All publications and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.
This invention relates generally to the active orthosis field, and more specifically to a new and useful combined therapy and mobility assistance system in the active orthosis field.
A common physical therapy treatment for patients recovering from reconstructive joint surgeries is continuous passive motion (CPM) therapy, which aids recovery by reducing joint stiffness, increasing joint range of motion, and increasing circulation. CPM therapy uses external forces, such as that from a powered, motorized leg device carrying the leg of the patient, to passively move the reconstructed joint through a controlled range of motion throughout joint flexion and extension.
For those recovering from knee surgeries such as total knee replacement, CPM therapy may be performed by a leg device worn by the patient, with the patient's leg in a nonvertical position to reduce weight loads directly on the knee. For a patient in such a position, CPM therapy causes the foot of the patient to tend to move in a path that is longitudinal to the patient. However, guidance of foot motion and prevention of internal and external rotation of the leg (rotation about an axis longitudinal to the patient) during CPM therapy is necessary for proper rehabilitation and to avoid inflicting pain and injury on the patient.
Current machines that provide CPM therapy for the leg, which require the patient to strap their leg into the device, are for sedentary use only. These existing CPM machines not only restrict mobility of the patient for long periods of time, but also have little other function besides providing CPM therapy, which is not cost-effective. Other therapy devices also have the same drawbacks of dedicated sedentary use, such as those that provide robotic therapy, in which the device interacts with and improves the patient's existing physical abilities. Thus, there is a need in the physical therapy field to create a new and useful system to provide CPM or robotic therapy, to support and guide the foot and leg of a patient undergoing CPM or robotic therapy, and provide mobility assistance to the patient during recovery. This invention provides such a new and useful therapy and mobility assistance system.
a and 1b are schematics of the first preferred embodiment of the invention, in extended and flexed leg positions, respectively.
a and 4b are a side view schematic and a cross-sectional view schematic, respectively, of a variation of the therapy shuttle and guide track of the first preferred embodiment
a and 5b are schematics of another variation of the shuttle of the first preferred embodiment, in extended and flexed leg positions, respectively.
a and 6b are schematics of the second preferred embodiment, in extended and flexed leg positions, respectively.
a and 7b are schematics of a variation of the second preferred embodiment, in extended and flexed leg positions, respectively.
a and 8b are perspective views of a first variation of the appendage fastener in the disengaged position and engaged position, respectively.
The following description of the preferred embodiments of the invention is not intended to limit the invention to these preferred embodiments, but rather to enable any person skilled in the art to make and use this invention.
As shown in
The therapy and mobility assistance system 100 has been specifically designed to provide CPM therapy, to support and guide the foot and leg of a patient undergoing CPM therapy, and provide mobility assistance to the patient during recovery. The therapy and mobility assistance system may be particularly useful for applications that require powered flexion and extension of the knee joint: for example, providing powered assistance to patients with weakened muscles; accommodating strength training exercises; and facilitating robotic therapy, in which a robotic device interacts with and improves the patient's existing physical abilities. The therapy and mobility assistance system 100 may, however, be used in any suitable situation for any suitable reason.
The leg device 110 is worn by a patient on his leg and provides active muscle assistance and is operable in multiple modes to enhance mobility, build muscle strength, and prevent injury. The leg device 110 is preferably the powered leg device described in U.S. Pat. No. 6,966,882 entitled “Active muscle assistance device and method”, which is incorporated in its entirety by this reference, but may alternatively be any orthosis, prosthesis, or any suitable device used in therapy, training, or mobility assistance. The powered leg device is preferably actuated by the actuator system described in U.S. patent application Ser. No. 12/191,837 entitled “Actuator System With a Multi-Motor Assembly For Extending and Flexing a Joint”, which is incorporated in its entirety by this reference, but may alternatively be actuated by any suitable device or method. The powered leg device 110 is preferably operable in at least both 1) a therapy mode in which the powered leg device no provides CPM therapy or another suitable kind of physical therapy that provides therapeutic extension and flexion to one or more joints of the leg, and 2) a mobility assistance mode in which the powered leg device no supplements muscle strength by providing assistance and resistance to aid the mobility of the patient during daily activities such as walking, sitting down, and ascending and descending stairs.
