U.S. patent application number 14/492942 was filed with the patent office on 2015-01-08 for rehabilitation device and method.
The applicant listed for this patent is Robert B. Boyette, Mark E. Kolb. Invention is credited to Robert B. Boyette, Mark E. Kolb.
Application Number | 20150011361 14/492942 |
Document ID | / |
Family ID | 51529691 |
Filed Date | 2015-01-08 |
United States Patent
Application |
20150011361 |
Kind Code |
A1 |
Boyette; Robert B. ; et
al. |
January 8, 2015 |
REHABILITATION DEVICE AND METHOD
Abstract
A device for joint rehabilitation after injury or surgery and a
method of use are described and taught. The device automatically
senses and manipulates performance parameters to optimize the
rehabilitation process in response to user performance. In
particular, device sets the pedal throw and other variables
automatically to be in an optimum range for the patient based on
the respective patient data. A motor resistance unit allows for the
user to experience variable resistances while using the device.
This not only increases the patient's range of motion but also
strengthens and increases muscle tone. In order to use the device,
the patient or user simply inputs preliminary parameters and the
on-board computer then calculates a rehabilitation plan, and
monitors patient performance and adapts to changes. The central
data server permit central storage of all data associated with
usage of the rehab devices and is fully HIPPA compliant.
Inventors: |
Boyette; Robert B.; (Wall
Township, NJ) ; Kolb; Mark E.; (Bridgewater,
NJ) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Boyette; Robert B.
Kolb; Mark E. |
Wall Township
Bridgewater |
NJ
NJ |
US
US |
|
|
Family ID: |
51529691 |
Appl. No.: |
14/492942 |
Filed: |
September 22, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14197386 |
Mar 5, 2014 |
8864628 |
|
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14492942 |
|
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|
|
61776904 |
Mar 12, 2013 |
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Current U.S.
Class: |
482/8 ;
482/57 |
Current CPC
Class: |
A63B 22/0694 20130101;
A63B 22/0605 20130101; A63B 21/0058 20130101; A63B 2225/50
20130101; A63B 21/4033 20151001; A63B 24/0062 20130101; A63B
2024/0068 20130101; A63B 2024/0065 20130101; A63B 2220/30 20130101;
A63B 71/0619 20130101; A63B 23/0476 20130101; A63B 2024/0093
20130101; A63B 2220/833 20130101; A63B 24/0087 20130101; A63B
2225/096 20130101 |
Class at
Publication: |
482/8 ;
482/57 |
International
Class: |
A63B 24/00 20060101
A63B024/00; A63B 22/06 20060101 A63B022/06 |
Claims
1. A method comprising: monitoring, using a microprocessor, sensor
data generated by a rehabilitation device during a first evaluation
period, the sensor data being generated in response to user-driven
motion of pedals of the rehabilitation device, wherein the pedals
define a pedal diameter of the rehabilitation device; computing a
first parameter from the sensor data monitored during the first
evaluation period; determining whether the first parameter
satisfies a threshold condition; and in response to determining
that the first parameter satisfies the threshold condition, causing
the pedal diameter to increase.
2. The method of claim 1, further comprising: in response to
determining that the first parameter fails to satisfy the threshold
condition, causing the pedal diameter to decrease.
3. The method of claim 1, further comprising: automatically varying
a seat height of a seat based on the pedal diameter.
4. The method of claim 1, wherein the first parameter is related to
a pedaling speed or a torque.
5. The method of claim 1, wherein the threshold condition
corresponds to a condition that a first value of the first
parameter is maintained within a range during a predefined time
duration.
6. The method of claim 5, wherein the predefined time duration is
about 15 seconds.
7. The method of claim 1, wherein the first parameter is related to
a pedaling speed, the method further comprising: identifying a
value related to the pedaling speed that satisfies the threshold
condition; determining a pedal diameter value corresponding to the
value related to the pedaling speed; and storing the pedal diameter
value for use in a rehabilitation program.
8. The method of claim 7, further comprising: determining that a
user of the rehabilitation device has successfully completed the
rehabilitation program based on the stored pedal diameter value;
and increasing the stored pedal diameter value.
9. A rehabilitation device comprising: a motor resistance unit; and
a pedal assembly operatively coupled to the motor resistance unit,
wherein the pedal assembly comprises: a crank axel; a first pedal
connected to the crank axel by a first actuatable arm; and a second
pedal connected to the crank axel by a second actuatable arm,
wherein the first and second pedals define a pedal diameter of the
pedal assembly, and wherein the first and second actuatable arms
are configured to vary the pedal diameter in response to
user-driven motion of the pedals.
10. The rehabilitation device of claim 9, further comprising: a
frame connected to the pedal assembly, the frame comprising an
actuatable vertical support; and a seat connected to the actuatable
vertical support.
11. The rehabilitation device of claim 10, wherein the actuatable
vertical support defines a seat height of the seat, and wherein the
seat height is to vary automatically based on the pedal diameter
during operation of the rehabilitation device.
12. The rehabilitation device of claim 9, further comprising: a
microprocessor, wherein the microprocessor is configured to:
monitor the user-driven motion of the pedal assembly; and control
the actuatable arms to vary the pedal diameter in response to the
user-driven motion.
13. The rehabilitation device of claim 12, wherein the
microprocessor is communicatively coupled to a computing device,
and wherein the microprocessor is further configured to control the
actuatable arms in response to data received from the computing
device.
14. The rehabilitation device of claim 13, wherein the computing
device is a remote server.
