms such as visual, tactile, olfactory, gustatory, and electrical stimulation such as cortical stimulation. The time varying stimulus may be moved around manually, automatically produced and controlled by a component of the system such as the processing unit, or produced by a separate device. The time varying stimulus may include continuous or semi-continuous motion of an object, such as an object moving on a visual display, a mechanical object moving in space, or a part of the patient's body moving in space. The time varying stimulus may be of a short duration, such as an object appearing and disappearing quickly on a display, or a flash of light.
In an embodiment, the patient training routine includes multiple forms of feedback, in addition to the time varying stimulus, such feedback provided to the patient in one or more forms including but not limited to: visual; tactile; auditory; olfactory; gustatory; and electrical stimulation. The additional feedback may be a derivative of the multicellular signals, such as visual or audio feedback of one or more neuron spike modulation rates. Different forms of feedback may be provided as based on a particular device to be controlled by the processed signals. Numerous parameters for the time varying stimulus and other feedback may be adjustable, such as by an operator such as the patient. These parameters including but not limited to: sound volume and frequency; display brightness, contrast, size and resolution; display object size; electrical current parameter such as current or voltage; mechanical or visual object size, color, configuration, velocity or acceleration; and any combinations of these.
A configuration routine such as a calibration or patient training routine may utilize one or more configuration input parameters to determine one or more system output parameters used to develop a processed signal transfer function. In addition to the multicellular signals themselves, system or controlled device performance criteria can be utilized. Other configuration input parameters include various properties associated with the multicellular signals including one or more of: signal to noise ratio, frequency of signal, amplitude of signal, neuron firing rate, average neuron firing rate, standard deviation in neuron firing rate, modulation of neuron firing rate as well as a mathematical analysis of any signal property including but not limited to modulation of any signal property. Additional configuration input parameters include but are not limited to: system performance criteria, controlled device electrical time constants, controlled device mechanical time constants, other controlled device criteria, types of electrodes, number of electrodes, patient activity during configuration, target number of signals required, patient disease state, patient condition, patient age and other patient parameters and event based (such as a patient imagined movement event) variations in signal properties including neuron firing rate activity. In an embodiment, one or more configuration input parameters are stored in memory and linked to the embedded, specific, unique electronic identifier. All configuration input parameters shall be considered a system configuration parameter of the system.
In some exemplary embodiments, it may be desirous for the configuration routine to exclude one or more multicellular signals based on a desire to avoid signals that respond to certain patient active functions, such as non-paralyzed functions, or even certain imagined states. The configuration routine may include having the patient imagine a particular movement or state, and based on sufficient signal activity such as firing rate or modulation of firing rate, exclude that signal from the signal processing based on that particular undesired imagined movement or imagined state. Alternatively real movement accomplished by the patient may also be utilized to exclude certain multicellular signals emanating from specific electrodes of the sensor. In an embodiment, an automated or semi-automated calibration or other configuration routine may include through addition, or exclude through deletion, a signal based on insufficient activity during known patient movements.
The configuration routines of the system of the present invention, such as a patient training routine in which a time varying stimulus is provided to the patient, may conduct adaptive processing, such as adapting between uses or within a single patient training routine. The adaptation may be caused by a superior or inadequate level of performance, as compared to a threshold value, such as an adjustable threshold value. In an embodiment, performance during a patient training routine above a threshold value causes the duration of the routine to decrease, and performance below a threshold value causes the duration of the routine to increase. Control of the controlled device or surrogate controlled device is a preferred way of measuring performance. Alternatively, a change in multicellular signals, such as a change in modulation rate may cause an adaptation to occur. A monitored difference is a first patient training event and a second patient training event, such as a difference in signal modulation, may cause an adaptation in the patient training routine, such as to preferentially choose one time varying stimulus over another time varying stimulus. Other causes include a change to a patient parameter, such as the level of patience consciousness. In an embodiment, at a low level of consciousness, the patient training routine changes or discontinues. The level of consciousness may be determined by the multicellular signals detected by the sensor. Alternatively, the level of consciousness can be detected utilizing a separate sensor, such as a sensor to detect EEG or LFP signals. The patient training routine may automatically adapt, such as due to a calculation performed by the processing unit, or may adapt due to operator input.
In an exemplary embodiment, the system may include a processing unit that processes multicellular signals received from patient 500. Processing unit second portion 130b and other processing unit components, singly or in combination, perform one or more functions. The functions performed by the processing unit include but are not limited to: producing the processed signals; transferring data to a separate device; receiving data from a separate device; producing processed signals for a second controlled device; activating an alarm, alert or warning; shutting down a part of or the entire system; ceasing control of a controlled device; storing data; and performing a configuration.
