EP4698085A1

EP4698085A1 - Inertial measurement unit sensors in spatial frame systems

Info

Publication number: EP4698085A1
Application number: EP24726027.6A
Authority: EP
Inventors: Brian Roberts; Sied W. Janna; Andrew P. NOBLETT; Johnny R. MASON; Scott Smyth; Paul Bell
Original assignee: Smith and Nephew Orthopaedics AG; Smith and Nephew Asia Pacific Pte Ltd; Smith and Nephew Inc
Current assignee: Smith and Nephew Orthopaedics AG; Smith and Nephew Asia Pacific Pte Ltd; Smith and Nephew Inc
Priority date: 2023-04-18
Filing date: 2024-04-15
Publication date: 2026-02-25
Also published as: WO2024220341A1

Abstract

A spatial frame apparatus for positioning on a patient to treat an injury. The apparatus includes a frame having one or more motorized struts. The motorized struts include one or more motors configured to cause movement of the motorized struts in one or more directions in accordance with a treatment plan. The apparatus includes one or more sensors and one or more processing components communicatively coupled to motorized struts and/or motors. The sensors obtain data related to operation of the frame, including at least one of: position and/or movement data associated with the patient and/or the frame, data associated with operational status of one or more components of the frame, external data, and/or any combination thereof. The data is sensed prior to, during and/or after one or more adjustments performed by the frame. The processing components determine an optimal time to perform adjustments by the motorized struts based on the obtained data.

Description

INERTIAL MEASUREMENT UNIT SENSORS IN SPATIAL FRAME SYSTEMS

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This is a non-provisional of, and claims the benefit of the filing date of, pending U.S. provisional patent application number 63/460,094, filed April 18, 2023, entitled “Inertial Measurement Unit Sensors in Spatial Frame Systems,” the entirety of which application is incorporated by reference herein.

TECHNICAL FIELD

[0002] The present disclosure relates generally to orthopedic devices, systems, and methods for facilitating fracture alignment such as the treatment of musculoskeletal conditions with a spatial frame, which includes a motorized strut such as, for example, a geared-motor assembly, configured to monitor patient movements, orientation, etc. to determine timing of various adjustments by the spatial frame’s motorized struts.

BACKGROUND

[0003] People suffer bone fractures each year. In many instances, a person that suffers a bone fracture is required to use a bone alignment device such as, for example, an external fixation system, a spatial frame, a hexapod, etc. (terms used interchangeably herein without the intent to limit or distinguish) to align two or more bones, bone fragments, bone pieces, etc. (terms used interchangeably herein without the intent to limit or distinguish). Generally speaking, spatial frames allow for polyaxial movement of the coupled bones and are typically used to keep fractured bones stabilized and in alignment during a treatment period. [0004] Generally speaking, the spatial frame includes first and second rings, platforms, frames, bases, etc. (terms used interchangeably herein without the intent to limit or distinguish) intercoupled by a plurality of struts. In use, the struts have adjustable lengths that may be adjusted regularly (e.g., daily) in accordance with a prescription or treatment plan (terms used interchangeably herein without the intent to limit or distinguish). As the lengths of the struts are adjusted, the platforms are controllably manipulated. The treatment plan specifies strut length adjustments to be made over time to ensure successful bone alignment.

[0005] Some spatial frames include electronic components, such as, motorized struts, which lengthen and shorten according to a programmed prescription. Motorizing the struts eliminates patient compliance from the system, enables adjustment of frequencies that is not possible with manual struts, and allows for collection of valuable clinical data. Further, some existing system include sensors for gather various data. However, such systems are not capable of using the sensor-obtained data together with other data associated with operation of the spatial frame to determine an optimal time for performing adjustments so as to minimize consumption of power resources as well as reducing strut loading, current pull and/or inconvenience to the patient.

SUMMARY

[0006] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended as an aid in determining the scope of the claimed subject matter.

[0007] In one example, the current subject matter relates to a spatial frame apparatus for positioning bone fragments to treat a patient deformity. The apparatus may include a frame having one or more motorized struts. One or more motorized struts may include one or more motors configured to cause movement of one or more motorized struts in one or more directions in accordance with one or more treatment plans. The apparatus may also include one or more processing components communicatively coupled to one or more motorized struts and/or one or more motors. The apparatus may include one or more sensors communicatively coupled to one or more processing components, one or more motorized struts and/or one or more motors. One or more sensors may obtain data related to operation of the frame, including at least one of position and/or movement data associated with the patient and/or the frame, data associated with operational status of one or more components of the frame, external data, and/or any combination thereof. The data may be sensed prior to, during and/or after one or more adjustments performed by the frame. The processing components may determine an optimal time to perform one or more adjustments by one or more motorized struts based on the obtained data.

[0008] In any preceding or subsequent examples, the current subject matter may be configured to include one or more of the following optional features. One or more processing components may be configured to determine, based on the obtained data, one or more loading parameters on the one or more motorized struts. The loading parameters may be configured to define loading on the one or more motorized struts resulting from the frame being positioned and/or adjusted on the patient. The processing components may be configured to determine the optimal time to perform one or more adjustments based on one or more determined loading parameters and execute one or more adjustments using the determined optimal time.

[0009] In any preceding or subsequent examples, one or more sensors are inertial measurement unit (IMU) sensors. The IMU sensors may be configured to sense orientation, position, angle, velocity, and/or any other data associated with one or more motorized struts. The IMU sensors may also be configured to sense data associated with one or more movements of and/or positions of the patient. The movements may include at least one of the following: standing, sitting, running, walking, moving, laying down, sleeping, and/or any combination thereof.

[0010] In any preceding or subsequent examples, one or more sensors may include at least one sensor that may be configured to sense one or more operational statuses of the frame, which may include at least one of the following: a power source level, a strain level, a current pull level, and other values.

[0011] In any preceding or subsequent examples, one or more processing components may be configured to determine one or more baseline values. The baseline values may be configured to indicate at least one of the following: a motor torque, a current pull, a strut loading, and any combination thereof required to adjust one or more motorized struts during one or more positions, movements, and/or any combination thereof of the patient (e.g., moving, standing, sitting, laying down, sleeping, etc.). One or more baseline values may be determined for each patient’s position, movement, and/or any combination thereof. Alternatively, or in addition, one or more baseline values may be determined collectively for some or all positions, movements and/or any combination thereof.

[0012] In any preceding or subsequent examples, one or more processing components may be configured to generate, using the sensed data for one or more of such positions, movements, etc., one or more data profiles for each position, movement, and/or combination of positions and/or movements and/or pattern of positions, movements, etc. One or more data profiles may include any combination of IMU sensor data, strut loading data, motor current pull data, and/or any other data values correlated to the specific patient and/or patient’s position(s), movement(s), and/or any combination thereof. Optionally, data profiles may be updated and/or re-generated throughout the prescription plan. Updates/re-generations of one or more data profdes may be executed periodically, based on detected and/or determined data, on a predetermined schedule, randomly, and/or in any other desired fashion.

[0013] In any preceding or subsequent examples, one or more processing components may be configured to select one or more motorized struts for performing one or more adjustments to the frame. The selection of struts may be based on at least one of the following: one or more determined optimal times, one or more baseline values, one or more data profiles, one or more power levels in one or more power sources, one or more motor current pulls in one or more motorized struts, and/or any combination thereof.

[0014] In any preceding or subsequent examples, one or more processing components may be configured to determine a first position, a first movement, and/or any combination thereof of the patient and delay executing one or more adjustments until the patient has changed from at least one of the first position, the first movement, and/or any combination thereof to at least one of a second position, a second movement, and/or any combination thereof that are different from at least one of the first position, the first movement, and/or any combination thereof. In any preceding or subsequent examples, one or processing components may be configured to determine, based on information received from the one or more sensors, that the patient is in the second position and/or performed the second movement, and resume executing the one or more adjustments.