15. The rehabilitation device of claim 12, wherein the
microprocessor is further configured to cause the pedal diameter to
increase in response to determining that a parameter associated
with the user-driven motion satisfies a threshold condition.
16. The rehabilitation device of claim 12, wherein the
microprocessor is further configured to cause the pedal diameter to
decrease in response to determining that a parameter associated
with the user-driven motion fails to satisfy a threshold
condition.
17. The rehabilitation device of claim 12, wherein the
microprocessor is further configured to: identify a value related
to a pedaling speed that satisfies a threshold condition; determine
a pedal diameter value at which the value related to the pedaling
speed satisfied the threshold condition; and store the pedal
diameter value in a computer readable storage medium.
18. A method comprising: initializing a pedal diameter of a pedal
assembly to an initial pedal diameter value; monitoring a pedaling
speed of the pedal assembly; increasing the pedal diameter until a
value related to the pedaling speed satisfies a threshold
condition; determining a final pedal diameter value at which the
value related to the pedaling speed satisfied the threshold
condition; and storing the final pedal diameter value on a computer
readable storage medium.
19. The method of claim 18, further comprising: initializing a seat
height of a seat to an initial seat height value; increasing the
seat height until the value related to the pedaling speed satisfies
the threshold condition; and determining a final seat height value
at which the value related to the pedaling speed satisfied the
threshold condition; and storing the final seat height value on the
computer readable storage medium.
20. The method of claim 19, further comprising: transmitting the
final pedal diameter value and the final seat height value to a
computing device, wherein the computing device is to calculate a
maximum range of motion for a user of the pedal assembly based on
at least one of the final pedal diameter value, the final seat
height value, or a length of a leg of the user.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 14/197,386, filed Mar. 5, 2014, which claims
the benefit of priority of U.S. Provisional Application No.
61/776,904, filed Mar. 12, 2013, both of which are hereby
incorporated by reference herein in their entireties.
FIELD OF THE INVENTION
[0002] The field of the invention relates to rehabilitation
devices, namely devices that help people recover from joint
injuries, surgeries or the like. In particular, to equipment with
pedals or linear sleds, which are used by therapists, to help
increase flexibility, strength, and muscle tone by repeatedly
taking the injured appendage through a range of motion.
BACKGROUND OF THE INVENTION
[0003] Bicycles were first introduced in early-mid 19.sup.th
century Europe. Today, there are twice as many bicycles as there
are cars. Bicycles are human-powered modes of transportation
typically consisting of a frame, two wheels, seat, handlebars,
pedals, gears, and a chain. By using the pedals, one can propel the
bicycle forward and can control the speed at which they move by
varying their pedal speed along with changing the associated gears
on the bicycle. People can ride bicycles for pleasure or for
competitive purposes and the style of bicycle often reflects the
intended use. The advent of the bicycle has led to a number of
related technologies including stationary bicycles.
[0004] Stationary bicycles allow an individual to remain in place
as they pedal. Stationary bicycles are typically used in gyms or
homes by individuals when the weather is not conducive for riding
outside or for training/workout purposes. Stationary bicycles are
also used by physical therapist/rehabilitation technician s for
rehabilitation purposes. They allow an individual rehabbing to
workout various muscles and joints without risking a fall.
Additionally, an individual can rehab in such a way as to remove
the weight from specific load bearing joints and muscles that may
not be ready for full weight bearing exercises.
[0005] After an injury or surgery to the hip or knee, one of the
first priorities is to begin to restore the range of motion to the
affected joint. Typical range of motion of the knee can be measured
in knee flexion and knee extension by a device called a goniometer.
A goniometer has two pieces that are connected by a central hinge.
By lining up each of the pieces along a specific joint area and
having the individual move that joint, a value in degrees (i.e.
120.degree.) can be observed and recorded. Knee flexion is when an
individual lies on their back and draws their heel to the back of
their leg. Typical values for knee flexion are approximately
130-150.degree.. Knee extension is the amount to which a person can
straighten their leg. Typical values for knee extension are
0-.sup.-10.degree.. The same type of methodology can be applied to
the hip as well. Hip flexion is typically measured at about
125.degree., hip extension approximately 10-15.degree., hip
rotation 30-40.degree., abduction 40.degree., and adduction
approximately 15-20.degree.. These values represent what is typical
in a healthy individual and may have some variance from person to
person. After an injury or surgery, these values can be minimal as
injury or surgery often results in a substantial loss in range of
motion.
[0006] Stationary bicycles can be problematic for these individuals
since they have such a limited range of motion and/or a decreased
amount of strength or muscle tone. The pedals are fixed and create
a uniform circumference when rotated. Since these individuals may
not be able to fully achieve this rotation they must begin to pedal
and then change direction when they have reached their range of
motions limits. The process then repeats as they continually pedal
and reverse their pedaling direction. Additionally, since the
pedals are in a fixed location, once an individual has begun to
regain their range of motion there is a limit to how far they are
able to progress. The circumference created by the rotating pedals
is sized to accommodate the "average" sized person, however, a
rehab patient may need a larger or smaller circumference. The fixed
pedal throw does not allow multiple users to achieve the same
benefits. One user may have shorter legs and/or a more severe
injury and the pedal may be too long to rotate comfortably, whereas
another individual may be taller or less injured and need a longer
pedal throw to achieve the required amount of flexion for optimal
recovery. Additionally, stationary bicycles require manual set up
and control from the user or a physical therapist/rehabilitation
technician to control programming and other options.