The therapy shuttle 120 of the first preferred embodiment, which is placed on a surface on or near the ground, functions to support the weight of and carry the leg and/or foot of the patient in a path throughout therapeutic motions of the leg such as extension and flexion. The therapy shuttle 120 preferably moves in a flat and straight path, and allows the leg of the patient to rotate about a horizontal axis. For example, a patient who is reclined on a flat surface and undergoing leg CPM therapy may experience their foot translating in a linear path along the length of their body and their leg rotating about a horizontal axis throughout the range of motion of their knee. The therapy shuttle 120 preferably has a mechanism that allows the leg of the patient to rotate relative to the therapy shuttle 120 about a horizontal axis with low friction, such as with a radial bearing, a smooth bearing surface, or any other suitable method of rotation.
In other variations of the therapy shuttle 120, the path of the therapy shuttle 120 may depend on the orientation of the patient. For example, as shown in
As shown in
The appendage fastener 130′ of a first variation, as shown in
The appendage fastener 130″ of a second variation, as shown in
In additional variations of the appendage fastener 130, the appendage fastener 130 may attach the powered leg device 110 to the therapy shuttle 120 by allowing the patient to insert their leg or foot into an enclosure, such as a setup of straps including buckles, buttons, snaps, hook and loop, or any other suitable fastener. The enclosure may alternatively be a full leg or foot enclosure such as a shoe, sock, cradle, sling, and/or any other suitable means of securing the foot and/or leg.
As shown in
Additional variations of the guide track 150 depend on the path in which the therapy shuttle 120 moves. For example, as shown in
In an alternative of the first preferred embodiment, as shown in
As shown in
The therapy shuttle 220 of the second preferred embodiment carries and/or suspends the leg and/or foot of the patient in a path that is substantially longitudinal to the patient. The therapy shuttle 220 preferably includes rollers 258 that translate along the guide rail 250 while the fastener 230, attached near the foot, translates below the guide rail 250. The therapy shuttle 220 of the second preferred embodiment easily accommodates a patient who is lying on their back or seated and undergoing therapy and may experience their lower leg translating horizontally as their knee flexes and extends. As an example, when robotic or CPM therapy is being administered in a supine position in a bed, the distance between the guide rail 250 and the fastener 230 is preferably set to allow the foot to travel unimpeded just above the surface of a bed. Similarly in another example, when the therapy is being administered in a seated position, the distance between the guide rail 250 and the fastener 230 is preferably set to allow the foot to travel unimpeded just above the surface of the floor. Similar to the therapy shuttle 120 of the first preferred embodiment, the therapy shuttle 220 of the second preferred embodiment preferably has a mechanism to allow the leg of the patient to pivot relative to the therapy shuttle 220 about a lateral axis. Like the therapy shuttle 120 of the first preferred embodiment, additional variations of the therapy shuttle 220 of the second preferred embodiment may depend on the physical and spatial requirements of the orientation of the patient during therapy.
Similar to the guide track 150 of the first preferred embodiment, the guide track 250 of the second preferred embodiment guides the therapy shuttle 220 to move in a particular path, and may vary with different variations of the therapy shuttle 220.
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As a person skilled in the art of active orthoses will recognize from the previous detailed description and from the figures and claims, modifications and changes can be made to the preferred embodiments of the invention without departing from the scope of this invention defined in the following claims.
This application is a continuation of U.S. patent application Ser. No. 12/471,299, filed May 22, 2009, titled “THERAPY AND MOBILITY ASSISTANCE SYSTEM,” Publication No. US-2010-0204620-A1, which claims the benefit of U.S. Provisional Patent Application No. 61/151,114, filed Feb. 2, 2009, titled “THERAPY AND MOBILITY ASSISTANCE SYSTEM,” each of which is herein incorporated by reference in its entirety.
Number | Date | Country | |
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61151114 | Feb 2009 | US |
Number | Date | Country | |
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Parent | 12471299 | May 2009 | US |
Child | 13907490 | US |