[0015] In any preceding or subsequent examples, the adjustment may include at least one of the following: a direction of adjustment of one or more motorized struts, a length of adjustment of one or more motorized struts, an angle of adjustment of one or more motorized struts, a time of adjustment of one or more motorized struts and/or any other parameters for changing positioning of one or more motorized struts, and/or any combination thereof. [0016] Examples of the present disclosure provide numerous advantages. For example, by using sensory data (e.g., IMU sensor(s) data and/or any other sensor data) of the spatial frame, the current subject matter may be configured to optimize timing of adjustments by the frame. This is advantageous over existing manual and/or automated strut systems that do not provide for that ability. Specifically, such existing systems do not leverage gathered data to inform a particular motorized strut and/or a group of struts when it would be optimal to execute an adjustment. Obtaining and analyzing sensory data prior to adjustment(s) timeframe(s) allows current subject matter system to minimize motor loading and/or extend battery life of power sources associated with the frame.

[0017] Further features and advantages of at least some of the examples of the current subject matter, as well as the structure and operation of various examples of the current subject matter, are described in detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, show certain features of the subject matter disclosed herein and, together with the description, help explain some of the principles associated with the disclosed implementations. In the drawings,

[0019] FIG. 1 illustrates a perspective view of a conventional spatial frame including first and second platforms and a plurality of manually adjustable struts coupled thereto;

[0020] FIG. 2A illustrates a perspective view of an alternate conventional spatial frame including first and second platforms and a plurality of manually adjustable struts coupled thereto; [0021] FIG. 2B illustrates a perspective view of an example of a spatial frame including a plurality of geared-motor assemblies coupled to the manually adjustable struts of the spatial frame in FIG. 2A in accordance with one or more features of the present disclosure, the spatial frame including the plurality of geared-motor assemblies and a companion APP to transmit and receive data, instructions, and updates;

[0022] FIG. 3 is a block diagram of a spatial frame system, according to some examples of the current subject matter;

[0023] FIG. 4 illustrates an example process for executing one or more adjustments using the system shown in FIG. 3, according to some examples of the current subject matter;

[0024] FIG. 5 illustrates an exemplary computing apparatus, according to some examples of the current subject matter;

[0025] FIG. 6 illustrates an example of a storage medium to store spatial frame logic, according to some examples of the current subject matter; and

[0026] FIG. 7 illustrates an example computing platform, according to some examples of the current subject matter.

[0027] It should be understood that the drawings are not necessarily to scale and that the disclosed examples are sometimes illustrated diagrammatically and/or in partial views. In certain instances, details that are not necessary for an understanding of the disclosed methods and devices or which render other details difficult to perceive may have been omitted. It should be further understood that this disclosure is not limited to the particular examples illustrated herein. In the drawings, like numbers refer to like elements throughout unless otherwise noted. DETAILED DESCRIPTION

[0028] To address these and potentially other deficiencies of currently available solutions, one or more implementations of the current subject matter relate to methods, systems, articles of manufacture, and the like that can, among other possible advantages, provide a spatial frame, which includes a motorized strut such as, for example, a geared-motor assembly, configured to monitor patient movements, orientation, etc. to determine timing of various adjustments by the spatial frame’s motorized struts.

[0029] FIG. 1 illustrates an example of a spatial frame 100 in a form a hexapod having a circular, metal frame with a first platform 102 and a second platform 104 connected by six adjustable length struts 106 (labeled as struts 106-1 through 106-6 in FIG. 1). Each strut 106 may be independently lengthened or shortened relative to the rest of the frame, thereby allowing for six different axes of movement.

[0030] Each strut 106 may include an outer body and an inner body, which may be configured as, or be operatively coupled to, a threaded rod (also referred to as a lead screw). The outer body may be coupled to one of the platforms, such as, the second platform 104 by way of a joint as shown. The inner body may be coupled to the other platform, such as, the first platform 102 by way of a joint as shown. To lengthen or shorten one of struts 106, the outer body and the inner body may be moved and/or translated relative to one another. For example, in some examples, the strut 106 may include an adjustment nut wherein rotation of the adjustment nut moves the inner body (e.g., threaded rod or lead screw) relative to the outer body to adjust an overall length of the strut.

[0031] The spatial frame 100 may be used to treat a variety of skeletal fractures of a patient. Typically, the spatial frame 100 is positioned around the patient and is used to align two or more bone portions. To do so, a length of each strut 106 may be incrementally adjusted (e.g., shortened and/or lengthened) in accordance with a treatment plan that specifies adjustments to be made to each strut 106 over time to ensure successful bone alignment. In many instances, the length of each strut 106 should be adjusted daily to comply with the provided treatment plan. Adjusting the length of each strut 106 adjusts the distance between the first and second platforms 102, 104, and hence the first and second bone portions coupled thereto.

[0032] During use, patient’s bones are normally adjusted (e.g., lengthened, shortened, etc.) by adjusting the struts to move the bone segments at a rate of approximately 1 mm/day, which is then proceeded by a consolidation phase before the spatial frame is removed. Some spatial frames require manual adjustments of struts. Other frames include motorized and/or automated struts that include electric motors, motor-drive units, control units (e.g., a central control unit, individualstrut control units, etc.) that can perform adjustments. By way of a non-limiting example, each motorized strut may include a motor and may be used in a spatial frame such as, for example, spatial frame 100, to move the first and second platforms 102, 104, respectively, to align two or more bone portions. The spatial frame and/or system architecture may be arranged and configured to automatically adjust the motorized struts according to the prescribed treatment plan (e.g., automatically adjust the plurality of motorized struts without patient intervention). Alternatively, or in addition, the spatial frame and/or system architecture may be arranged and/or configured to require patient and/or caregiver activation to begin the process of automatically adjusting the motorized struts according to the prescribed treatment plan. For example, the spatial frame may be arranged and/or configured to intermittently auto-adjust the motorized struts at predetermined times according to the treatment plan. Alternatively, the spatial frame may be arranged and/or configured to intermittently auto-adjust the motorized struts at select times when convenient and/or selected by the patient. Alternatively, or in addition, the spatial frame may be arranged and/or configured to continuously auto-adjust the motorized struts in small discrete increments.

[0033] Further, the motorized struts may include any required circuity. For example, the motorized struts may include one or more position sensors to, for example, monitor absolute position or length of the motorized strut(s). To monitor various biomechanical parameters, other sensors may be included as well, such as, by way of a non-limiting example, a force sensor for monitoring stresses and forces, across the bone gap and/or the soft tissues (muscle, apposing cartilage or peripheral sensory nerves), an accelerometer for capturing patient ambulation data (steps, distance, speed and cadence), a gyroscope for measuring the degree of alignment between the bone fragments, and a sensor motor support, etc. The motorized strut(s) may also include an encoder, such as, for example, a rotary encoder for measuring rotation of the motor for accurate positioning and motion control. A flash memory for storing unique identifiers (e.g., addresses, etc.) and/or current position, biomechanical and ambulatory data, etc. may be provided as well.

[0034] Referring to FIGS. 2A-2B, one or more motorized strut(s) may be a geared-motor assembly. The geared-motor assembly may be arranged and/or configured as a self-contained unit arranged and configured to receive and transmit data with an external computing system. The geared-motor assembly including an enclosure or housing containing a motor, a power supply, a microprocessor, and all other power and control circuity needed to engage and control a manually adjustable strut in a spatial frame.

[0035] In some examples, each geared-motor assembly may include a motor and a torque transmitting mechanism such as, for example, a gear, arranged and configured to engage a corresponding gear on a manually adjustable strut in a spatial frame. In use, actuation of the motor enables motorized rotation of the torque transmitting mechanism and thus the manually-adjustable strut coupled to the geared-motor assembly. In addition, each geared-motor assembly may include a microcontroller arranged and configured to control operation of the geared-motor assembly including, for example, receiving and/or updating a treatment plan and/or controlling activation of the motor without the need for a separate centralized master control unit positioned within the spatial frame. Each geared-motor assembly may further include a wireless communication chip or antenna arranged and configured to communicate with an external computing system to, for example, exchange data relating to strut position, exchange data relating to and updating the prescribed treatment plan, etc. Each geared-motor assembly may also include a power supply such as, for example, batteries, to power the geared-motor assembly including, for example, the motor, the microcontroller, the wireless communication chip, and any associated sensors and/or additional circuity. Each geared-motor assembly may also include a sensor for either positional control, biomechanical feedback, or a fault level detection in the gear train. In some examples, each geared- motor assembly may include its own self-contained power management, wireless communication, and microcontroller unit that controls the position of the strut.

