JP6769966B2 - 体重支持システムのための方法及び装置 - Google Patents
体重支持システムのための方法及び装置 Download PDFInfo
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- JP6769966B2 JP6769966B2 JP2017534701A JP2017534701A JP6769966B2 JP 6769966 B2 JP6769966 B2 JP 6769966B2 JP 2017534701 A JP2017534701 A JP 2017534701A JP 2017534701 A JP2017534701 A JP 2017534701A JP 6769966 B2 JP6769966 B2 JP 6769966B2
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- patient
- support
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- trolley
- electronic system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
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Description
[1001] この出願は、2013年1月20日に出願された“Methods and Apparatus for Body Weight Support System”と題された米国特許出願第13/745,830号の一部継続出願である、2014年3月26日に出願された“Methods and Apparatus for Body Weight Support System”と題された米国特許出願第14/226,021号の一部継続出願である、2015年2月3日に出願された“Methods and Apparatus for Body Weight Support System”と題された米国特許出願第14/613,140号の優先権を主張するとともにその継続出願であり、上記文献の開示はそれら全体が参照により本明細書に組み込まれる。
Claims (20)
- トロリーに含まれた駆動機構であって、前記駆動機構が前記トロリーを支持トラックから懸吊するように構成され、前記駆動機構が、前記駆動機構の動作状態を検知するように構成された第1センサを含む、駆動機構と、
前記トロリーに結合された患者支持機構であって、前記患者支持機構は、前記患者支持機構が患者の重量の少なくとも一部を支持するように前記患者に結合されるように構成されたロープを含み、前記患者支持機構が第2センサを含み、前記第2センサが前記患者支持機構の動作状態を検知するように構成される、患者支持機構と、
少なくともプロセッサとメモリとを含む電子システムであって、前記電子システムは、前記支持トラックに隣接して前記支持トラックからオフセットされて動かないように結合された剛性の動力導体から電流を受け取るように構成され、前記電子システムは、前記患者の移動に応じて、(1)前記駆動機構の前記動作状態を変化させるために前記駆動機構に電流を供給し、かつ、(2)前記患者支持機構の前記動作状態を変化させるために前記患者支持機構に電流を供給するように構成される、電子システムと、を備え、
前記プロセッサが、(1)それぞれ、前記第1センサから受信した信号と前記第2センサから受信した信号とに少なくとも部分的に基づき、前記駆動機構及び前記患者支持機構の動作状態の変化、及び、(2)前記動作状態の変化に基づいて前記患者に関連する位置の変化を決定するように構成され、前記プロセッサが、基準の患者が前記患者支持機構により支持されたときの前記基準の患者に関連する位置の変化に対して、前記患者支持機構により支持された前記患者に関連する前記位置の変化を比較することによって、前記患者の移動に関連する歩行特徴を識別するように構成される、装置。 - 前記駆動機構が前記支持トラックの一部の周りに可動に配置され、前記駆動機構の前記動作状態が、前記支持トラックに沿った前記駆動機構の位置、前記駆動機構の速度、又は前記駆動機構の加速度の少なくとも1つに関連する、請求項1に記載の装置。
- 前記駆動機構が、前記支持トラックの一部と接触した車輪のセットと、前記車輪のセットに作動可能に結合されたモータと、を含み、前記モータが、前記駆動機構を前記支持トラックに沿って移動させるために前記車輪のセットを回転させるように構成され、前記駆動機構の前記動作状態が前記車輪のセットの回転速度又は回転加速度に関連し、前記第1センサが、前記車輪のセットの前記回転速度又は前記回転加速度に関連する信号を前記電子システムへ送信するように構成される、請求項1に記載の装置。