In order for the processing unit of system 100 to perform one or more functions, one or more system configuration parameters are utilized. These parameters include pieces of data stored in, sent to, or received from, any component of system 100, including but not limited to: the sensor; a processing unit component; processing unit second portion 130b; or a controlled device. Parameters can be received from devices outside of system 100 as well, such as configuration apparatus 120, a separate medical therapeutic or diagnostic device, a separate Internet based device, or a separate wireless device. These parameters can be numeric or alphanumeric data, and can change over time, either automatically or through an operator involved configuration or other procedure.
The processing unit, or other component of system 100 may produce multiple processed signals for controlling one or more controlled device. This second processed signal may be based on multicellular signals of the sensor, such as the same set of cells as the first processed signal is based on, or a different set of cells emanating signals. The signal processing used to produce the additional processed signals can be the same as the first, or utilize different processing, such as different transfer functions. Transfer functions may include different algorithms, coefficients such as scaling factors, different types of feedback, and other transfer function variations. Alternatively, the additional processed signals may be based on signals not received from the sensor in which the first processed signal is derived. An additional sensor, such as a similar or dissimilar sensor, may provide the signals to produce the additional processed signals, or the system may receive a signal from an included input device such as a tongue switch; tongue palate switch; chin joystick; Sip-n-puff joystick controller; eye gaze tracker; head tracker; EMG switch such as eyebrow EMG switch; EEG activated switch; speech recognition device; and any combinations thereof. The additional processed signal may be derived from a monitored biological signal such as a signal based on eye motion; eyelid motion; facial muscle activation or other electromyographic activity; heart rate; EEG; LFP; respiration; and any combinations thereof. In creating the additional processed signal or signals, the processing unit may convert these alternative input signals into a digital signal, such as a digital signal used to change the state of the system, such as a change in state of an integrated configuration routine.
Referring to
Biological interface apparatus 100 includes sensor 200 and a processing unit for processing the multicellular signals that are detected by sensor 200. The processing unit comprises two discrete components: processing unit first portion 130a that is implanted in patient 500; and processing unit second portion 130b that is external to the patient. Sensor 200 is illustrated through a view of the skull that has been cutaway with the sensor being implanted in the motor cortex of patient's brain. A wire bundle connects sensor 200 to processing unit first portion 130a that has been placed in a recess, surgically created in patient's skull, viewed in
Processing unit first portion 130a transmits data, such as with RF or infrared transmission mechanisms, to a receiver of processing unit second portion 130b, which is shown as having been removably placed at a location near the implant site of processing unit first portion 130a. In an embodiment, magnets integral to either or both processing unit discrete components are used to maintain the components in appropriate proximity and alignment to assure accurate transmissions of data. A patient input switch, such as an eyebrow EMG switch can be attached to patient's eyebrow. The switch is used to provide a patient activated input signal to biological interface apparatus 100. In an alternative or additional embodiment, the eyebrow switch provides a patient activated input to one or more of the exoskeleton devices or the wheelchair 50 of
The one or more patient input switches, incorporated into movement assist system 10′, can be used to perform various system functions or routines and/or to initiate various system functions or routines. In an embodiment, a patient input switch is used to change the state of the system, such as when the system state changes to: a reset state; the next step of a configuration routine, a stopped state; an alarm state; a message sending state; a limited control of controlled device state; and any combination thereof. Alternative to the patient input switch is a monitored biological signal that is used for a similar change of state function. Applicable monitored biological signals are selected from the group consisting of: eye motion; eyelid motion; facial muscle activation or other electromyographic activity; heart rate; EEG; LFP; respiration; and any combination thereof.
Movement assist system 10′ may include a movement assist apparatus in the form of multiple exoskeleton devices, such as two knee control exoskeleton devices 20c; a hip control exoskeleton device, not shown but under the patient's clothing and attached to provide a force to patient's hip joints; and other exoskeleton devices, all of which are movement assist apparatuses of the movement assist system 10′ of the present invention. Each of the exoskeleton devices includes a motor assembly unit, such as motor assembly 21c of exoskeleton device 20c. Each of these motor assemblies may include an integral power supply as well as one or more sensors. The sensors may provide signals that contain data regarding function of the exoskeleton device including the function of assisting the patient in a predetermined motion, such as a sensor which monitors current sent to the motor to determine a load condition. Each of the motor assemblies further provides wireless data transfer mechanisms, and preferably data transfer and receiving mechanisms, for transmitting this or other data to or from the biological interface apparatus 100. This data may be used as closed loop feedback by the system to perform the sitting to standing task, or the standing to sitting task, in a safe and reliable fashion. Data may include forces encountered, such as forces indicating an undesirable leaning condition, or other data that requires some form of compensation by one or more components of movement assist apparatus 10′.