[0036] As shown in FIGS. 2A-B, an example spatial frame 200 includes a first platform 102, a second platform 104, and a plurality of manually adjustable struts 106 coupled to the first and second platforms 102, 104. During use, the removable geared-motor assembly 202 may be arranged and/or configured to engage, attach, couple, etc. to the manually adjustable struts 106 of the frame 200. The spatial frame 200 may be operated in and/or switched between two modes and/or configurations of operation. In the first mode and/or configuration of operation, the struts 106 may be manually adjustable, as illustrated in FIG. 2A. In the second mode and/or configuration of operation, the geared-motor assembly 202 may be attached to one or more of the adjustable struts 106 to enable motorized and/or automated adjustment of the struts. [0037] The geared-motor assemblies 202 may facilitate motorized and/or automated adjustments, such as, for example, semi-continuous actuation. In some examples, the geared-motor assemblies 202 may enable motorized adjustments to be made autonomously via a companion application running on, for example, a smartphone, a tablet, or other external computing system 204. The spatial frame and/or system architecture may be arranged and/or configured to automatically adjust the motorized struts according to the prescribed treatment plan (e.g., automatically adjust the plurality of struts without patient intervention). Alternatively, or in addition to, the spatial frame and/or system architecture may be arranged and/or configured to require patient and/or caregiver activation to begin the process of automatically adjusting the struts according to the prescribed treatment plan. For example, the spatial frame may be arranged to intermittently auto-adjust the motorized struts at predetermined times according to the treatment plan. Alternatively, or in addition to, the spatial frame may be arranged to intermittently autoadjust the motorized struts at selected times when convenient and/or when selected by the patient.

[0038] The gear-motor assemblies 202 may include one or more microprocessors, sensors such as, for example, positional sensors to monitor the length of the struts, load sensors or accelerometer for providing biomechanical feedback during bone healing and acoustic emission and/or vibration sensor for fault level detection in the gear train, a communication chip and/or antenna for facilitating communication and/or transfer of data, a power supply such as, for example, a battery, a charging circuit, etc. Moreover, the geared-motor assemblies 202 may be arranged and/or configured as self-contained units and/or devices incorporating wireless, self- powered, and/or incorporate their own microprocessors (e.g., in some examples, the geared-motor assemblies 202 may be arranged and/or configured as a self-contained unit including all of the necessary components and circuity to control each strut according to the prescribed treatment plan).

[0039] As stated above, the geared-motor assembly 202 may include a control circuit that may be enabled to trigger autonomous, ultra-low speed movement of one or more strut (e.g., 0.002 mm/s). The circuit may also survey mechanical loads exerted on one or more motor(s) through computation of the motor torque (e.g., DC motor current correlates with torque load on motor). In some examples, the control circuit may be a control board and/or print-circuit board (PCB). The PCB may include a microcontroller, a wireless communication chip, a power supply, such as, for example, one or more batteries (e.g., coin cells), a charging circuit, and/or any other circuity and/or components for operation of the geared-motor assemblies 202.

[0040] Additional information on examples of motorized spatial frames can be found in the co-owned International Patent Appl. No. PCT/US20/52276, filed on September 23, 2020, and entitled “Automated Spatial Frame and Automated Struts Used Therewith”, and International Patent Appl. No. PCT/US2023/013011, filed on February 14, 2023, and entitled “Detachable Geared-Motor Assembly for Motorizing a Strut in a Spatial Frame,” the disclosures of which are incorporated herein by reference in their entireties. Moreover, it should be appreciated that, while various examples of a motorized strut has been disclosed herein, one or more features of the present disclosure may be used with any suitable motorized struts now known and/or hereafter developed. As such, the present application should not be limited to any particular configuration and/or type of motorized strut unless either explicitly disclosed and/or claimed herein.

[0041] As described above, spatial frames and/or hexapods are used to treat deformity correction and traumatic injuries. This is accomplished using six struts that are adjusted daily to move bone segments into a desired position. As bone segments move, the process of distraction osteogenesis takes place and bone is grown by the body to bridge the gap between the segments. As disclosed herein, the struts may be automated and may configured to perform automatic adjustments to move the bone segments per the surgeon’ s prescription without manual intervention by the patient.

[0042] Timing and frequency of the automated strut adjustments have historically been predetermined by the surgeon at the time of initial frame setup. While some conventional systems include accelerometers and/or gyroscopes in their frames, such systems only passively monitor or store the data gathered from sensors. They can inform a patient of when to sit or lay down for an adjustment, but they do not leverage any data, such as data from inertial measurement unit (IMU) sensors data to make informed decisions on when to make strut adjustments. Since the timing of the adjustments is preset, and not dependent upon measurements, the strut can be actuated while the frame is under high load conditions, such as when a patient is standing, walking, or otherwise putting pressure on the frame. Making frame adjustments under such conditions requires additional torque output from the motor to adjust the strut length which can cause unnecessary strain on the motor, quickly drain the system’s batteries, as well as potentially cause unnecessary adjustments and/or pain to the patient.

[0043] Moreover, at the time of initial setup of conventional automated strut systems, surgeons typically upload a prescription to the spatial frame to correct a bony deformity. The prescriptions include a set frequency of strut adjustments. While the frequency can be modified by the surgeon at any point during the prescription, the actual timing of these adjustments is preset and does not factor in secondary sensor measurements to optimize the timing of each adjustment for improved system/battery life. [0044] In some examples, the current subject matter’s spatial frame system may include one or more inertial measurement unit sensors. Such sensors may be arranged and/or configured to actively sense patient motion, orientation, and/or any other parameters. The sensed data may be provided to one or more processors (either in one or more of frame’s geared motor assemblies and/or an external device). The processors may use this information to determine and/or select optimal timing for strut adjustments. The decision may be based on, for example, the lowest expected/predicted and/or actual motor torque and/or power requirement, lowest expected/predicted and/or actual load condition, expected/predicted and/or actual movement(s) by the patient, expected/predicted and/or actual schedule(s) of movement(s) by the patient, and/or any other factors. By optimizing the timing of each adjustment, the current subject matter’s system may be configured to require less power per adj ustment, reduce electrical and/or mechanical and/or both strain on the components of the frame, reduce discomfort/pain to the patient, etc. This may also extend battery life and/or reduce the risk of needing to replace or recharge batteries during the time the prescription is in effect.

[0045] FIG. 3 is a block diagram of a spatial frame system 300, according to some examples of the current subject matter. FIG. 4 illustrates an example process 400 for executing one or more adjustments using the system 300 shown in FIG. 3, according to some examples of the current subject matter.

[0046] Referring to FIG. 3, the spatial frame system 300 may include a spatial frame 302 (e g., similar to the frames shown and described in connection with FIGS. 1-2B) that includes one or more motorized struts 304 (a, b, ...f). For ease of illustration, only three out of six struts are shown in FIG. 3. As can be understood, there can be any number of assemblies 304. Each assembly 304 may include a motor 306, a printed circuit board 308, a power source (e.g., a battery) 310, and one or more inertial measurement (IMU) sensors 312 as well as a motorized strut. In some alternate, non-limiting examples, the IMU sensor(s) 312 may be coupled to one or more frame’s platforms (e.g., platforms 102, 104), where positions of the platforms during various patient’s activities may be used for estimation of activity /loading levels.

[0047] The components 306-312 may be communicatively coupled to one another and each may include various combinations of hardware, software, electrical, mechanical, electromechanical parts, portions, components, etc. and any combinations thereof. Moreover, each assembly 304 may include similar and/or different components than one or more of the other assemblies 304. Further, the assemblies 304 may be configured to communicate with one another, such as, for example, for the purposes of sharing various data (e.g., load data, strain data, power source level, current pull, etc.), providing instructions to one another and/or to one or more external devices, etc.

[0048] In some examples, one of the assemblies 304 may be selected as a primary assembly 304 that may be used to coordinate various commands among other secondary assemblies 304. As can be understood, designation of primary and/or secondary assemblies may be arbitrary and may be interchangeable, e.g., one of the assemblies 304 may be designated as primary at the beginning of the prescription plan and as the plan execution progresses, that designation may be assigned to another assembly 304 with the original primary assembly 304 becoming a secondary assembly.