- 前記患者支持機構の前記動作状態が、前記ロープのある部分の長さ、前記支持トラックに対する前記ロープの前記部分の角度、前記ロープのある部分内の張力、又は前記ロープの送り速度の少なくとも1つに関連する、請求項1に記載の装置。
- 前記患者支持機構がカムアセンブリを含み、前記患者支持機構の前記動作状態が前記カムアセンブリの動作状態であり、前記第2センサが、前記カムアセンブリの前記動作状態に関連する信号を前記電子システムへ送信するように構成される、請求項1に記載の装置。
- 前記患者支持機構がカムアセンブリを含み、前記カムアセンブリが第3センサを含み、前記第3センサが、前記カムアセンブリの動作状態を検知するように構成され、前記プロセッサが、前記第1センサから受信した前記信号、前記第2センサから受信した前記信号、及び、前記第3センサから受信した信号に少なくとも部分的に基づき、前記患者の前記歩行特徴を定義するように構成される、請求項1に記載の装置。
- 前記患者の前記歩行特徴が、1歩の所要時間、遊脚から立脚の所要時間、遊脚対立脚比、ケイデンス、重複歩距離、重複歩高さ、前及び後方向の可動域、横方向の可動域、並びに前記前及び後方向の前記可動域と前記横方向の前記可動域との間の比率の少なくとも1つである、請求項1に記載の装置。
- トロリーで、支持トラックに隣接して前記支持トラックからオフセットして動かないように結合された剛性の動力導体から電流を受け取るステップであって、前記トロリーが、電子システムと、前記支持トラックから前記トロリーを可動に懸吊するように構成された駆動機構と、前記患者を支持するために前記患者のハーネスに結合されるように構成されたロープを有する患者支持機構と、を含む、受け取るステップと、
前記電子システムで、前記駆動機構の第1動作状態又は前記患者支持機構の第1動作状態の少なくとも一方に関連する信号を受信するステップと、
前記患者の移動に応じて、(1)前記駆動機構が前記支持トラックに沿って前記トロリーを移動させるように前記駆動機構、又は、(2)前記患者支持機構が前記トロリーに対して前記ロープを移動させるように前記患者支持機構のうちの少なくとも1つに、前記第1動作状態から第2動作状態に移行させるために電流を供給するステップと、
前記電子システムで、前記駆動機構の前記第2動作状態又は前記患者支持機構の前記第2動作状態のうちの少なくとも1つに関連する信号を受信するステップと、
前記電子システムで、(1)前記第1動作状態と前記第2動作状態との差及び(2)前記差に基づいて前記患者に関連する位置の変化を決定するステップと、
前記電子システムで、基準の患者が前記患者支持機構により支持されたときの前記基準の患者に関連する位置の変化に対して、前記患者支持機構により支持された前記患者に関連する前記位置の変化を比較することによって、前記患者の移動に関連する歩行特徴を識別するステップと、を含む方法。 - 前記第1動作状態が前記患者支持機構の第1動作状態であり、前記第2動作状態が前記患者支持機構の第2動作状態であり、前記方法が、
前記電子システムで、前記駆動機構に関連する第1動作状態を受信するステップと、
前記電子システムで、前記駆動機構に関連する第2動作状態を受信するステップと、
前記電子システムで、前記駆動機構の前記第1動作状態と前記駆動機構の第2動作状態との差を決定するステップであって、前記患者に関連する前記位置の変化を決定することが、前記患者支持機構の前記第1動作状態と前記患者支持機構の前記第2動作状態との差及び前記駆動機構の前記第1動作状態と前記駆動機構の前記第2動作状態との差に少なくとも部分的に基づき前記患者に関連する前記位置の変化を決定することを含む、決定するステップと、をさらに含む、請求項8に記載の方法。 - 前記患者が前記支持トラックに対して第1位置にいるとき、前記駆動機構又は前記患者支持機構の前記少なくとも1つが前記第1動作状態にあり、前記患者が、前記支持トラックに対して、前記第1位置とは異なる第2位置へ移動するとき、前記駆動機構又は前記患者支持機構の前記少なくとも1つが前記第2動作状態にある、請求項8に記載の方法。
- 前記第1動作状態が前記患者支持機構の第1動作状態であり、前記第2動作状態が前記患者支持機構の第2動作状態であり、前記第1動作状態に関連する前記信号を前記受信するステップが、前記患者支持機構に含まれるセンサから前記信号を受信するステップを含み、前記第2動作状態に関連する前記信号を前記受信するステップが、前記患者支持機構に含まれる前記センサから前記信号を受信するステップを含む、請求項8に記載の方法。
- 前記第1動作状態が前記駆動機構の第1動作状態であり、前記第2動作状態が前記駆動機構の第2動作状態であり、前記第1動作状態に関連する前記信号を前記受信するステップがセンサから前記信号を受信するステップを含み、前記第2動作状態に関連する前記信号を前記受信するステップが、前記駆動機構に含まれる前記センサから前記信号を受信するステップを含む、請求項8に記載の方法。