[0007] Reviewing related technology:
[0008] U.S. Pat. No. 7,594,879 teaches a manual rotary
rehabilitation apparatus is presented for rehabilitation of a
person's extremity, including the joints and assorted muscles,
tendons, ligaments, that can be tailored to the person's needs
based upon their physical size, type of injury, and plan for
recovery. The apparatus facilitates the adjustment of the range of
motion of the user's extremity in a cycling action by offsetting a
moveable lever from a fixed lever at a plurality of angles. As the
user's extremity moves in a circular path, the extremity engages in
extension and flexion to cause movements in the articulations
formed at the user's joints.
[0009] U.S. Pat. No. 6,341,946 teaches an apparatus for gearless
shifting, includes at least one crank, and an arm assembly, coupled
to the at least one crank, for telescoping to adjust a length of
the at least one crank, to selectively and controllably adjust a
stroke length of the at least one crank. A pump also is provided
including a variable-stroke length apparatus.
[0010] U.S. Patent Application 2012/0167709 teaches a crank system
mounted to a drive sprocket of a bicycle includes a crank arm
secured to the drive sprocket and disposed at both sides thereof,
the crank arm having two bent ends; and two telescopic assemblies
each comprising a bar having one end fixedly secured to either end
of the crank arm, the bar having a cross section of polygon, the
bar including a plurality of longitudinal notches, a sliding tube
slidably put on the bar, the sliding tube including a surface
opening communicating with the bar, and a pivotal lock member in
the surface opening, the lock member being adapted to either
dispose in one of the notches in a locked position of the
telescopic assembly or clear the notch in a unlocked position of
the telescopic assembly. This length adjustable bicycle crank
system can save force when pedaling.
[0011] U.S. Patent Application 2012/0329611 teaches a motorized
rehabilitation apparatus and method for disabled, impaired or
injured individuals, which trains a proper gait, increases blood
flow, relieves stress, and reconditions lower body muscles and
joints. The device comprises a powered stationary bicycle having a
seat, handle grips, and rotating foot pedals that receive motive
input from an electric motor and user input. The device further
includes a pair of thigh braces that are connected together between
the user's thighs via a hingeable link and chain that controls and
trains an individual's limbs through the pedal rotation. The
disclosed method further combines the present bicycle device for
rehabilitation in conjunction with visual stimuli in the way of a
three dimensional television display that stimulates endorphins,
relieves mental stress and allows the motive input from the bicycle
and mild user input to exercise the limbs of a user without
focusing on the rehabilitation activity.
[0012] Various devices are known in the art. However, their
structure and means of operation are substantially different from
the present disclosure. The other inventions fail to solve all the
problems taught by the present disclosure. The current invention
provides for a dynamic pedal throw that is automatically changed in
response to the user's ability and/or performance. The
microprocessor interprets the inputs from the user and converts
those to a custom rehabilitation program. At least one embodiment
of this invention is presented in the drawings below and will be
described in more detail herein.
SUMMARY OF THE INVENTION
[0013] The current disclosure is generally related to an automated
device which evaluates a rehabilitation patient's current
condition, designs a therapy program based on the patient's
parameters and instructs the patient during rehabilitation, and
monitors the patient's progress, along with adjusting the equipment
continuously in real time. A rehabilitation device is described and
taught having automated, multi-positional elements having a frame
with at least one cross bar and a base member, the frame having a
first vertical support for a seat and an articulating second
vertical support having a pivot joint and supporting a set of
handlebars, a horizontal support attached to the first vertical
support, and a pedal assembly; a motor resistance unit coupled to
the pedal assembly by a coupling mechanism; wherein there are at
least two actuators on the pedal assembly, the pedal assembly
comprising a crank axle and a crank arm extending from each end of
the crank axle wherein the at least two actuators are on each of
the crank arms thereby altering the circumferential diameter of the
pedal assembly; wherein there is a plurality of linear actuators
for eliciting movement of the seat and the second vertical
support.
[0014] In this embodiment, the rehabilitation device has an
actuator attached to the second vertical support which enables the
back and forth movement of the second vertical support relative to
the first vertical support. This changes the hip and knee angle of
a user allowing them to increase their range of motion and build
strength. This is further accomplished through the motor resistance
unit. The motor resistance unit can either drive or provide a
simulated resistance to the pedal assembly. The key to this is the
motor resistance unit automatically adjusts the movement of the
pedal assembly based on the microcontroller's assessment of the
user's performance. This is done by collecting a wide variety of
data from the sensors on board the rehabilitation device. The data
from these sensors is interpreted by the microprocessor and
adjustments are accordingly made. This is achieved through the
implementation of the Analysis, Control, and Reporting Software
(ACRS) embedded in the microprocessor. This software may exist in
the rehab unit, an off site central data server, or both.
Additionally, this software may be implemented on the form of
mobile applications (apps) on smartphones, tablets, and the like.
In order to select a program or input data, the rehabilitation
device further has a programmable touchscreen. Additionally, the
data can be accessed from the programmable touchscreen. The data
may also be transmitted wired or wirelessly to third parties. Such
communications, including those made through the ACRS, are
encrypted and meet all HIPPA requirements.
[0015] The rehabilitation device further has a plurality of sensors
and a microprocessor. The sensors monitor input variables such as
torque and rotational speed. The microprocessor records the initial
and final parameters as well as logs the performance data. This log
creates a viewable database that can be transmitted to third
parties through wired or wireless means. The database includes such
information as the initial and final angle of flex, the rate of
improvement, derivative of improvement, duration of session, and
number of repetitions. The motor resistance unit is coupled to the
pedals by a coupling mechanism such as a chain or band or the like.