[0049] The power source 310 may be configured to provide power to the motor 306. The motor 306 may be configured to perform lengthening and/or shortening of a strut (coupled to the motor) by turning a gear that may interact with an internally threaded member coupled to the threaded rod of the strut (as for example, discussed in the co-owned International Patent Appl. No. PCT/US20/52276, filed on September 23, 2020, and entitled “Automated Spatial Frame and Automated Struts Used Therewith”, and International Patent Appl. No. PCT/US2023/013011 , fded on February 14, 2023, and entitled “Detachable Geared-Motor Assembly for Motorizing a Strut in a Spatial Frame,” claiming priority to U.S. Provisional Patent Appl. No. 63/312,760, fded on February 22, 2022, and entitled “Detachable Geared-Motor Assembly for Motorizing a Strut in a Spatial Frame,” the disclosures of which are incorporated herein by reference in their entireties). As the strut is loaded with soft tissue loads and/or weight bearing loads, the amount of torque required from the motor 306 to overcome the resistance in the system 300 may vary. As the torque required varies, the current pulled from the power source 310 by the motor 306 may vary in a corresponding manner. For example, the greater the torque that may be required, the greater the current pull is from the power source 310.

[0050] In some examples, referring to FIGS. 3-4, the system 300 may include one or more IMU sensors 312, which may be incorporated into the assemblies 304. The IMU sensors 312 may be communicatively coupled to one or more of the motor 306, PCB 308 and/or power source 310. The IMU sensors 312 may be configured to measure, sense, detect, monitor, and/or determine orientation, position, angle, velocity, and/or any other data (“movement data values”) associated with one or more frame components (e.g., struts, platforms, etc.), at 402 (as shown in FIG. 4). Further, other data related to the operational status (e.g., power source level, strain level, etc.) may also be detected and/or determined either by the IMU sensors 312 and/or any other sensors that may be incorporated into the assemblies 304, at 404 (as shown in FIG. 4). Moreover, the IMU sensors may also be used to collect information related to movements of and/or positions (e.g., standing, sitting, running, walking, moving, laying down, sleeping, etc.) of the patient to whom the frame 302 is coupled. [0051] In some examples, each assembly 304 of the system 300 may include one or more IMU sensors 312. Alternatively, or in addition, only a set of assemblies 304 may be configured to include one or more IMU sensors 312. Yet in other alternate/additional examples, the frame 302 may include one or more IMU sensors 312 that are not associated with particular assembly(s) 304.

[0052] The data obtained by the IMU sensor(s) 312 may be transmitted to one or more processors that may be disposed on the PCB 308 (and/or in any other location and/or on one or more external computing devices communicatively coupled to the frame 302). The processors may use the obtained data, either by itself, and/or in combination with one or more electrical current values (e.g., current motor pull values) to determine one or more baseline values, at 406 (as shown in FIG. 4). The baseline values may be indicative of a motor torque, current pull, strut loading, etc. that may be required to adjust one or more struts during one or more positions, movements, etc. of the patient, such as, for example, when the patient is moving, standing, sitting, laying down, sleeping, etc. The baseline value(s) may be established for each individual patient’s position, movement, etc. Alternatively, or in addition, the baseline value(s) may be determined collectively for all positions, movements, etc.

[0053] In some examples, one or more machine learning models may be used to predict one or more such baseline values, where historical data associated with patients having similar medical conditions and/or characteristics (e.g., types, locations, etc. of fractures, age, weight, activity level, types of frames used, etc.) may be used to train such models. Upon entry of specific information related to a particular patient, fracture, frame used, etc., the models may be used to predict such baseline values.

[0054] Using the obtained and/or determined data for one or more of such positions, movements, etc., the system 300 (and/or an external computing device) may be configured to generate a data profile for each position, movement, and/or combination of positions and/or movements and/or pattern of positions, movements, etc., at 408 (as shown in FIG. 4). The data profile may include any combination of IMU sensor data, strut loading data, motor current pull data, and/or any other data values that may be correlated to the specific patient and/or patient’s position(s), movement(s), and/or any combination thereof. Data profiles may (optionally) be updated and/or re-generated throughout the prescription to ensure accuracy of positional and/or movement data profiles as the patient’s specific limb deformity corrects over time, at 410 (as shown in FIG. 4). Profile updates/re-generations may be executed periodically, based on detected and/or determined data, on a predetermined schedule, randomly, and/or in any other desired fashion.

[0055] In some examples, as stated above, each assembly 304 may include one or more IMU sensors 312, which may increase accuracy of the measurements and/or determinations. Alternatively, or in addition, only one or some of the assemblies 304 may include IMU sensors 312 and may be used to execute requisite detections and/or determinations, as all assemblies 304 might not be needed to accurately determine patient orientation, movement, etc. based on accumulated IMU sensor 312 data. In some examples, system 300 may be configured to select one or more IMU sensors 312 and request the selected IMU sensors to obtain data and/or transmit data that they have obtained to the processors for analysis.

[0056] The system 300 may be configured to leverage data obtained from all and/or a subset of the IMU sensors 312 to determine, at 412 (as shown in FIG. 4), an optimal time for adjustment of each strut and/or some/all struts. The optimal time may be dependent on one or more of the following factors that may be determined by the system 300: lowest expected/predicted and/or actual motor torque and/or power requirement, lowest expected/predicted and/or actual load condition, expected/predicted and/or actual position(s), movement(s), etc. by the patient, expected/predicted and/or actual schedule(s) of position(s), movement(s), etc. by the patient, and/or any other factors. This is advantageous as the system 300 may be able to optimize power efficiency and/or extend battery life while also maintaining compliance with the patient’s prescription plan. In some examples, the system 300 may also acquire data gathered from other devices (e.g., smartphone, smartwatch, pedometer, force-sensing insoles, etc.) and leverage that data in combination with the IMU sensor(s) 312 data and/or any other data to improve accuracy of the patient’s positions, movements, functions, etc. Once the optimal time is determined, one or more adjustments may be executed, at 414 (as shown in FIG. 4).

[0057] In some examples, the system 300 may be configured to allow selection of how baseline values may be determined. For instance, the selections may be based on patient’s preferences, medical staff s (e.g., surgeon(s), physician(s), etc.) preferences, and/or any other preferences. In some instances, the baseline values may be determined during initial frame setup while the patient is at the doctor’s office and/or hospital. While the frame is coupled to the patient, the patient may be directed to stand, sit, walk, lay down, and/or perform any other functions, movements, etc. The system 300 may then collect various data, including IMU sensor(s) 312 data, resulting from these functions/movements and provide the collected data to one or more processors (e.g., disposed on the PCB 308 and/or an external device communicatively coupled to the frame) for processing. This may constitute initial data measurements associated with the frame.

[0058] Subsequently, the system 300 may execute one or more adjustments to one or more struts. The adjustments may be small amount adjustments performed during each such functions/movements. The system 300 may again collect data, including IMU sensor(s) 312 data, and provide same to the processor(s). The collected data (either during initial and/or subsequent measurements) may include data points indicating current/strut pull/load, acceleration, strut orientation relative to the force of gravity, patient position(s), patient orientation(s), patient movement(s), patient’s pain level(s), and/or any other data, and/or any combination thereof. The collected data may then be compiled and stored for each data collection period. The stored data may then be used to generate the data profde. The data profile may be generated for each patient’s position, movement, function, etc., and/or pattern(s) of positions, movements, functions, etc. The data profile(s) may be used to establish baseline values. One or more computing processes may be used to derive the baseline values (e.g., current pull is X units (e.g., amperes) during adjustment of Y units of distance by strut 304a during sitting, etc.).

[0059] Alternatively, or in addition, data collection and/or generation of data profiles/baseline values may be performed subsequently to the fitting of the frame on the patient. For example, a mobile device (e.g., device 204 shown in FIG. 2B) may be communicatively coupled to the system 300 and may include an executable application, which may be capable of monitoring the system 300, including receiving of collected data (whether processed and/or unprocessed), execution of the adjustments, and generation of data profiles/baseline values. The application may also be used to provide instructions to the patient (e.g., through generation of various graphical user interface screens on the device 204) relating to various postures, movements, functions, etc. for the purposes of establishing initial measurements and/or subsequent measurements. The application may also be used to determine updates to the data profiles/baseline values as the healing process, using system 300, progresses.