- 前記電子システムから出力デバイスへ信号を送信するステップであって、前記信号が、前記歩行特徴に関連するデータを、前記出力デバイスを介して出力するための命令を示す、送信するステップをさらに含む、請求項8に記載の方法。
- トロリーで、支持トラックに隣接して前記支持トラックからオフセットして動かないように結合された剛性の動力導体から電流を受け取るステップであって、前記トロリーが、電子システムと、前記支持トラックから前記トロリーを可動に懸吊して、患者の動きに応じて前記支持トラックに沿って前記トロリーを移動させるように構成された駆動機構と、前記患者の重量の少なくとも一部を支持するために前記患者を前記トロリーに結合するように構成されたロープを有する患者支持機構と、を含む、受け取るステップと、
前記電子システムで、第1センサから第1信号を受信するステップであって、前記第1信号が、前記患者支持機構の動作状態に関連する、受信するステップと、
前記電子システムで、第2センサから第2信号を受信するステップであって、前記第2信号が、前記駆動機構の動作状態に関連する、受信するステップと、
前記患者の動きに応じて、(1)前記駆動機構の前記動作状態を変化させるために前記駆動機構に電流を供給し、かつ、(2)前記患者支持機構の前記動作状態を変化させるために前記患者支持機構に電流を供給するステップと、
前記電子システムで、(1)前記駆動機構及び前記患者支持機構の動作状態の変化及び(2)前記動作状態の変化に基づいて前記患者に関連する位置の変化を決定するステップと、
前記電子システムで、基準の患者が前記患者支持機構により支持されたときの前記基準の患者に関連する位置の変化に対して、前記患者支持機構により支持された前記患者に関連する前記位置の変化を比較することによって、前記患者の前記移動に関連する少なくとも1つの歩行特徴を識別するステップと、
前記電子システムから出力デバイスへ第3信号を送信するステップであって、前記第3信号が、前記少なくとも1つの歩行特徴に関連するデータを、前記出力デバイスを介して出力するための命令を示す、送信するステップと、を含む方法。 - 前記駆動機構が、前記支持トラックの一部と接触した車輪のセットと、前記車輪のセットに作動可能に結合されたモータと、を含み、前記モータが、前記駆動機構を前記支持トラックに沿って移動させるために前記車輪のセットを回転させるように構成され、前記駆動機構の前記動作状態が前記車輪のセットの回転速度又は回転加速度に関連し、
前記第2信号を前記第2センサから前記受信するステップが、前記車輪のセットの前記回転速度又は前記車輪のセットの前記加速度の少なくとも1つに関連するデータを受信するステップを含む、請求項14に記載の方法。 - 前記患者支持機構の前記動作状態が、前記ロープのある部分の長さ、前記支持トラックに対する前記ロープの前記部分の角度、前記ロープのある部分内の張力、又は前記ロープの送り速度の少なくとも1つに関連する、請求項14に記載の方法。
- 前記患者の前記移動が、前記患者の歩行に関連し、前記駆動機構が、前記患者の歩行に応じて、前記支持トラックに沿って移動するように構成される、請求項14に記載の方法。
- 前記患者に関連する前記少なくとも1つの歩行特徴を前記決定するステップが、遊脚から立脚の所要時間、遊脚対立脚比、ケイデンス、重複歩距離、重複歩高さ、前及び後方向の可動域、横方向の可動域、並びに前記前及び後方向の前記可動域と前記横方向の前記可動域との間の比率の少なくとも1つを決定するステップを含む、請求項14に記載の方法。
- 前記出力デバイスがディスプレイを含み、前記第3信号を前記送信するステップが、前記歩行特徴に関連するデータの図的表示、数値表示、又は英数字表示の少なくとも1つを、前記出力デバイスの前記ディスプレイに表示させるために、前記第3信号を送信するステップを含む、請求項14に記載の方法。
- 前記患者支持機構の前記動作状態が第1動作状態であり、前記駆動機構の前記動作状態が第1動作状態であり、前記方法が、
前記電子システムで、前記少なくとも1つの歩行特徴の前記決定に少なくとも部分的に基づき、前記患者支持機構に関連する第2動作状態及び前記駆動機構に関連する第2動作状態を定義するステップと、
前記電子システムから前記患者支持機構へ第4信号を送信するステップであって、前記第4信号が前記患者支持機構をその第2動作状態に置くという命令を示す、送信するステップと、
前記電子システムから前記駆動機構へ第5信号を送信するステップであって、前記第5信号が前記駆動機構をその第2動作状態に置くという命令を示す、送信するステップと、をさらに含む、請求項14に記載の方法。
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