The motor resistance unit can help to drive the pedals or provide
resistance while a user is pedaling. The device further has a
number of linear actuators which permit the seat height to change.
In some instances, the handlebars may bear the same
functionality.
[0016] In another embodiment there is a portable rehabilitation
unit with a motor resistance unit having a housing; a plurality of
sensors and a microprocessor contained within the housing; a pedal
assembly operably connected to the motor resistance unit, wherein
the motor resistance unit automatically adjusts the rotational
speed or simulated resistance, wherein the pedal assembly comprises
a crank axle and a crank arm extending from each end of the crank
axle wherein the at least two actuators are on each of the crank
arms thereby altering the circumferential diameter of the pedal
assembly; and a coupling mechanism that operably connects the pedal
assembly to the motor resistance unit.
[0017] The portable rehabilitation unit operates in substantially
the same fashion and uses the same algorithms as the previously
described embodiment. As such, the microprocessor/display unit 20
automatically sets and manipulates all device adjustments to
optimal values for the specific patient. Additionally, this unit
permits for bidirectional communication. The unit can communicate
data in real time to a remote professional and permits the remote
professional to modify the parameters of the unit in real time. A
remote professional may be a physical therapist/rehabilitation
technician or a physician.
[0018] In another aspect of the invention, a method of optimizing a
recovery process using a rehabilitation device, as described above,
having the steps of: setting a pedal diameter to the minimum value
permitted by the rehabilitation device for a first time user,
wherein the pedal diameter is set by the control processor;
allowing a user to begin pedaling while a microprocessor monitors
input values such as crank speed; increasing the pedal diameter
automatically in response to the microprocessor monitoring the
input values; reducing the pedal diameter automatically once the
input values have reached a particular predetermined threshold;
holding the pedal diameter at a consistent value slightly below the
predetermined threshold; increasing the pedal diameter
automatically after a predetermined time of consistent output
values; and repeating the first increasing to second increasing
steps until the preset time or number of cycles is achieved.
[0019] In this method, the consistency of the crank speed (or the
consistency of the applied torque) is a determinative factor in the
change in pedal diameter. A repeatedly inconsistent pedal speed at
a specific position in the pedal travel results in a decrease in
pedal diameter, and a consistent pedal speed for a predetermined
timeframe results in a slight increase in pedal diameter. The
method may further have the step of recording the output values in
relation to time. Any of the recorded values are stored on a
storage medium.
[0020] It is an object of the present invention to provide a
rehabilitation device specifically designed for knee/hip
rehabilitation following surgery or injury.
[0021] It is an object of the present invention to provide a
rehabilitation device with an automated adjustable pedal throw.
[0022] It is an object of the present invention to provide a
rehabilitation device that has a motorized, automatically
adjustable seat height.
[0023] It is an object of the present invention to provide a
rehabilitation device that has motorized, automatically adjustable
handlebars.
[0024] It is an object of the present invention to provide a
rehabilitation device that automatically adjusts the pedal throw,
handlebars, and seat based on the progress or lack thereof directed
to a specific candidate during a rehabilitation workout.
[0025] It is yet another object of the present invention to provide
a rehabilitation system that automatically sets the system
parameters to optimal values for each specific user and
continuously monitors the patient's progress in real time and makes
adjustments to the system parameters as the patient's physical
condition changes, without any human intervention from the user or
professional personnel.
[0026] It is an object of the present invention to provide a
rehabilitation device that records output values from multiple
sessions for each specific user.
[0027] It is an object of the present invention to provide a
rehabilitation device that can be used by people of differing
heights and of differing degrees of joint mobility.
[0028] It is an object of the present invention to provide a
rehabilitation device that reduces physical
therapist/rehabilitation technician time and cost due to a fully
automatic operation.
BRIEF DESCRIPTION OF THE DRAWINGS
[0029] FIG. 1 is a perspective view of a first embodiment of the
present invention.
[0030] FIG. 2 is a side view of a portable embodiment of the
present invention.
[0031] FIG. 3 is a flowchart illustrating an overview of usage of a
preferred embodiment of the present invention.
[0032] FIG. 4 is a perspective view of the pedal assembly.
[0033] FIG. 5A is a flowchart illustrating the method of increase
in pedal diameter.
[0034] FIG. 5B is a flowchart illustrating the method of decrease
in pedal diameter.
[0035] FIG. 6 is a perspective view of the seat assembly.
[0036] FIG. 7 is a flowchart illustrating the process of
raising/lowering the seat.
[0037] FIG. 8 is a perspective view of the handlebar assembly.
[0038] FIG. 9 is a flowchart illustrating a preferred method of
optimizing a recovery process in accordance with the present
invention.
[0039] FIG. 10 is a flowchart illustrating the system logic for
evaluating and adjusting the system parameters for a given
user.
[0040] FIG. 11 is a flowchart illustrating one rehabilitation
interval exhibiting static system settings during the
rehabilitation process.
DETAILED DESCRIPTION OF THE INVENTION
[0041] The preferred embodiments of the present invention will now
be described with reference to the drawings. Identical elements in
the various figures are identified, as far as possible, with the
same reference numerals. Reference will now be made in detail to
embodiments of the present invention. Such embodiments are provided
by way of explanation of the present invention, which is not
intended to be limited thereto. In fact, those of ordinary skill in
the art may appreciate upon reading the present specification and
viewing the present drawings that various modifications and
variations can be made thereto without deviating from the
innovative concepts of the invention.