[0060] In some instances, the system 300 (and/or any other external system) may be configured to passively sense and store data points associated with either the initial measurements and/or any subsequent measurements that may be performed over time. The collected data points may then be used by the system 300 (and/or any other external system) to determine and/or predict data profile and/or baseline values.

[0061] In some, non-limiting, examples, if the system 300 is used to correct limb deformities of an upper extremity, the frame 304 might not experience high loads like it would during ambulation in a lower extremity application. In these circumstances, the IMU sensor(s) 312 data may still be leveraged to help determine timing of each adjustment based on various factors, such as, for example, specific fracture, location of the fracture, patient’s characteristics, specific positions and/or movements of the patient’s body, patient preferences for when they would prefer adjustments be made (e.g., sitting, standing, sleeping, walking, etc.). In some cases, the IMU sensor(s) 312 data might not need to be leveraged to minimize expected loading during adjustment because the upper extremity typically does not experience heavy loading during everyday activities.

[0062] Moreover, in some examples, the data obtained from the IMU sensor(s) 312 may be logged using one or more time stamps and/or correlated to one or more strut’s motor current data. The data may also be compiled together for processing, analysis and/or display on a graphical user interface (e.g., on a patient computing device, on a surgeon computing device, etc.). The data may be indicative of distraction loads that the struts may be experience while the patient is performing one or more movements/functions, such as, for example, walking, standing, sitting, sleeping, laying down, etc.

[0063] The data may also be indicative of a patient’s daily schedule, which may be used to determine when would be the best time to perform adjustments so as to avoid excessive motor current pull, battery drain, etc. by one or more struts executing the adjustments, etc. For example, the data may indicate that the patient may be sleeping from 11 PM to 7 AM and that a minimum current pull/battery drain may occur when adjustments are made during this period of time. As such, the system 300 may determine that most adjustments should be made during that time. Alternatively, or in addition, the data may be indicative that from 7 AM to 8 AM, the patient is starting to move and applying pressure on the extremity to which the frame is coupled, thus, execution of any adjustments may result in more substantial motor current pull/battery drain/etc. as well as more discomfort to the patient. Hence, the system 300 may determine that adjustments by the struts should be delayed until the patient is at rest and minimal pressure is applied on the frame.

[0064] In some examples, the data obtained by the IMU sensor(s) 312, whether or not leveraged, with any other data may be used to predict patient’s daily schedule, and hence, an optimal time to perform any adjustments by each specific strut 304 and/or all/a set of struts 304. The system 300 may be trained using historical data associated with similarly-situated patients. Alternatively, or in addition, the system 300 may be continuously trained using data that has been gathered by one or more IMU sensor(s) 312 and/or any other sensors. The training may result in building and/or generation of a model that may be used to predict optimal time for performing adjustments. Alternatively, or in addition, a model may be provided to the system 300 and may be trained and/or updated with patient specific data.

[0065] The data obtained by the IMU sensor(s) 312 may also be leveraged in combination with additional data, such as, for example, image data, ultrasound data, and/or any other data. The combination of the analyzed IMU sensor 312 data, strut load data and/or any additional data may be used assess bone healing progress. Moreover, the combined data (and/or any individual data, e.g., IMU sensor data, strut load data, etc.) may also enable assessment of bone healing by allowing comparison of force values, as applied to and/or by the struts, over the course of the prescription plan (and/or a portion of the plan), while the patient is positioned in a known position (e.g., where the system 300 may be performing a static measurement) and/or performing a known movement/function (e.g., where the system 300 may be performing a dynamic measurement). This may be executed either alone and/or in combination with comparison of all strut force values (e.g., loaded/non-loaded, moving/non-moving, etc.) over time. For example, surgeons may be able to compare specific strut load values during distraction while the frame is non-loaded (e.g., patient is in a recumbent state, etc.) over time to understand the rigidity of the soft tissue and/or bone anatomy without any outlier forces due to weight bearing and/or other forms of frame loading.

[0066] In some examples, IMU sensor(s) 312 data may also be leveraged to allow the patient and/or surgeon to select during which daily activities they would prefer adjustments to be made. Because the system 300 can sense when a patient is walking, standing, sitting, laying down, etc. based on the generated data profiles, patients may be able to select during which of these activities they would feel most comfortable for adjustments (for example, while they are sleeping, and/or while they are at work). Because daily activities do not always occur during set time frames, this preference may be accounted for in combination with and/or in lieu of time of day adjustment preferences. Based on patient input to the app, the system 300 may then prioritize distraction adjustments when those activities are sensed. Moreover, the system 300 may notify the patient during preference selection that it is set up such that strut adjustments may also occur during other time periods if an insufficient threshold of adjustments is made within a given day so that the overall prescription is maintained.

[0067] Further, many existing IMU sensors utilize high sampling rates and perform data gathering using high frequency and relay it to the connected smart devices causing substantial drain on the system batteries. In some examples, to address heavy battery usage by the IMU sensor(s) 312, the system 300 may be configured to adjust the sampling rate. Additionally, since there are more than one strut (e.g., six struts, etc.) in spatial frame systems, the system 300 may be configured to gather IMU sensor(s) 312 data from only one strut and/or a subset of the struts at a time. This may reduce power drain on each individual power source 310 and/or collectively on the entire system 300. For instance, in the six-strut system, this approach may cut the power usage requirement from each strut by a factor of 6. Moreover, the system 300 may know power level of each power source 310. Thus, the power sources 310 of assemblies 304 with the most power life remaining may be selected and used for obtaining/collecting IMU sensor(s) 312 data. While data collection may be divided among assemblies 304, in some examples, assemblies 304 having power sources 310 with the most power may be selected for the purposes IMU sensor(s) 312 gathering. In some examples, the system 300 may be configured to determine (e.g., based on the prescription plan, patient’s characteristics, patient’s injury, already gathered and/or processed data, data profiles, baseline values, etc.) expected power use by the assemblies 304 and/or expected power drain rate from one or more power sources 310. For instance, using the adjustment schedule (e.g., as outlined in the prescription plan), the system 300 may determine which struts have to lengthen and/or shorten the most throughout the prescription plan (e.g., more length adjustment is required of a strut, the more power it would be expected to use). Thus, IMU sensor(s) 312 data may be obtained by assemblies 304 whose struts adjust the least throughout the course of treatment. As can be understood, any combination of the above techniques may be used to reduce and/or alleviate power drain from power source(s) 310.

[0068] In some alternate, non-limiting examples, a direct force measurement (e.g., via film pressure sensing resistor) may be used to inform the assemblies 304 when to attempt to perform a particular adjustment. For instance, the assemblies 304 may use the load data from a direct sensor to determine when to adjust. Alternatively, or in addition, the system 300 may be configured to confirm that a particular strut is not under some unexpectedly high load when an adjustment is about to be performed. Pressure sensor data may be leveraged in combination with IMU sensor(s) 312 data to establish a more complete data profile for each motion/position state.

[0069] Further, depending on patient’s physical characteristics, adjustments to the frame may only be performed when the frame is not under full weight bearing. In this case, the baseline values may be indicative of such requirements. Thus, the system 300 may be configured to generate an alert to the patient to offload the frame (e.g., remove full weight from it by sitting down, laying down, etc.) prior to an upcoming adjustment, where the IMU sensor(s) 312 data and/or any other data may be used to confirm that the patient has taken appropriate measures to allow for an adjustment (e.g., confirm that the patient laid down).

[0070] Using data that is fed back from an IMU in an automated hexapod frame to optimize timing of adjustments is advantageous over existing systems and methods that are used with manual struts and with previously automated struts. In particular, existing systems/methods do not leverage gathered data to inform a particular strut when to perform an adjustment. Reading and assessing IMU sensor(s) data prior to the target adjustment timeframe allows automated strut systems to minimize motor loading and/or extend battery life, which is advantageous over existing systems.

