WO2012021726A1 - Dispositif d'essai de genou robotique, dispositif d'entrée de patient subjectif et procédés pour utiliser ceux-ci - Google Patents

Dispositif d'essai de genou robotique, dispositif d'entrée de patient subjectif et procédés pour utiliser ceux-ci Download PDF

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Publication number
WO2012021726A1
WO2012021726A1 PCT/US2011/047453 US2011047453W WO2012021726A1 WO 2012021726 A1 WO2012021726 A1 WO 2012021726A1 US 2011047453 W US2011047453 W US 2011047453W WO 2012021726 A1 WO2012021726 A1 WO 2012021726A1
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WIPO (PCT)
Prior art keywords
leg
support
foot
patient
assembly
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Application number
PCT/US2011/047453
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English (en)
Inventor
Thomas P. Branch
Thomas Cunningham
Edward Dittmar
Cale Jacobs
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Ermi, Inc.
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Publication date
Application filed by Ermi, Inc. filed Critical Ermi, Inc.
Publication of WO2012021726A1 publication Critical patent/WO2012021726A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4533—Ligaments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4585—Evaluating the knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6828—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6829—Foot or ankle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
    • A61B5/702—Posture restraints

Definitions

  • the invention generally is directed towards a robotic knee device (an "R T" device) which controls the direction, rate, and magnitude of forces applied in at least three directions, namely a flexion force in an x-axis of rotation, a valgus force in a z-axis of rotation, and an internal rotation force in a y-axis rotation.
  • a robotic knee device an "R T” device which controls the direction, rate, and magnitude of forces applied in at least three directions, namely a flexion force in an x-axis of rotation, a valgus force in a z-axis of rotation, and an internal rotation force in a y-axis rotation.
  • the knee is composed of the femur or thigh bone, the tibia or shin bone and the patella or knee cap. They are connected by fibrous structures called ligaments which allow a certain amount of 'joint play' to exist between the bone structures. When this 'joint play' is increased or decreased an abnormal or pathological condition exists in the knee. Attempts have been made in the past to quantify this increase or decrease in 'joint play' of the knee with limited success.
  • An injury to the knee can cause damage to one or more of the structures of the knee causing an increase in the 'joint play' of the knee.
  • This increase in 'joint play' can create the sensation to the patient that the knee is slipping or 'coming out of joint'.
  • this sensation described by the patient is referred to as the feeling of 'joint instability'.
  • the ability of the two bones to actually 'come out of joint' is related to the length of the fibrous structures or ligaments which connect the two bones together as well as the shape and size of the two bones (or three).
  • the ability of the bones to 'come out of joint' or become unstable is related to the amount of stretch or the amount of increased lengthening of each ligament, the number of ligaments involved, and damage to other support structures of the knee such as the bone itself and the menisci. Accurate measurement of this increased ligament length can be critical to restore the knee to as close to its original functional and anatomical state as possible.
  • the Lachman's test is performed by laying the patient in a supine position and bending the knee at approximately 20 to 30 degrees.
  • the clinician places a hand on the patient's upper thigh and his other hand below the upper part of the patient's calf muscle.
  • Pressure is applied under the patient's calf and down on the patient's thigh such that translation between the tibia and femur occurs.
  • the pivot shift test begins by positioning the patient on his back.
  • the knee is flexed (x-axis rotation) and a valgus (z-axis rotation) force and an internal rotation (y-axis rotation) force is applied to the knee as the knee is brought into full extension (x-axis rotation).
  • the clinician feels for an abnormal internal rotation (y-axis rotation) and anterior translation (z-axis translation) of the tibia with respect to the femur. This shift is felt to represent the relative increased translation (z-axis translation) of the lateral side of the knee with respect to the increased translation (z-axis translation) of the medial side of the knee.
  • the point of sudden shift represents the point at which the back part of the tibia bone slides in front of the radius of curvature of the curved end of the femur.
  • the clinician subjectively rates the pivot shift as Grade I, Grade II or Grade III depending upon the degree of rotational and translational shift felt during the test. This test is difficult to perform, difficult to teach and difficult to quantify.