[0042] Referring to FIG. 1, there is a first embodiment of the
present invention. The rehabilitation device 1 has a first vertical
support 19 and a second vertical support 18. The second vertical
support 18 is further supported by a rear support 7. The first
vertical support 19 has a pivoting joint 6. The pivoting joint 6
permits articulation of the first vertical support 19. This motion
can draw the first vertical support 19 either towards or away from
the user while positioned on the rehabilitation device 1. The
movement of the first vertical support 19 is controlled by a linear
actuator 34 that extends between and connects the first vertical
support 19 and second vertical support 18. By changing the position
of the first vertical support 19, the hip and knee joint angles of
the user can be manipulated as well. The rehabilitation device 1
has a motor/resistance unit (MRU) 35. This unit 35 can perform a
number of functions including providing a powered drive mechanism
for rotating the pedals. This is particularly useful when the
rehabilitation device 1 is being used by an individual with
extremely limited use of their legs. Additionally, the motor
resistance unit 35 can create an artificial resistance. This
further adds to the rehabilitation device 1 as a way to increase
muscle tone and strength.
[0043] Additionally, the rehabilitation device 1 shall have a
microprocessor/display unit 20 which has been programmed with
algorithms that control the rehabilitation process. These are
manifested in the Analysis, Control, and Reporting Software (ACRS).
This software enables the rehab units to communicate with an
offsite central data server. It also provides for communications to
originate from the server and be displayed on the
microprocessor/display unit 20. This can, in turn, provide various
functionality including downloading patient configuration
parameters, and sending patient data to the database for instant
analysis at third party locations such a physical
therapist/rehabilitation or physician's office. The central data
server provides cloud based storage and access to all data and
communicates with other devices and programs with access to the
database. In turn, the patients can access the same through a
number of different devices. This provides for a secure
login/logout for the patients, as well as the ability to monitor
their data and progress against benchmarks and others.
Additionally, functionality is included for the sharing of progress
through social media. From the clinician side, the functionality is
substantially similar, however, it also provides for the ability to
customize the microprocessor/display unit 20 operation for each
individual patient through various control parameters. Equally as
important, the software provides administrative protocols for
manipulation of certain data or certain algorithms.
[0044] The microprocessor/display unit 20 has a touch screen
display used for data entry and performance readout. The
microprocessor/display unit 20 may be attached in a variety of
areas on the rehabilitation device 1 in order to best give the user
access to the settings. In some cases, it may not be desirable to
have an attached display, in which case the data is simply sent to
a remote display by wired or wireless protocols. This would prevent
user manipulation and give a greater breadth of control to the
rehabilitation technician. If the microprocessor/display unit 20 is
wireless it may operate off any number of protocols in the art
including but not limited to Wi-Fi, ANT, ZigBee, Bluetooth.RTM.,
and the like.
[0045] The microprocessor/display unit 20 may have either resistive
or capacitive touch capabilities. Each has its unique advantages
and may be employed to best suit the needs of the receiving entity.
Resistive touchscreens are comprised of several layers, with the
top two layers separated by a minute distance. This technology has
a low associated cost and is highly resistant to contaminants and
liquids. Additionally, the resistive touchscreens still function
when a user is wearing a glove or similar skin covering structure.
Thus, it has found a practical purpose in many hospital settings.
Capacitive resistance typically employs a glass layer coated with a
transparent conductor. These screens see a much higher associated
cost and cannot be used if an individual is wearing, for example,
latex gloves. In that case, the user would need a particular type
of stylus in order to interact with the screen.
[0046] From the main interface on the microprocessor/display unit
20, the necessary user profile can be selected. The
microprocessor/display unit 20 creates a daily workout program
based on a user's previous data and the rehab protocol in order to
best optimize their workout and recovery. Here, the
microprocessor/display unit 20 would automatically make the
settings necessary when a previous user identity is selected. This
automatic manipulation of the settings and device parameters
continues throughout the workout.
[0047] FIG. 2 is a side view of a portable embodiment of the
present invention. The rehabilitation device 1 in this embodiment
is a mini rehab bicycle. The unit comprises primarily a motor
resistance unit 35 having a housing with the pedal assembly 24
extending therefrom. The pedal assembly 24 is further described in
FIG. 4. The rehabilitation device 1 performs substantially the same
general function and contains the same algorithms as described in
FIG. 1, however, the portable nature of the device 1 allows it to
be used in the home or office and taken with the user from place to
place. An individual can simply sit in a chair and pedal and the
program will run and adjust parameters according to user progress.
This means that the device 1 reacts and adjusts to the user's
performance. This provides a distinct advantage by consistently
maximizing the patient's recovery rate. The coupling mechanism 16
is maintained internally. The base of the housing of the motor
resistance unit 35 may have a no-slip surface applied to it to
prevent slippage while in use, and may have an extension which fits
under the chair legs to further hold it in place. This device 1
further provides for bidirectional communication. This enables the
device 1 to be monitored in real time by a local or remote health
professional (i.e. physical therapist/rehabilitation technician,
physician, etc.). The professional can send messages to the patient
of modify the physical parameters based on the data send to the
professional.