[0071] FIG. 5 illustrates an exemplary computing apparatus 500, according to some examples of the current subject matter. The apparatus 500 may be a computing device that may be communicatively coupled with a spatial frame and/or device communicatively coupled to the spatial frame, such as, spatial frame 302 shown in FIG. 3. The apparatus 500 may be a computer in the form of a smart phone, a tablet, a notebook, a desktop computer, a workstation, or a server. The apparatus 500 can combine with any suitable example of the systems, devices, and methods disclosed herein. The apparatus 500 can include processor(s) 510, a non-transitory storage medium 520, communication interface 530, and a display 535. The processor(s) 510 may comprise one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)). The processor(s) 510 may comprise processing circuitry to implement spatial frame circuitry 515.

[0072] The processor(s) 510 may include memory such as flash memory to contain program code for execution by the processor(s) 510. In some implementations, the processor(s) 510 may have random access memory to contain a copy of code from flash memory or read only memory to facilitate faster execution of code. In some implementations, the processor(s) 510 may include cache to contain data for faster calculations or execution. In some implementations, the processor(s) 510 may include spatial frame circuitry 515, which may include a user interface manager 517. The user interface manager 517 may function as a state machine controlled by keypad inputs, internal events or alarms, boundary conditions, exceptions, and supervisory input to the user interface manager 517. The user interface manager 517 may process button presses and may update a main screen on the display 535 reflecting the state of the application.

[0073] Motor controller commands may be executed automatically and/or upon the user’s actions via button presses, system states, and error conditions. Further, the user interface manager 517 may implement alerts, warnings, and notifications and display the alerts, warnings, and notifications via the display 535. The user interface manager 517 may also include code to handle the user’s response to alerts, warnings, and notifications.

[0074] The processor(s) 510 may operatively couple with a non-transitory storage medium

520. The non-transitory storage medium 520 may store logic, code, and/or program instructions executable by the processor(s) 510 for performing one or more instructions including the spatial frame circuitry 525. The non-transitory storage medium 520 may include one or more memory units (e.g., fixed and/or removable media or external storage such as electrically erasable programmable read only memory (EEPROM), a secure digital (SD) card, random-access memory (RAM), a flash drive, solid-state drive, a hard drive, and/or the like). The memory units of the non-transitory storage medium 520 may store logic, code and/or program instructions executable by the processor(s) 510 to perform any suitable implementation of the methods described herein. For example, the processor(s) 510 may execute instructions such as instructions of spatial frame circuitry 525 causing one or more processors of the processor(s) 510 to communicate user commands to the system 300 (as shown in FIG. 3) and/or to communicate events, alerts, operation parameters for the system 300, and configurations.

[0075] The panels 528 may define graphical user interfaces for display of information and for receiving input parameters or configurations from a user. The configuration file 529 may include user selected parameters such as, for example, adjustment rates, motor pull, current pull, etc.

[0076] The processor(s) 510 may couple to a communication interface 530 to transmit the data, code, or commands to and/or receive data, code, or commands from one or more external devices (e.g., a terminal, display device, a smart phone, a tablet, a server, or other remote device). The communication interface 530 includes circuitry to transmit and receive communications through a wired and/or wireless media such as an Ethernet interface, a wireless fidelity (Wi-Fi) interface, a Bluetooth interface such as a Bluetooth Low Energy (BLE) interface, a cellular data interface, and/or the like. In some examples, the communication interface 530 may implement logic such as code in a baseband processor to interact with a physical layer device to transmit and receive wireless communications from the spatial frame 300. For example, the communication interface 530 may implement one or more of local area networks (LAN), wide area networks (WAN), infrared, radio, Bluetooth, Wi-Fi, point-to-point (P2P) networks, telecommunication networks, cloud communication, and the like.

[0077] The processor(s) 510 may couple to a display 535 to display panels 528 for a user interface and/or other user interface items such as a message or notification via, graphics, video, text, and/or the like. In some examples, the display 535 may include a display on a terminal, a display device, a smart phone, a tablet, a server, or a remote device.

[0078] FIGS. 6-7 illustrate example implementations of a storage medium and computing platform for a spatial frame in accordance with one or more features of the present disclosure. FIG. 6 illustrates an example of a storage medium 600 to store spatial frame logic. Storage medium 600 may include an article of manufacture. In some examples, storage medium 600 may include any non-transitory computer readable medium or machine readable medium, such as an optical, magnetic or semiconductor storage. Storage medium 600 may store various types of computer executable instructions 602, such as instructions to implement logic flows and/or techniques described herein. Examples of a computer readable or machine-readable storage medium may include any tangible media capable of storing electronic data, including volatile memory or nonvolatile memory, removable or non-removable memory, erasable or non-erasable memory, writeable or re-writeable memory, and so forth. Examples of computer executable instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, object-oriented code, visual code, and the like. The examples are not limited in this context.

[0079] FIG. 7 illustrates an example computing platform 700. In some examples, as shown in FIG. 7, the computing platform 700 may include a processing component 710, other platform components or a communications interface 730. According to some examples, computing platform 700 may be implemented in a computing device such as a server in a system such as a data center or server farm that supports a manager or controller for managing configurable computing resources as mentioned above. Further, the communications interface 730 may include a wake-up radio (WUR) and may be capable of waking up a main radio of the computing platform 700.

[0080] According to some examples, processing component 710 may execute processing operations or logic for apparatus 715 described herein such as the spatial frame logic circuitry 515, and 525 illustrated in FIG. 5. Processing component 710 may include various hardware elements, software elements, or a combination of both. Examples of hardware elements may include devices, logic devices, components, processors, microprocessors, circuits, processor circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors, and so forth), integrated circuits, application specific integrated circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate array (FPGA), memory units, logic gates, registers, semiconductor device, chips, microchips, chip sets, and so forth. Examples of software elements, which may reside in the storage medium 720, may include software components, programs, applications, computer programs, application programs, device drivers, system programs, software development programs, machine programs, operating system software, middleware, firmware, software modules, routines, subroutines, functions, methods, procedures, software interfaces, application program interfaces (API), instruction sets, computing code, computer code, code segments, computer code segments, words, values, symbols, or any combination thereof. Determining whether an example is implemented using hardware elements and/or software elements may vary in accordance with any number of factors, such as desired computational rate, power levels, heat tolerances, processing cycle budget, input data rates, output data rates, memory resources, data bus speeds and other design or performance constraints, as desired for a given example.

[0081] In some examples, other platform components 725 may include common computing elements, such as one or more processors, multi-core processors, co-processors, memory units, chipsets, controllers, peripherals, interfaces, oscillators, timing devices, video cards, audio cards, multimedia input/output (I/O) components (e.g., digital displays), power supplies, and so forth. Examples of memory units may include without limitation various types of computer readable and machine readable storage media in the form of one or more higher speed memory units, such as read-only memory (ROM), random-access memory (RAM), dynamic RAM (DRAM), Double-Data-Rate DRAM (DDRAM), synchronous DRAM (SDRAM), static RAM (SRAM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, polymer memory such as ferroelectric polymer memory, ovonic memory, phase change or ferroelectric memory, silicon-oxide-nitride- oxide-silicon (SONOS) memory, magnetic or optical cards, an array of devices such as Redundant Array of Independent Disks (RAID) drives, solid state memory devices (e.g., USB memory), solid state drives (SSD) and any other type of storage media suitable for storing information.

[0082] In some examples, communications interface 730 may include logic and/or features to support a communication interface. For these examples, communications interface 730 may include one or more communication interfaces that operate according to various communication protocols or standards to communicate over direct or network communication links. Direct communications may occur via use of communication protocols or standards described in one or more industry standards (including progenies and variants) such as those associated with the PCI Express specification. Network communications may occur via use of communication protocols or standards such as those described in one or more Ethernet standards promulgated by the Institute of Electrical and Electronics Engineers (IEEE). For example, one such Ethernet standard may include IEEE 802.3-2012, Carrier sense Multiple access with Collision Detection (CSMA/CD) Access Method and Physical Layer Specifications, Published in December 2012. Network communication may also occur according to one or more OpenFlow specifications such as the OpenFlow Hardware Abstraction API Specification. Network communications may also occur according to InfiniBand Architecture Specification, Volume 1, Release 1.3, published in March 2015.