Motor assembly 21c includes multiple electronic components necessary to transmit and receive wireless data, such as RF wireless communication components, as well as other components enabling motor assembly 21c to process the data to perform one or more mathematical operations, compare values, or otherwise process the signals and/or data such that derivatives of the signals and data can be used by motor assembly 21c and/or transmitted to a separate component of movement assist system 10′.
Movement assist system 10 may include wheelchair 50, which is a controlled device of biological interface apparatus 100 that is controlled by the processed signals of processing unit first portion 130a and processing unit second portion 130b. Wheelchair 50 receives the processed signals wirelessly via wireless transceiver 53. In an embodiment, wheelchair 50 also transmits data back to processing unit second portion 130b via wireless transceiver 53, such as to improve control performance of the processed signals. Wireless transceiver 53 includes multiple electronic components necessary to transmit and receive wireless data, such a RF wireless communication components, as well as other components enabling wireless transceiver 53 to process the data to perform one or more mathematical operations, compare values, or otherwise process the signals and/or data such that derivatives of the signals and data can be used by wheelchair 50 and/or transmitted to a separate component of movement assist system 10′.
Wheelchair 50 is a rigid structure that provides support between the patient and the surface that the wheelchair resides upon, such as a floor, road, sidewalk, moving walkway, and even stairs and ramps. In an embodiment, one or more surfaces include surface data transmission apparatus, used to transmit specific data about the surface such as surface contour, step height, slope angle, and/or other surface parameter such transmission apparatus sending the surface data to one or more components of movement assist apparatus 10′ such as processing unit second portion 130b, wireless transceiver 53 of wheelchair 50, and/or a wireless transceiver of motor assembly 21c or any other exoskeleton motor assembly. The surface data is used in one or more calculations to produce signals to control one or more devices, such as the controlled device of biological interface apparatus 100 or knee exoskeleton 20c.
Wheelchair 50 may include multiple sensors that provide a signal representing one or more conditions of wheelchair 50, such as a vertical position sensor indicating an vertical position of wheelchair 50 such as a tipped condition, a strain gauge sensor that indicates an uneven load being placed wheelchair 50 such as during a sitting to standing transition of patient 500, or other relevant data that can be used by a movement assist system 10′ component to modify the control of one or more devices. Tilt switch 51 is included to indicate an unsafe vertical position of wheelchair 50. When an unsafe position is detected, an integral safety routine can be activated, such as a routine that activates an audible transducer or dials a predetermined telephone number (e.g., 911) or a phone number of a family member, and sends a pre-recorded message to correct a potentially dangerous situation. The safety routine can send a signal to one or more components of movement assist system 10′ such as a component of biological interface apparatus 100. Biological interface apparatus 100 may further process one or more signals based on data from the safety routine, and then cause the activation of an audible alert or make a predetermined phone call.
Wheelchair 50 further includes strain gauge (similar to strain gauge 42 shown in
Wheelchair 50, being a controlled device of biological interface apparatus 100, is controlled by the processed signals of processing unit first portion 130a and processing unit second portion 130b. These processed signals may control one or more motors of wheelchair 50, wherein wheelchair 50 is a motorized wheelchair, and/or the processed signals may control brake 55 of wheelchair 50, such as by applying a brake when the patient transitions from a sitting position to a standing position or from a standing position to a sitting position. Alternatively or additionally, knee exoskeletons 20c as well as one or more additional exoskeletons attached to patient 500 of
Another embodiment of an ambulation system of the present invention is illustrated in
Biological interface apparatus 100 includes sensor 200 and a processing unit for processing the multicellular signals that are detected by sensor 200. The processing unit comprises two discrete components: processing unit first portion 130a that is implanted in patient 500, and processing unit second portion 130b that is external to the patient. Sensor 200 is illustrated through a view of the skull that has been cutaway, the sensor being implanted in the motor cortex of patient's brain. A bundle of wires connects sensor 200 to processing unit first portion 130a that has been placed in a recess, surgically created in patient's skull, viewed in
Processing unit first portion 130a transmits data, such as with RF or infrared transmission means, to a receiver of processing unit second portion 130b, which is shown as having been removably placed at a location near the implant site of processing unit first portion 130a. In an embodiment, magnets integral to either or both processing unit discrete components are used to maintain the components in appropriate proximity and alignment to assure accurate transmissions of data. A neck switch 192 is attached to patient's neck, such that sufficient sideways bending of patient's neck is used to provide a patient activated input signal to biological interface apparatus 100. In an alternative or additional embodiment, neck switch 92 provides a patient activated input to one or more of the exoskeleton devices, 20a, 20b and 20c, and/or to FES device including FES implants 60. It should be understood that multiple forms of patient input devices could alternatively or additionally used. These devices include but are not limited to: chin joystick; EEG activated switch; eyebrow switch; eye tracker; head tracker; shoulder movement switch; sip-n-puff joystick controller; speech recognition switch; tongue switch such as a tongue palate switch; and any combination thereof. Neck switch 192 and/or other patient input switches incorporated into one or more systems of the present invention can be used to perform various system functions or routines and/or to initiate various system functions or routines.