[0048] In FIG. 3, there is an overview for initializing the
settings of the rehabilitation device for a specific user in
accordance with the present invention. When a user first gets on to
the rehabilitation device 1 the microprocessor/display unit 20 will
prompt them to identify themselves 300. Ideally, this is done by
asking the user to input their name (first, middle, last, or any
combination thereof) 305. Identification means may also include pin
numbers, passwords, social security numbers (SSN), birthdates, or
biometric readings such as fingerprints, iris scans, or the like.
Based upon one of the prompts, the microprocessor/display unit 20
will load the last session date or start a new rehabilitation
session 310. If the user is a known user then the
microprocessor/display unit 20 will load the user's data from their
previous session 335. If the individual is a new user, the
microprocessor/display unit 20 will prompt the user to input new
user parameters 315. These are parameters by which a profile can be
constructed to keep track of and create workouts based on the
information supplied by the user. These parameters may include sex,
height, weight, age, body fat percentage, cholesterol levels, and
the like. The microprocessor/display unit 20 will then be able to
set the seat position 320 based on the pertinent data. The
microprocessor/display unit 20 will load this new user data 325 and
set the pedal diameter to the minimum 330 in order to begin
rehabilitation. If the user was previously known then the pedal
diameter and seat location will automatically adjust to the proper
positions 340, 345 based on the results of their last session.
[0049] The pedal assembly 24, FIG. 4, has two identical halves
connected by the crank axle 32. Each half of the pedal assembly 24
has a pedal 36, upper crank arm 28, lower crank arm 26, a crank
axle 32, and an actuator 34. The upper crank arm 28 is hingedly
connected to the lower crank arm 26. The pedal 36 is coupled to the
upper crank arm 28 on the end opposite the hinged connection. The
crank axle 32 connects the two halves of the pedal assembly 24.
[0050] The pedal 36 is substantially rectangular in shape to
provide a sufficient surface area for the foot to be placed, but
may be square, triangular, etc. The pedal 36 can range from about 5
cm (2 inches) by about 10 cm (4 inches) to about 20 cm (8 inches)
by about 40 cm (16 inches). Preferably, the pedal is about 10 cm (4
inches) by about 15 cm (6 inches). The pedal 36 is preferably
plastic, but may be metal, wood, or the like. Additionally, the
pedal may be smooth or have a ridged pattern for added traction.
The pedal 36 is connected to the upper crank arm 28 by a screw.
This allows for an unimpeded 360.degree. rotation of the pedal 36.
This permits the pedal 36 to change orientation as it passes
through the rotation and to move with the flexion of the user's
foot. The upper crank arm 28 is hingedly connected to the lower
crank arm 26 by a bolt extending therethrough with a cap on each
end preventing slippage of the hinge. Unlike the pedal 36, this
hinge does not freely move as it is connected to an actuator 34.
The crank arm may consist of a light weight metal such as aluminum,
or may comprise a stronger, heavier metal such as steel to prevent
damage to the device.
[0051] The actuator 34 is preferably a linear actuator with one end
coupled to the upper crank arm 28 and the opposite end coupled to
the lower crank arm 26. The actuator 34 can employ varying
technology such as electromechanical or hydraulics. Here, it is
preferable to use an electric actuator. The actuator 34 is coupled
to the microprocessor and moves in real time as information is
compiled and processed by the microprocessor. Depending on the
information received by the microprocessor the actuator 34 can
extend increasing the circumference of the pedal throw, or it can
retract decreasing the circumference of the pedal throw.
Alternatively, the pedal assembly 24 may have a disk whereby the
pedal is attached and rotates. Rather than employing an actuator
34, the mechanism uses gears to adjust the circumferential path of
the pedal arm and thereby the pedal itself.
[0052] When changing the patient's range of motion by altering the
pedal diameter the device 1 must maintain the correct distance from
the seat to the low pedal position. FIG. 5 illustrates this
process. The pedal diameter is determined by the distance between a
crank axle and a pedal of a pedal assembly. The pedal assembly, as
previously discussed, comprises a crank axle and an upper and lower
crank arm extending from each end of the crank axle wherein the at
least two actuators are on each of the crank arms thereby altering
the circumferential diameter of the pedal assembly.
[0053] If the outputs from the rehabilitation device 1 are such
that the pedal throw should be increased 100, then the pedal
diameter calculated by the equation 105:
pedal diameter.sub.f=pedal diameter.sub.i+.DELTA.P
wherein the final pedal diameter (pedal diameter.sub.f) is equal to
the initial pedal diameter (pedal diameter.sub.i) plus the change
in diameter or delta (.DELTA.P). In order to compensate for this
change, the seat height must also be adjusted 110. The seat height
adjustment is calculated by equation:
seat height.sub.f=seat height.sub.i-.DELTA.S
wherein the final seat height (seat height.sub.f) is equal to the
initial seat height (seat height.sub.i) minus delta (.DELTA.S).
This enables the rehabilitation device 1 to keep the pedal and seat
in proper spatial alignment with one another. This is most
important in order to maintain the proper range of motion (ROM) for
the rehabilitation strategy. Otherwise, when the pedal
circumference shifts, the seat may be too low to allow the affected
joint to travel through a fully cyclic motion.