[0083] Computing platform 700 may be part of a computing device that may be, for example, a server, a server array or server farm, a web server, a network server, an Internet server, a workstation, a mini-computer, a main frame computer, a supercomputer, a network appliance, a web appliance, a distributed computing system, multiprocessor systems, processor-based systems, or combination thereof. Accordingly, functions and/or specific configurations of computing platform 700 described herein, may be included or omitted in various implementations of computing platform 700, as suitably desired.

[0084] The components and features of computing platform 700 may be implemented using any combination of discrete circuitry, ASICs, logic gates and/or single chip architectures. Further, the features of computing platform 700 may be implemented using microcontrollers, programmable logic arrays and/or microprocessors or any combination of the foregoing where suitably appropriate. It is noted that hardware, firmware and/or software elements may be collectively or individually referred to herein as “logic”. [0085] It should be appreciated that the exemplary computing platform 700 shown in the block diagram of FIG. 7 may represent one functionally descriptive example of many potential implementations. Accordingly, division, omission or inclusion of block functions depicted in the accompanying figures does not infer that the hardware components, circuits, software and/or elements for implementing these functions would necessarily be divided, omitted, or included in implementations.

[0086] One or more features of at least one example may be implemented by representative instructions stored on at least one machine-readable medium which represents various logic within the processor, which when read by a machine, computing device or system causes the machine, computing device, or system to fabricate logic to perform the techniques described herein. Such representations, known as “IP cores”, may be stored on a tangible, machine readable medium and supplied to various customers or manufacturing facilities to load into the fabrication machines that actually make the logic or processor.

[0087] The foregoing description has broad application. While the present disclosure refers to certain implementations, numerous modifications, alterations, and changes to the described implementations are possible without departing from the sphere and scope of the present disclosure, as defined in the appended claim(s). Accordingly, it is intended that the present disclosure not be limited to the described implementations. Rather these implementations should be considered as illustrative and not restrictive in character. All changes and modifications that come within the spirit of the current subject matter are to be considered within the scope of the disclosure. The present disclosure should be given the full scope defined by the language of the following claims, and equivalents thereof. The discussion of any implementation is meant only to be explanatory and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these implementations. In other words, while illustrative implementations of the disclosure have been described in detail herein, it is to be understood that the inventive concepts may be otherwise variously embodied and employed, and that the appended claims are intended to be construed to include such variations, except as limited by the prior art. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the disclosure belongs.

[0088] Directional terms such as top, bottom, superior, inferior, medial, lateral, anterior, posterior, proximal, distal, upper, lower, upward, downward, left, right, longitudinal, front, back, above, below, vertical, horizontal, radial, axial, clockwise, and counter-clockwise) and the like may have been used herein. Such directional references are only used for identification purposes to aid the reader’s understanding of the present disclosure. For example, the term “distal” may refer to the end farthest away from the medical professional/operator when introducing a device into a patient, while the term “proximal” may refer to the end closest to the medical professional when introducing a device into a patient. Such directional references do not necessarily create limitations, particularly as to the position, orientation, or use of this disclosure. As such, directional references should not be limited to specific coordinate orientations, distances, or sizes, but are used to describe relative positions referencing particular implementations. Such terms are not generally limiting to the scope of the claims made herein. Any implementation or feature of any section, portion, or any other component shown or particularly described in relation to various implementations of similar sections, portions, or components herein may be interchangeably applied to any other similar implementation or feature shown or described herein.

[0089] It should be understood that, as described herein, an “"implementation”" (such as illustrated in the accompanying figures) may refer to an illustrative representation of an environment or article or component in which a disclosed concept or feature may be provided or embodied, or to the representation of a manner in which just the concept or feature may be provided or embodied. However, such illustrated implementations are to be understood as examples (unless otherwise stated), and other manners of embodying the described concepts or features, such as may be understood by one of ordinary skill in the art upon learning the concepts or features from the present disclosure, are within the scope of the disclosure. Furthermore, references to “one implementation” of the present disclosure are not intended to be interpreted as excluding the existence of additional implementations that also incorporate the recited features.

[0090] In addition, it will be appreciated that while the Figures may show one or more implementations of concepts or features together in a single implementation of an environment, article, or component incorporating such concepts or features, such concepts or features are to be understood (unless otherwise specified) as independent of and separate from one another and are shown together for the sake of convenience and without intent to limit to being present or used together. For instance, features illustrated or described as part of one implementation can be used separately, or with another implementation to yield a still further implementation. Thus, it is intended that the present subject matter covers such modifications and variations as come within the scope of the appended claims and their equivalents.

[0091] As used herein, an element or step recited in the singular and proceeded with the word “a” or “an” should be understood as not excluding plural elements or steps, unless such exclusion is explicitly recited. It will be further understood that the terms “includes” and/or “comprising,” or “includes” and/or “including” when used herein, specify the presence of stated features, regions, steps, elements and/or components, but do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components and/or groups thereof.

[0092] The phrases “at least one”, “one or more”, and “and/or”, as used herein, are open- ended expressions that are both conjunctive and disjunctive in operation. The terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein.

[0093] Connection references (e.g., engaged, attached, coupled, connected, and joined) are to be construed broadly and may include intermediate members between a collection of elements and relative to movement between elements unless otherwise indicated. As such, connection references do not necessarily infer that two elements are directly connected and in fixed relation to each other. Identification references (e.g., primary, secondary, first, second, third, fourth, etc.) are not intended to connote importance or priority, but are used to distinguish one feature from another. The drawings are for purposes of illustration only and the dimensions, positions, order and relative to sizes reflected in the drawings attached hereto may vary.

[0094] The foregoing discussion has been presented for purposes of illustration and description and is not intended to limit the disclosure to the form or forms disclosed herein. For example, various features of the disclosure are grouped together in one or more implementations or configurations for the purpose of streamlining the disclosure. However, it should be understood that various features of the certain implementations or configurations of the disclosure may be combined in alternate implementations or configurations. Moreover, the following claims are hereby incorporated into this detailed description by this reference, with each claim standing on its own as a separate implementation of the present disclosure.

Claims

CL IMS

1. A spatial frame apparatus configured to be coupled to a patient, comprising: a frame having one or more motorized struts, wherein the one or more motorized struts include one or more motors configured to cause movement of the one or more motorized struts in one or more directions in accordance with one or more treatment plans; one or more processing components communicatively coupled to at least one of: the one or more motorized struts, the one or more motors, and any combination thereof; one or more sensors communicatively coupled to at least one of: the one or more processing components, the one or more motorized struts, the one or more motors, and any combination thereof; wherein the one or more processing components determine an optimal time to perform one or more adjustments by the one or more motorized struts based on data related to operation of the frame and sensed by the one or more sensors.

2. The apparatus of claim 1, wherein the data includes at least one of: a position data associated with the patient and/or the frame, a movement data associated with the patient and/or the frame, data associated with an operational status of one or more components of the frame, an external data, and any combination thereof.

3. The apparatus of any of the preceding claims, wherein the data is sensed prior to, during and/or after the one or more adjustments performed by the frame.

4. The apparatus of any of the preceding claims, wherein the one or more processing components are configured to determine, based on the obtained data, one or more loading parameters on the one or more motorized struts.

5. The apparatus of claim 4, wherein the loading parameters define loading on the one or more motorized struts resulting from the frame being positioned and/or adjusted on the patient.

6. The apparatus of claim 5, wherein the one or more processing components are configured to determine the optimal time to perform the one or more adjustments based on the one or more loading parameters; and execute the one or more adjustments using the optimal time.

7. The apparatus of any of the preceding claims, wherein the one or more sensors include at least one sensor configured to sense one or more operational statuses of the frame, wherein the one or more operational status include at least one of the following: a power source level of the frame, a strain level of the frame, a current pull level of the frame, and any combination thereof.

8. The apparatus of any of the preceding claims, wherein the one or more sensors include one or more inertial measurement unit (IMU) sensors.

9. The apparatus of claim 8, wherein the one or more TMU sensors are configured to sense at least one of: an orientation, a position, an angle, a velocity, and any combination thereof associated with the one or more motorized struts.