  • the anterior drawer test is performed with the patient lying on his back and his knee bent to 90 degrees. With the patient's foot supported by a table or chair, the clinician applies pressure to the knee using her thumbs. This test is graded based upon the amount or extent of anterior translation along the z-axis of the tibia with respect to the femur. Grade I has 0 to 5 mm of anterior translation (z-axis translation), Grade II has 6 to 10 mm of anterior translation, and Grade III has 11 to 15 mm of translation.
  • This force pulls anteriorly along the z-axis through a strap that wraps underneath the calf.
  • the measurement of the translation uses a technique measuring the relative motion of a pad on the anterior tibia with respect to a pad placed on the patella. This device does not measure relative displacement or compliance in any of the other degrees of freedom previously described in the knee. Furthermore, the quantified results of the KT-1000 or KT-2000 have not been correlated with patient satisfaction whereas the subjective Pivot Shift test has been correlated with patient satisfaction.
  • Needs also exist for systems and methods, and devices which accommodate variances of patient body structure; it may well be understood that each human body is different and may require particular attention when being treated and/or analyzed; this may be particularly evident in the case of abnormalities of bone, tendon, joint, etc., due to injury or the like.
  • the present invention to provide apparatuses and methods for evaluating the performance of joints and their associated elements.
  • an apparatus for evaluating leg movement characteristics of a patient the patient having a torso, and also having a first and a second leg extending from the torso, each leg including a femur, patella, and a foot
  • the apparatus comprises: A) a base assembly configured to at least partially support the torso; and B) first and second leg support assemblies independently pivotably mounted about a pivot axis relative to the base assembly, each leg support assembly configured to at least partially support a portion of a respective one of the first and second legs, the support being independent of the support of the torso.
  • Each of the leg support assemblies comprises: 1) a first leg support member itself comprising a foot rotation assembly configured to at least partially retain and support an associated foot of the patient and to rotate it about an axis of rotation relative to the base assembly; and 2) a second leg support member configured for supporting a portion of the leg at a location proximal relative to the first leg support member during the rotation of the foot, each the foot rotation assembly configured to rotate the associated foot such that an associated leg movement is provided and can be measured.
  • an apparatus for evaluating leg movement characteristics of a patient the patient having a torso, and also having a first and a second leg extending from the torso, each leg including a femur, patella, and a foot
  • the apparatus comprises: A) a base assembly configured to at least partially support the torso; and B) first and second leg support assemblies independently pivotably mounted about a pivot axis relative to the base assembly, each leg support assembly configured to at least partially support a portion of a respective one of the first and second legs, the support being independent of the support of the torso.
  • Each of the leg support members further comprises: 1) a first leg support member itself including a foot rotation assembly configured to at least partially retain and support an associated foot of the patient and to rotate it about an axis of rotation relative to the base assembly; 2) a second leg support member configured for supporting a portion of the associated leg at a location proximal relative to the first leg support member during the rotation of the foot; and 3) a tibia positioning assembly configured to contact the lower leg portion of the associated leg at a location generally intermediate that of the first and second leg support members.
  • Each of the foot rotation assemblies are further configured to rotate the associated foot such that associated leg movement is provided and can be measured while the tibia retention assembly at least partially laterally retains tibia movement.
  • an apparatus for evaluating leg movement characteristics of a patient the patient having a torso, and also having a first and a second leg extending from the torso, each leg including a femur, patella, and a foot
  • the apparatus comprises: A) a base assembly configured to at least partially support the torso; and B) first and second leg support assemblies independently pivotably mounted about a pivot axis relative to the base assembly, each leg support assembly configured to at least partially support a portion of a respective one of the first and second legs, the support being independent of the support of the torso.
  • Each of the leg support members itself comprises: 1) a first leg support member itself including a foot rotation assembly configured to at least partially retain and support an associated foot of the patient and to rotate it about an axis of rotation relative to the base assembly; 2) a second leg support member configured for supporting a portion of the associated leg at a location proximal relative to the first leg support member during the rotation of the foot; and 3) a tibia positioning assembly configured to contact the lower leg portion of the associated leg at a location generally intermediate that of the first and second leg support members, the tibia positioning assembly mounted for linear adjustment relative to the pivoting leg support frame assembly, the tibia positioning assembly providing pivoting support of the foot rotation assembly to provide the axis of rotation relative to the base assembly.