In an embodiment, a patient input switch is used to change the state of the system, such as when the system state changes to: a reset state; the next step of a configuration routine, a stopped state; an alarm state; a message sending state; a limited control of controlled device state; and any combination thereof. Alternative to the patient input switch is a monitored biological signal that is used for a similar change of state function. Applicable monitored biological signals are selected from the group consisting of: eye motion; eyelid motion; facial muscle activation or other electromyographic activity; heart rate; EEG; LFP; respiration; and any combination thereof.
Ambulation system 10 further includes multiple exoskeleton devices, elbow control exoskeleton device 20a, hip control exoskeleton device 20b and knee control exoskeleton device 20c, all of which are controlled devices of biological interface apparatus 100. Patient 500 includes corresponding exoskeleton devices on the right side of the body as well. Each of the exoskeleton devices include a motor assembly unit, motor 21a, motor 21b, and motor 21c, respectively. Each of these motor assemblies preferably includes an integral power supply as well as one or more sensors that provide signals containing data regarding function of the exoskeleton device. Each of the controlled devices of
Ambulation system 10 further includes electronic module 91 which includes wireless communication mechanisms to transmit data to or from one or more components of biological interface apparatus 100 such as to or from the multiple exoskeleton devices via a wireless transceiver included in the motor assemblies of the exoskeleton devices, and/or to wireless transceiver of the FES device. Electronic module 91 further includes signal processing means such that data received from the various components of ambulation system 10 can be processed or further processed such as to provide a control signal to exoskeleton device 20a, 20b or 20c. In an embodiment, a processing portion of the FES device is integral to electronic module 91. Data received from wireless transceivers incorporated into FES implants 60 may be further processed by electronic module 91 and then transmitted to a separate component of biological interface apparatus 100 such as processing unit second portion 130b. Processing unit second portion 130b can use this data to modify one or more signal processing parameters or other system configuration parameters of biological interface apparatus 100, such that a control signal transmitted to an exoskeleton device or the FES device is modified to improve patient ambulation or other patient movements.
Patient 500 is shown walking on a surface such as a floor, road, sidewalk, moving walkway, and even stairs and ramps. In an embodiment, one or more surfaces include surface data transmission apparatus, used to transmit specific data about the surface such as surface contour, step height, slope angle, and/or other surface parameter such transmission apparatus sending the surface data to one or more components of ambulation system 10 such as processing unit second portion 130b, motor assembly 21a, 21b or 21c, and/or electronic module 91. The surface data is used in one or more calculations to produce signals to control one or more devices, such as the exoskeleton device and/or FES device of ambulation system 10.
Motor assembly 21a, 21b, and 21c, electronic module 91, FES implant 60, neck switch 192, and/or another component of ambulation system 10, such as a stand-alone patient worn assembly, include one or more sensors that may provide a signal representing one or more conditions of ambulation system 10, including a condition of patient 500 or one or more components of ambulation system 10. Vertical position data, load or force data, stress or strain data, a patient physiologic parameter such as heart rate or respiration, can all be fed back to a processing unit component of ambulation system 10 to improve movement function by modifying the control of one or more devices. When an unsafe position is detected, an integral safety routine can be activated, such as a routine that activates an audible transducer or dials a predetermined telephone number (e.g., 911) or a phone number of a family member, and sends a pre-recorded message to correct a potentially dangerous situation. The safety routine can send a signal to one or more components of ambulation system 10 such as a component of biological interface apparatus 100. Biological interface apparatus 100 may further process one or more signals based on data from the safety routine, and then cause the activation of an audible alert, make a predetermined phone call, or other appropriate function such as to activate an implanted defibrillator or other piece of patient medical treatment apparatus.