10. The apparatus of claim 8, wherein the one or more IMU sensors are configured to sense data associated with one or more movements and/or one or more positions of the patient.

11. The apparatus of claim 10, wherein the one or more movements and/or the one or more positions include at least one of the following: standing, sitting, running, walking, moving, laying down, sleeping, and any combination thereof.

12. The apparatus of claim 10, wherein the one or more processing components are configured to determine one or more baseline values.

13. The apparatus of claim 12, wherein the one or more baseline values indicate at least one of the following: a motor torque, a current pull, a strut loading, and any combination thereof required to adjust the one or more motorized struts during the one or more movements and/or the one or more positions.

14. The apparatus of claim 12, wherein the one or more processing components are configured to determine the one or more baseline values for each of the one or more movements and/or the one or more positions.

15. The apparatus of claim 12, wherein the one or more processing components are configured to determine the one or more baseline values for all of the one or more movements and/or the one or more positions.

16. The apparatus of claim 10, wherein the one or more processing components are configured to generate, using the one or more movements and/or the one or more positions, one or more data profiles for at least one of each position, each movement, a combination of positions and/or movements, a pattern of positions and/or movements, and any combination thereof.

17. The apparatus of claim 16, wherein the one or more data profiles include at least one of the following: data obtained by the one or more IMU sensors, loading data associated with loading of the one or more motorized struts, current pull data associated with current pull by the one or more motors, data associated with the one or more movements and/or the one or more positions, data associated with the patient, and any combination thereof.

18. The apparatus of claim 16, wherein the one or more processing components are configured to update and/or re-generate the one or more data profiles during the one or more treatment plans.

19. The apparatus of claim 18, wherein the one or more processing components are configured to update and/or re-generate the one or more data profiles periodically, based on detected and/or determined data, on a predetermined schedule, and/or randomly.

20. The apparatus of any of the preceding claims, wherein the one or more processing components are configured to select at least one motorized strut in the one or more motorized struts to perform the one or more adjustments to the frame.

21. The apparatus of claim 20, wherein the one or more processing components are configured to select the at least one motorized strut based on at least one of the following: the optimal time, one or more baseline values, one or more data profiles, one or more power levels in one or more power sources of the frame, one or more motor current pulls in the one or more motorized struts, and any combination thereof.

22. The apparatus of any of the preceding claims, wherein the one or more processing components are configured to determine at least one of: a first position, a first movement, and any combination thereof of the patient; and delay executing of the one or more adjustments until the patient has changed from at least one of the first position, the first movement, and any combination thereof to at least one of: a second position, a second movement, and any combination thereof, wherein the second position is different from the first position, and the second movement is different from the first movement.

23. The apparatus of claim 22, wherein the one or processing components are configured to determine, based on information received from the one or more sensors, that the patient is in the second position and/or performed the second movement; and resume executing the one or more adjustments.

24. The apparatus of any of the preceding claims, wherein the one or more adjustments include at least one of the following: a direction of the one or more adjustments of the one or more motorized struts, a length of the one or more adjustments of the one or more motorized struts, an angle of the one or more adjustments of the one or more motorized struts, a time of the one or more adjustments of the one or more motorized struts, one or more parameters associated with changing of one or more positions of the one or more motorized struts, and any combination thereof.

25. A method, comprising: receiving, using one or more processing components, at least one of: a position data associated with a patient and/or a frame, the frame having one or more motorized struts, wherein the one or more motorized struts include one or more motors configured to cause movement of the one or more motorized struts in one or more directions in accordance with one or more treatment plans, wherein the one or more processing components are communicatively coupled to at least one of: the one or more motorized struts, the one or more motors, and any combination thereof; a movement data associated with the patient and/or the frame, data associated with an operational status of one or more components of the frame, an external data, and any combination thereof; and determining, using the one or more processing components, based on the received data, an optimal time to perform one or more adjustments by the one or more motorized struts.

26. The method of claim 25, wherein one or more sensors are configured to sense at least a portion of the received data, the one or more sensors are communicatively coupled to at least one of: the one or more processing components, the one or more motorized struts, the one or more motors, and any combination thereof.

27. The method of any of the preceding claims 25-26, wherein at least a portion of the received data is sensed prior to, during and/or after the one or more adjustments performed by the frame.

28. The method of any of the preceding claims 25-27, further comprising determining, using the one or more processing components, based on the received data, one or more loading parameters on the one or more motorized struts.

29. The method of claim 28, wherein the loading parameters define loading on the one or more motorized struts resulting from the frame being positioned and/or adjusted on the patient.

30. The method of claim 29, further comprising determining the optimal time to perform the one or more adjustments based on the one or more loading parameters; and executing the one or more adjustments using the optimal time.

31. The method of any of claims 25-30, wherein the one or more sensors include at least one sensor configured to sense one or more operational statuses of the frame, wherein the one or more operational status include at least one of the following: a power source level of the frame, a strain level of the frame, a current pull level of the frame, and any combination thereof.

32. The method of any of the preceding claims 25-31, wherein the one or more sensors include one or more inertial measurement unit (IMU) sensors.

33. The method of claim 32, wherein the one or more IMU sensors are configured to sense at least one of: an orientation, a position, an angle, a velocity, and any combination thereof associated with the one or more motorized struts.

34. The method of claim 33, wherein the one or more IMU sensors are configured to sense data associated with one or more movements and/or one or more positions of the patient.

35. The method of claim 34, wherein the one or more movements and/or the one or more positions include at least one of the following: standing, sitting, running, walking, moving, laying down, sleeping, and any combination thereof.

36. The method of claim 34, further comprising determining one or more baseline values.

37. The method of claim 26, wherein the one or more baseline values indicate at least one of the following: a motor torque, a current pull, a strut loading, and any combination thereof required to adjust the one or more motorized struts during the one or more movements and/or the one or more positions.

38. The method of claim 36, further comprising determining the one or more baseline values for each of the one or more movements and/or the one or more positions.

39. The method of claim 36, further comprising determining the one or more baseline values for all of the one or more movements and/or the one or more positions.

40. The method of claim 34, further comprising generating, using the one or more movements and/or the one or more positions, one or more data profiles for at least one of: each position, each movement, a combination of positions and/or movements, a pattern of positions and/or movements, and any combination thereof.

41. The method of claim 40, wherein the one or more data profiles include at least one of the following: data obtained by the one or more IMU sensors, loading data associated with loading of the one or more motorized struts, current pull data associated with current pull by the one or more motors, data associated with the one or more movements and/or the one or more positions, data associated with the patient, and any combination thereof.

42. The method of claim 40, further comprising updating and/or re-generating the one or more data profdes during the one or more treatment plans.

43. The method of claim 42, further comprising updating and/or re-generating the one or more data profiles periodically, based on detected and/or determined data, on a predetermined schedule, and/or randomly.

44. The method of any of the preceding claims 25-43, further comprising selecting at least one motorized strut in the one or more motorized struts to perform the one or more adjustments to the frame.

45. The method of claim 44, further comprising selecting the at least one motorized strut based on at least one of the following: the optimal time, one or more baseline values, one or more data profiles, one or more power levels in one or more power sources of the frame, one or more motor current pulls in the one or more motorized struts, and any combination thereof.

46. The method of any of the preceding claims 25-45, further comprising determining at least one of: a first position, a first movement, and any combination thereof of the patient; and delaying executing of the one or more adjustments until the patient has changed from at least one of the first position, the first movement, and any combination thereof to at least one of: a second position, a second movement, and any combination thereof, wherein the second position is different from the first position, and the second movement is different from the first movement.

47. The method of claim 46, further comprising determining, based on information received from the one or more sensors, that the patient is in the second position and/or performed the second movement; and resuming execution of the one or more adjustments.

48. The method of any of the preceding claims 25-47, wherein the one or more adjustments include at least one of the following: a direction of the one or more adjustments of the one or more motorized struts, a length of the one or more adjustments of the one or more motorized struts, an angle of the one or more adjustments of the one or more motorized struts, a time of the one or more adjustments of the one or more motorized struts, one or more parameters associated with changing of one or more positions of the one or more motorized struts, and any combination thereof.