[0054] In order to decrease pedal diameter 120, a different
approach must be taken. The microprocessor/display unit 20
calculates a decrease in pedal circumference according to the
equation 125:
pedal diameter.sub.f=pedal diameter.sub.i-(.DELTA.P/2)
wherein the final pedal diameter (pedal diameter.sub.f) is equal to
the initial pedal diameter (pedal diameter.sub.i) minus the value
of delta divided by two (.DELTA.P/2). As with the methodology
above, the seat height must also adjusted 135. The seat height is
calculated by the equation:
seat height.sub.f=seat height.sub.i+(.DELTA.S/2)
wherein the final seat height (seat height.sub.f) is equal to the
initial seat height (seat height.sub.i) plus the value of delta
divided by two (.DELTA.S/2). Again, this linked change in state
necessary in order to maintain a proper range of motion throughout
the adjustment and workout process. The system control processor
can change the pedal resistance felt by the user. Thus, the
resistance can be increased and then automatically reduced if the
pedal rotation falls, or decreases, due to the increased resistive
load. This protocol varies the load based on the desired goals of
strength versus flexibility or in some instances both.
[0055] FIG. 6 is a perspective view of the seat assembly 12 of the
rehabilitation device 1. The second vertical support 18 has a
second telescoping support 23 extending from the top of the support
18. The telescoping support 23 is connected to an actuator 34 (not
shown) within the second vertical support 18. The actuator 34 acts
in accordance as previously described above. This, in turn,
produces the vertical motion along path C-C' moving the seat 12 up
and down. This is critical for achieving the proper range of motion
in a rehabilitation patient. The seat height and the circumference
of the pedal throw directly relate to the extent to which a knee or
hip can be flexed or extended. Determining these values serves as
the starting point and subsequent adjustment points for the
physical rehabilitation. In addition to the height adjustment, the
seat 12 may also slide forwards and backwards along adjustable
rails 27. The seat 12 should have proper padding 31 and conform to
the user. In some instances, the seat 12 may be detachable either
by removing the seat 12 along with the telescoping support 23 or by
simply removing the seat 12.
[0056] In order to adjust the seat 12, the microprocessor/display
unit 20 follows the protocol in FIG. 7. Based on the user's height
and current range of motion of a particular joint or appendage an
initial seat height can be selected 200. For a new user, this means
that someone will either manually input a value for leg length or
move the seat up/down until the position is correct. The initial
process provides for the manual adjustment of the seat height 205.
In order to begin at the proper height, the legs of the user should
usually be fully extended (if possible) at the bottom of the pedal
circumference 210. For first time users, it is preferable to have
the physical therapist/rehabilitation technician (PT) aid in
helping to set the seat height 215. From there, calculations in leg
length can be made and stored in the user's data profile 220. Once
the manual adjustment is disabled 225, the user is free to begin
exercising and letting the microprocessor/display unit 20, make the
necessary adjustments for the user.
[0057] FIG. 8 is a perspective view of the handlebar assembly 10 of
the rehabilitation device 1. The handlebar assembly 10 has two main
features: a U-shaped bar 39 and a support 36. The support 36 fits
within the top of the first vertical support 19 which is supported
by the horizontal support 22. The support 36 is connected to an
actuator 34 within the first vertical support 19. The actuator 34
is in turn operably connected to the motor/resistance unit 35. The
terminal end of the support 36 has an adjustable coupling 40. This
encircles the support 36 holding it securely in place, while still
permitting the U-shaped bar 39 to rotate. The adjustable coupling
40 may be a solid extension of the support 36. Alternatively, there
may be a thumb screw or other connection means that allow the
adjustable coupling 40 to release the U-shaped bar 39. This gives
the rehabilitation device 1 the option of having interchangeable
handlebars 10. Additionally, the U-shaped bar has padding 37 to
comfort and protect the user while on the rehabilitation device.
The padding 37 can be any material of appropriate strength and
durability such as a foam, rubber, silicone, or latex.
[0058] Referring to FIG. 9, there is a flowchart illustrating a
high level view of the recovery process 400 using the above
described rehabilitation device 1. Initially, the correct user data
needs to be retrieved 402. This is done as previously described
using identifiers such as passwords, names, birthdates, SSN,
biometric identifiers, and the like. The user parameters are then
set 404 into the rehabilitation device 1 by the
microprocessor/display. The target speed is displayed on the
screen. The user may then proceed with pedaling at a target pace
406 which may be measured in miles per hour (mph), kilometers per
hour (kph), calories burned per hour, or rotations per minute
(rpm). The on board microprocessor processes and compiles the data
as the user pedals. The data is composed of varying technical
aspects regarding the pedaling process such as torque and
rotational speed. After the hardware has been configured, the
system evaluates the patient's ability for a short time.
[0059] This evaluation time 408 is equal to about fifteen (15)
seconds. This gives the rehabilitation device 1 the proper baseline
to begin making necessary adjustments in real time. The user sits
on the rehabilitation device 1 and begins to pedal. If the pedal
rotation during this brief evaluation period is consistent and
smooth 412, then the pedal diameter is increased slightly in
accordance with the rehabilitation algorithm. This process of
checking for a smooth and consistent rotation 412 and subsequently
increasing in pedal diameter 409, repeats itself as the user's
ability allows. When the patient or user can no longer rotate the
pedals in a smooth and consistent manner, the diameter is reduced
414 and then the reduced setting is briefly evaluated to ensure
that the patient can properly move the affected appendage for this
optimized range of motion. Additionally, the derivatives of the
rotation are checked by the microprocessor/display unit 20 to
ensure correct operation and range of motion for the user. Assuming
there continues to be a smooth and consistent rotation 418 and no
rotation error is recorded 420, then the rehabilitation portion 426
of the workout can begin. The rehabilitation portion 426 of the
workout is generally about five (5) minutes in length, but can
range from about 2-10 minutes per rehabilitation session. In some
instances, multiple rehabilitation sessions occur one after another
until a predetermined time threshold has been reached. The user
continues to pedal throughout the predetermined rehabilitation
time. If, at the end of the first time cycle, the workout is not
complete, the pedal circumference diameter is increased yet again
430 assuming the user's ability permits such an increase. The user
is returned back to step 408 for brief evaluation to ensure the
user will not be harmed using the increased pedal circumference. At
the end of the predetermined rehabilitation time frame, and the
session is completed 428, the user's data can be updated and stored
432 in the rehabilitation device 1. From there, the user, physical
therapist/rehabilitation technician, tending nurse, or physician
may generate a report to view the progress the user is making
434.