  • Each the foot rotation assembly is further configured to rotate the associated foot such that the associated leg movement is provided and can be measured while the tibia retention assembly at least partially laterally retains tibia movement.
  • a method for evaluating leg movement characteristics of a patient the patient having a torso, and also having a first and a second leg extending from the torso, each leg including a femur, patella, and a foot, is provided.
  • the method comprising the steps of: A) providing an apparatus comprising: 1) a base assembly configured to at least partially support the torso; and 2) first and second leg support assemblies independently pivotably mounted about a pivot axis relative to the base assembly, each leg support assembly configured to at least partially support a portion of a respective one of the first and second legs, the support being independent of the support of the torso, each of the leg support assemblies including: a) a first leg support member itself including a foot rotation assembly configured to at least partially retain and support an associated foot of the patient and to rotate it about an axis of rotation relative to the base assembly; and b) a second leg support member configured for supporting a portion of the leg at a location proximal relative to the first leg support member during the rotation of the foot; and B) placing a patient in the device, rotating the associated foot such that the associated leg movement is provided, and measuring the movement.
  • a method for evaluating leg movement characteristics of a patient comprising the steps of: A) providing an apparatus comprising: 1) a base assembly configured to at least partially support the torso; and 2) first and second leg support assemblies independently pivotably mounted about a pivot axis relative to the base assembly, each leg support assembly configured to at least partially support a portion of a respective one of the first and second legs, the support being independent of the support of the torso, each of the leg support members including: a) a first leg support member itself including a foot rotation assembly configured to at least partially retain and support an associated foot of the patient and to rotate it about an axis of rotation relative to the base assembly; b) a second leg support member configured for supporting a portion of the associated leg at a location proximal relative to the first leg support
  • a method for evaluating leg movement characteristics of a patient comprising the steps of: A) providing an apparatus that has a knee support configuration that allows for alternate uses, including a support mode for varus-valgus testing, and also a stabilizing mode for both anterior-posterior and rotational testing; B) using the knee support apparatus in the support mode for varus-valgus testing; and C) using the knee support apparatus in the stabilizing mode for both anterior-posterior and rotational testing.
  • Figure 1 is a perspective view of the overall R T apparatus 10.
  • FIG. 2 is an illustrative side elevational view of the general components and operation of the overall RKT apparatus 10.
  • Figure 3 is a closer view of a portion of that shown in Figure 2.
  • Figure 4 is a closer view of a portion of that shown in Figure 3.
  • Figure 5 is a closer view of a portion of that shown in Figure 4.
  • FIG. 6 is a illustrative top elevational view of the general components and operation of the overall RKT apparatus 10.
  • the two pivoting leg support frame assemblies are shown in generally parallel fashion.
  • Figure 7 is a view similar to that shown in Figure 6, except that the two sliding support frameworks are shown in different extension configurations.
  • Figure 8 is a view similar to that shown in Figure 6, except that the two pivoting leg support frame assemblies 50 are shown in different angular relationships.
  • Figure 9 is a view similar to that shown in Figure 6, except that the two pivoting leg support frame assemblies 50 are shown in different extension relationships.
  • Figure 10 is a view similar to that shown in Figure 6, except that the two pivoting leg support frame assemblies 50 are shown in different extension relationships in order to accept the legs of a user 5.
  • Figure 11 is a closer view of a portion of that shown in Figure 3, showing Action D.
  • Figure 12 is an illustrative view showing the transverse cross section of a thigh of a user in association with a corresponding thigh retention assembly 80.
  • Figure 13 is an illustrative view, showing the transverse cross section of a knee of a user in association with a corresponding knee support/stabilizing assembly 60 (in support mode).
  • Figure 14 is an illustrative view, showing the transverse cross section of a knee of a user in association with a corresponding knee support/stabilizing assembly 60 (in stabilizing mode).
  • Figure 15 is an illustrative view showing the transverse cross section of a tibia of a user in association with a corresponding tibia retention assembly 60.