The integral sensors of the ambulation system 10 can be used to determine one or more parameters of a component or portion of a component of ambulation system 10, such parameters including but not limited to: stress; strain; torque; vertical position; and any combination thereof. Applicable sensor include but are not limited to; a pressure sensor; a force sensor; a strain sensor; a torsional sensor; a piezoelectric sensor; a force sensing resistor; a mercury switch; an angular orientation sensor; a load cell; a vacuum sensor; a temperature sensor; a humidity sensor; a power sensor such as a voltage or current sensor; an electromagnetic field sensor; and any combination thereof. The data output by these sensors is preferably sent via RF wireless transmission means to one or more components of ambulation system 10 such as processing unit second portion 130b of biological interface apparatus 100.
Numerous methods are provided in the multiple embodiments of the disclosed invention. For example, an exemplary method may include a method of selecting a specific device to be controlled by the processed signals of a biological interface apparatus. The method comprises the steps of: providing a biological interface apparatus for collecting multicellular signals emanating from one or more living cells of a patient and for transmitting processed signals to control a device. The biological interface apparatus comprises: a sensor for detecting the multicellular signals, the sensor comprising a plurality of electrodes to allow for detection of the multicellular signals; a processing unit for receiving the multicellular signals from the sensor, for processing the multicellular signals to produce processed signals, and for transmitting the processed signals; a first controlled device for receiving the processed signals; a second controlled device for receiving the processed signals; and a selector module that is used to select the specific device to be controlled by the processed signals.
It should be understood that numerous other configurations of the systems, devices, and methods described herein could be employed without departing from the spirit or scope of this application. It should be understood that the system includes multiple functional components, such as a sensor for detecting multicellular signals, a processing unit for processing the multicellular signals to produce processed signals, and the controlled device that is controlled by the processed signals. Different from the logical components are physical or discrete components, which may include a portion of a logical component, an entire logical component and combinations of portions of logical components and entire logical components. These discrete components may communicate or transfer data to or from each other, or communicate with devices outside the system. In each system, physical wires, such as electrical wires or optical fibers, can be used to transfer data between discrete components, or wireless communication means can be utilized. Each physical cable can be permanently attached to a discrete component, or can include attachment means to allow attachment and potentially allow, but not necessarily permit, detachment. Physical cables can be permanently attached at one end, and include attachment means at the other.
The sensors of the systems of this application can take various forms, including multiple discrete component forms, such as multiple penetrating arrays that can be placed at different locations within the body of a patient. The processing unit of the systems of this application can also be contained in a single discrete component or multiple discrete components, such as a system with one portion of the processing unit implanted in the patient, and a separate portion of the processing unit external to the body of the patient. The sensors and other system components may be utilized for short term applications, such as applications less than twenty four hours, sub-chronic applications such as applications less than thirty days, and chronic applications. Processing units may include various signal conditioning elements such as amplifiers, filters, signal multiplexing circuitry, signal transformation circuitry and numerous other signal processing elements. In an embodiment, an integrated spike sorting function is included. The processing units performs various signal processing functions including but not limited to: amplification, filtering, sorting, conditioning, translating, interpreting, encoding, decoding, combining, extracting, sampling, multiplexing, analog to digital converting, digital to analog converting, mathematically transforming and/or otherwise processing cellular signals to generate a control signal for transmission to a controllable device. The processing unit utilizes numerous algorithms, mathematical methods and software techniques to create the desired control signal. The processing unit may utilize neural net software routines to map cellular signals into desired device control signals. Individual cellular signals may be assigned to a specific use in the system. The specific use may be determined by having the patient attempt an imagined movement or other imagined state. For most applications, it is preferred that that the cellular signals be under the voluntary control of the patient. The processing unit may mathematically combine various cellular signals to create a processed signal for device control.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims. In addition, where this application has listed the steps of a method or procedure in a specific order, it may be possible, or even expedient in certain circumstances, to change the order in which some steps are performed, and it is intended that the particular steps of the method or procedure claim set forth herebelow not be construed as being order-specific unless such order specificity is expressly stated in the claim.
This application claims the benefit of priority under 35 U.S.C. § 119(e) of U.S. Provisional Application No. 60/641,986, filed Jan. 6, 2005. This application relates to commonly assigned U.S. application Ser. No. ______ of J. Christopher Flaherty et al., entitled “NEURALLY CONTROLLED PATIENT AMBULATION SYSTEM” and filed on the same date as the present application. The complete subject matter of the above-referenced applications is incorporated by reference herein.
| Number | Date | Country | |
|---|---|---|---|
| 60641986 | Jan 2005 | US |