[0060] Assuming there is an inconsistent value to the measured
factors, the rehabilitation device 1 will automatically decrease
the circumference of the pedal throw 414. The user will then enter
another evaluation period 416 of about fifteen (15) seconds. If the
issues with the measured values are still not smooth 418 and there
is no machine error 420, then the physical therapist/rehabilitation
technician 422 should step in. Any further work may result in
damage/injury to the user.
[0061] Referring to FIG. 10, there is a flowchart outlining the
evaluation protocol the rehabilitation device 1 follows. To
evaluate 500 a user at the present settings, the repetition timer
is started 505. The rehabilitation device 1 will get a first pedal
speed 510 and then wait, or delay 515, for a length of time. A
second pedal speed 525 will be processed by the rehabilitation
device 1 for comparison purposes. If the pedaling has stopped 530
before this second reading can take place the rehabilitation device
1 will exit 535 the program and alert the rehabilitation personnel
of a problem. If the pedaling has continued the microcontroller
will check to see if the repetition time has been completed 540. If
not, the microcontroller will analyze the data for a smooth
rotation 520 of the pedals. This process repeats until the timer
end. When the timer ends, the device 1 will then set smooth
rotation on 550 or off 555 depending on the analytical outcome.
Once completed to satisfaction the user will be returned 560 to the
calling program.
[0062] In FIG. 11, there is a flowchart illustrating the
rehabilitation process for a rehabilitation device 1. The
rehabilitation 600 begins with a repetition time being set to the
rehabilitation time 605 of about 2-5 minutes. The user then begins
to pedal and the rehabilitation device 1 evaluates 610 the user's
performance. If the evaluate module detects no pedal rotation, an
error 615 will be generated and the analysis exited. Otherwise, the
pedal rotation is checked for a level of smoothness as described in
FIG. 10. The purpose being that the smooth pedal rotation signifies
that the user can comfortably and efficiently rotate the pedals. If
the pedal rotation does not meet the standards for smoothness, then
a notification will be sent to the physical
therapist/rehabilitation technician (PT) 620. This could be a
wireless alert such as a text message or email. Upon this
notification, the rehabilitation device 1 will pause the
rehabilitation process. If the pedal rotation is determined to meet
the threshold for smoothness the rehabilitation device 1 will check
to see if the rehabilitation time has been completed 635. If not,
the process repeats until the rehabilitation timer ends at which
time, control returns to FIG. 9. In FIG. 9, a determination is done
to see if the session is complete. If so, the system exits. If not,
pedal diameter is increases and new settings are evaluated. As the
patient approaches full recovery, the system will observe that both
legs are causing a similar resistance at the top of the pedal
swing. This condition will be reported along with the final angle
of flex that was achieved. It can then be determined if this level
of flex is acceptable or further therapy is needed.
[0063] Additionally, the pedals 36 may not be the only item
automatically adjusting during this process. The seat 12 and
handlebars 10 of the rehabilitation device 1 can be adjusted to
customize for people of varying shapes and sizes. It may be
preferable to include these adjustments into the methodology
described above. For example, the seat 12 will raise or lower in
conjunction with the adjustment of the pedal throw.
[0064] The rehabilitation device 1 may take a number of forms known
in the art and not explicitly shown here. Preferably, the
rehabilitation device 1 is an upright bicycle. However, other
iterations such as recumbent bicycles, spin bicycles, and mini
exercise bicycles may employ some or all of the technology. For
example, the control system and sensors can be applied to a "linear
sled" type device that is typically used for rehabilitation after
knee replacement. This device contains one or two sleds that the
patient puts their feet in while lying in a prone position. The
patient flexes the injured knee back and forth, while the foot
rests in the sled. In this application, the control system monitors
the extent of the motion and tracks the progress of increasing that
extent.
[0065] While the focus has been placed on rehabilitation for lower
body (hip, knee, etc.) joints, other iterations could permit
rehabilitation of upper body joints such as arms and shoulders
employing the same technology and methodologies. Additionally, the
system and sensors may be retrofitted to existing systems to
achieve the desired rehabilitation results. As described, initially
the data is stored locally and will be transmitted to a central
server unit as soon as possible. This server unit would comprise
potentially all the data associated with the rehabilitation devices
employing the described invention and allow for comparisons and
modeling of the data on a large scale. It may also permit for
"competition" against one another and results of particular
workouts are viewed and/or posted.
[0066] Other features that the rehabilitation device 1 may have are
straps to help secure the foot into the pedal 36. The pedals 36 may
have a "clip in" structure for use with a special shoe adapted to
lock into the pedal 36. This is preferential for users who have
little to no use of their legs, as it would help to securely keep
the feet firmly on the pedals 36. There may also be one or more
places to hold a water bottle or similar drinking device to supply
fluids to the patient before, during, and after the workout. This
is not only a necessity but eliminates the need for the patient to
stop a workout in order to get a drink of water.
* * * * *