  • Figure 16 is a pictorial illustrative view of the pivoting interaction between the sliding frame 122 of a tibia positioning assembly 100, a corresponding pivoting frame 142 of a first pivoting assembly 140 (pivots relative to sliding frame 120 via Action F, about a vertical, "Y" axis) a corresponding pivoting frame 162 of a corresponding second pivoting assembly 160, (pivots relative to first pivoting assembly 140 along Action G, along a horizontal axis) and a foot plate 202, which (pivots relative to pivoting frame 162 along Action H).
  • Figure 17 shows a subjective measurement module 2000 including a subjective measurement module dial 2001 (operated by the user) and an output display 2002.
  • Figure 18 shows a subjective measurement module 2200 including a subjective measurement module slide 2201 (operated by the user) and an output display 2202.
  • Figure 19 is another pseudo-overhead view of the overall R T apparatus
  • Figure 20 is a view similar to Figure 19, with the Tibia Positioning Assemblies 100 and their respective Tibia Containing Assemblies 180 "splayed" relative to the parallel configuration of Figure 19.
  • Figure 21 is similar to Figure 20 but from different viewpoint and with patient 5 in place.
  • Figure 22 is similar to Figure 21 but a closer view.
  • Figure 23 is similar to Figure 20 but without knee support stabilizing assemblies 60.
  • Figure 24 is similar to Figure 23 but more approximating a side elevational view.
  • Figure 25 is even more approximating a side elevational view relative to Figure 24.
  • Figure 26 is a view of the main frame assembly 20 and other lower situation elements.
  • Figure 27 is a slight overhead view from the foot of the device 10, shown without knee support stabilizing assemblies 60.
  • Figure 28 is a slight overhead view from the foot of the device 10, showing two motors 168 and 206, and the foot rotation assembly 200 (which includes straps for holding the foot).
  • Figure 29 is a slight overhead view from the foot of the device 10, showing two motors 168 and 206, the foot rotation assembly 200 (which includes straps for holding the foot), and the pivoting frame 142.
  • Figure 30 is a slightly lower view than Figure 29.
  • Figure 31 is a slightly pulled back view than Figure 30.
  • Figure 32 is a view from the head of the device, without the bars 84 shown for viewing ease.
  • Figure 33 is a view similar to Figure 32.
  • Figure 34 shows the movement axis of one of the laterally slidable knee support pads 64.
  • Figure 35 is a view of an exemplary sensor cluster 1000.
  • Figure 36 shows a subjective measurement module 2100 including a subjective measurement module dial 2101 and an overall machine stop button 2102.
  • Figure 37 is a slight overhead view of an additional embodiment of the overall R T apparatus 10 containing tibia containing assemblies 1180 and a plurality of bladders 1190.
  • Figure 38 is a front view of the tibia containing assemblies 1180 and bladders 1190 of Figure 37.
  • various embodiments of the present invention provide robotically controlled devices and methods for evaluating the knee, although other joints and limbs can likewise be evaluated such as the elbow and arm.
  • devices and methods are provided, which apply a known torque to the lower leg of a user and monitor the reaction to this torque at the knee.
  • Such devices and methods may be generally configured to control the direction, rate, and magnitude of force and/or torque application in all three directions (e.g., the x, y, and z described in further detail below), independently to two legs of a patient.
  • the user's femur and ankle are stabilized such that the movement of the tibia at the knee in response to a given torque can be accurately measured.
  • the torque is applied by one or more computer controlled motors. In at least one embodiment, such is accomplished by the use of six (6) brushless servo motors.
  • the computer may be programmed to instruct the motor(s) to perform any desired diagnostic routine. Custom software may be utilized on the computer to calculate the appropriate amount of torque to be used by each motor during testing based on the person's height and weight. The desired torque thresholds are then communicated with the motors.
  • the software may then signal the motor(s) to perform the knee laxity testing.
  • the diagnostic routine may comprise rotating the user's lower leg in a clockwise direction from a neutral position until a predetermined threshold is reached and then back to neutral. This procedure may be repeated for three (3) or more cycles. Then, the user's leg may be rotated from a neutral position in a counterclockwise direction until a predetermined threshold is reached and back to neutral for three cycles.
  • the diagnostic routine may comprise the rotating of a user's lower leg in a clockwise direction until a predetermined threshold is met and then rotate in a clockwise direction until a predetermined threshold is met in a substantially fluid motion. This procedure may be repeated for several cycles. Clockwise and counterclockwise rotations can be made in either the x, y, or z axes, by placing the motor in different orientations.
  • both of the user's lower legs may be rotated simultaneously.
  • the user's left leg may be rotated counter clockwise (external rotation) and then clockwise (internal rotation) while the user's right leg is rotated clockwise (external rotation) and then counter clockwise (internal rotation).
  • the movement in the hip area can be minimized since the motions counter act each other. This allows evaluation of not only two limbs simultaneously, but also both joints of both limbs (e.g. two knees and two ankles).
  • angle of rotation and torque measurements are taken at regular intervals during the diagnostic routine.
  • the regular intervals may be 120 times per second, collecting the torque currently being applied by each motor and each motor's encoder position. From this data, a hysteresis curve can be generated, which may be used to evaluate the performance of the knee.
  • knee joint laxity may be determined by measuring the amount of motion of the tibia relative to the femur as the tibia is perturbated in single and/or multiplanar motions. More detailed measurement techniques are described elsewhere in this application.
  • the invention is configured to be used by a patient/user 5.
  • the elements of the invention include the following:
  • various embodiments of the overall RKT (Robotic Knee Testing) Device 10 may include the following features:
  • a patient 5 may be positioned within the various embodiments of the overall RKT device 10, such that their knees are adjacent the knee support/stabilizing assemblies 60, and their feet are retained within the third pivoting assemblies 200.
  • the stationary base frame assembly 20 according to various embodiments of the overall RKT device 10 is configured to be situated atop and supported by a supporting surface such as a floor (not shown). In certain embodiments, this assembly supports all of the other elements of the overall RKT device 10.
  • the stationary base frame assembly 20 is substantially rigid and is comprised of a plurality of substantially rigid frame members, such as those shown in Figure 26.
  • the support cushion 30 may be configured to be attached to and supported by the stationary base frame assembly 20.
  • the cushion 30 may be integrally formed as part of the assembly 20, as illustrated, for example, in Figure 19 (although not numbered).
  • the support cushion 30 is generally configured to support the posterior of a patient 5 such that the patient can lie on the patient's back, and the patient's legs can be situated in the overall RKT device 10, as shown for example in at least Figures 1, 3, 21, and 23.
  • the sliding support framework 40 may comprise a substantially rigid substructure slidably supported atop the stationary base frame assembly 20.
  • the support framework 40 may, in these and still other envisioned embodiments, be configured to slide relative to the stationary base frame assembly 20 along a linear X axis. This movement is designated as "Action A" by the arrows in, for example, Figure 2.
  • the "Action A" movement is configured to facilitate adjustment of the sliding support framework 40 prior to its testing function.
  • this adjustment allows for the sliding support framework 40 to be properly positioned relative to the patient. This adjustment is not made to accommodate varying leg lengths, but allows for proper positioning of the testing apparatus even if the patient is positioned too far toward either the head or foot of the bed. While in the embodiment shown in Figure 2 this adjustment is along the X axis and is linear, alternative possible, single or multiple, axes of adjustment may be envisioned as within the scope of the present invention.
  • the two pivoting leg support frame assemblies 50 may be attached above and supported by the sliding support framework 40.
  • the frame assemblies 50 may be likewise adjusted as the sliding support framework 40 is adjusted, as may be desirable for particular applications.
  • the patient 5 in order to adjust the sliding support framework 40 relative to the stationary base frame assembly 20, the patient 5 (a.k.a. user 5) may be first positioned in place as generally shown in at least Figures 1 and 3. During such positioning, a releasable connection 42 according to various embodiments between the sliding support framework 40 and the stationary base frame assembly 20 is disengaged, thereby permitting adjustment of the framework 40 relative to the assembly 20, as necessary to fine-tune the positioning of the patient 5.
  • the releasable connection comprises at least two clamping members 42, as illustrated in in Figure 3, although in other envisioned embodiments, any of a variety of alternative type or number of connections may be employed between the sliding support framework 40 and the stationary base frame assembly 20.
  • connection 42 between the sliding support framework 40 and the stationary base frame assembly 20 may be engaged (see e.g., clamps 42 in Figure 3). In this manner, once the connection or clamps 42 are engaged, relative movement between the framework 40 and the assembly 20 may be prevented, so as to maintain the patient 5 in the proper or desired position.
  • each of the two pivoting leg support frame assemblies 50 according to various embodiments of the overall R T device 10 is to provide a framework to support a corresponding leg of the patient/user such as 5.
  • the two pivoting leg support frame assemblies 50 are pivotably attached above and supported by the sliding support framework 40. In this manner, the assemblies 50 may be likewise adjusted as the sliding support framework 40 is adjusted, as previously described herein and as illustrated in, for example Figures 6, 7, and 9.
  • each of the two pivoting leg support frame assemblies 50 is pivotably mounted relative to the framework about an axis lying parallel to the Y axis (see Figure 2); thus they lie substantially along mutually parallel axes.
  • the pivoting actions of the assemblies 50 may be independent, in that one can pivot without the other.
  • the pivoting actions of the assemblies 50 may be interdependent, illustrated, at least in part by Figure 10.
  • the pivoting action is an adjustment such as that identified as "Action B" in, for example, Figure 2 and more fully illustrated in Figure 8.
  • Action B adjustment allows the individual leg testing apparatuses to be aligned according to the patient's natural alignment. Improper alignment would pre-tension ligaments thus creating error in the test results. This adjustment is made to avoid such errors.
  • each pivoting leg support frame assembly 50 is substantially similar to the other, and thus one can be described as an example of the other. In other envisioned embodiments (not shown), however, each of the assemblies 50 may differ in one or more respects, as may be desirable for a particular application.
  • each pivoting leg support frame assembly 50 may, according to various embodiments, comprise a substantially rigid substructure.
  • each pivoting leg support frame assembly 50 itself slidably supports a corresponding one of two tibia positioning assemblies 100, as illustrated in, for example, Figure 3, and described in further detail below.
  • as one pivoting leg support frame assembly 50 pivots, so does its corresponding tibia positioning assembly 100.
  • the respective assemblies 50 and their corresponding assemblies 100 may one or both pivot independently relative to one another, in any of a variety of combinations, as may be desired for a particular application.
  • the pivoting movement of the respective assemblies 50 and their corresponding assemblies 100 is substantially about an axis parallel to the "X" direction, as illustrated in, for example, Figure 2.
  • there are no clamps between 50 and 100 although the pivoting movement could be prevented via clamping after suitable adjustment.
  • each of the two pivoting leg support frame assemblies 50 is free to pivotably relative to the sliding support framework 40.
  • the general function according to various embodiments of the knee support/stabilizing assemblies 60 is to support the knee, when in their "support mode” (see Figure 13), and to support and stabilize the knees when in their "stabilizing mode” (see Figure 14).
  • the knee support/stabilizing assemblies 60 are used in support mode for varus-valgus testing.
  • the knee support/stabilizing assemblies 60 are used in "stabilizing mode" for both anteroposterior and rotational testing.
  • the knee assemblies 60 may be used in either support or stabilizing mode for any of a variety of tests, as may be desired for a particular application.
  • the knee support/stabilizing assemblies 60 may be used in support mode for varus- valgus testing.
  • support mode' the knee support/stabilizing assemblies 60 only support the knee region of the leg from underneath, and is free to move side to side.
  • each of the knee support/stabilizing assemblies 60 includes the following elements, as illustrated in at least Figures 11 and 13:
  • Rods 70 (4) extending from one side of plate
  • the telescoping pedestal 62 has a lower end which is configured to be attached atop a corresponding pivoting leg support frame assembly 50.
  • the telescoping pedestal 62 supports at its top end a laterally slidable knee support pad 64, which is configured to contact and support a portion of the leg of a patient 5 proximate the knee as shown in for example Figure 3.
  • the pad 64 may be free to move laterally along with the underneath portion of the leg being supported. This is also known as Action J, as illustrated in at least Figure 13.
  • the knee during varus-valgus testing, as the device rotates about pivot point shown in Action F, it will be necessary to allow the knee move laterally side to side in order to actually perform the test. This is facilitated by the provision of the laterally slidable knee support pad 64. Further according to various embodiments, during the varus-valgus testing, the knee itself need not be stabilized as in the anteroposterior and rotational tests described immediately below. However, the proximal thigh may, in certain embodiments, be stabilized by the thigh retention assembly 80 while the foot may be stabilized by the foot rotation assembly 200, as illustrated in at least Figure 3, for example.
  • the knee support/stabilizing assemblies 60 may be used according to various embodiments in support mode to allow for a consistent degree of knee flexion during varus-valgus testing. Such benefit arises in at least certain embodiments due to the sliding pads 64 allowing the knees to slide laterally or otherwise, as previously described herein. Stabilizing Mode (generally used in antero-posterior and rotational testing)
  • the knee support/stabilizing assemblies 60 may likewise be used in "stabilizing mode" for both anteroposterior and rotational testing.
  • a clamp assembly 66 may be added to minimize motion of the femur, as described in further detail below.
  • each of the knee support/stabilizing assemblies 60 may include one or more of the following elements, generally depicted in Figures 11 and 14, as will be described in further detail below:
  • Rods 70 (4) extending from one side of plate
  • the knee support/stabilizing assemblies 60 may be used in stabilizing mode to allow for a consistent degree of knee flexion, as was done during varus-valgus testing described above. However, when in stabilizing mode, each of the knee support/stabilizing assemblies 60 also includes a clamp assembly 66, as described in further detail below.
  • This clamp assembly 66 may be configured to cooperate with the support pad 64 so as to substantially encircle the leg and to substantially engage or grip it from the top, as illustrated in at least Figures 14 and 21 (in the latter as assembly 60 generally).
  • the pad 64 may not be adjusted laterally relative to the general longitudinal axis of the leg, as it is captured on its ends by at least the rods 70.
  • the clamp assembly 66 may include the following: Top Plate 68
  • Adjustment Rods 70 (4) extending from one side of plate
  • the top plate 68 may be configured such that the upper ends of four rods 70 may be attached to its underside. So configured, the rods 70 in at least certain embodiments may extend substantially downwardly and slidably into through-holes defined by the pedestal 62 until they are clamped in place. In at least one embodiment, the rod clamp assembly 78 is configured to clamp the rods relative to the pedestal 62 such that the top plate 68 is retained in place. When so retained according to these and still other embodiments, the pads 64 and 72 substantially surround and contact the patient's leg, as illustrated in at least Figure 14. In still other envisioned embodiments, the rods 70 themselves may also provide some degree of containment of the patient's leg.
  • the shape of pad 72 may be at least in part dictated by the need to stabilize the patella within the femoral trochlea. Such stabilization, in certain embodiments, prevents undesirable rotation and anteroposterior translation of the femur, while also satisfying a need to place an electromagnetic sensor, retro-reflective ball or array, ultrasonic sensor, or other motion tracking device on the patella.
  • the pad may be "V-shaped," which then allows the device to adequately capture the patella no matter the patellar dimensions of a given patient.
  • the apex of the "V" shape may be deepened and/or widened in order to create a channel or pocket for the motion tracking device to be placed on the patella, as may be desired for a particular application.
  • adjustments may be made such that the rod clamp assembly 78 is applied around the patient's leg, and in particular the patient's patella, by using a consistent known amount of force.
  • a downward (e.g., posteriorly-directed) force of 25 pounds may be used when positioning all patients.
  • a substantially consistent force should be used to allow for accurate and repeatable side-to-side comparisons. Indeed, inconsistent force application would allow one femur to be more easily moveable than the other, thus potentially creating error in the bilateral comparisons of translation and rotation of the tibia relative to the femur between the person's right and left knees.
  • the height the assemblies support the leg may be variable via adjustment of the telescopic portion of the telescoping pedestal 62. This adjustment is illustrated as Action D in at least Figure 2.
  • Action D adjustment may be provided either prior to testing in one embodiment or to change the degree of knee flexion in an effort to be consistent with previously accepted clinical evaluation procedures, as may be desirable or necessary for a given application.
  • each of the thigh retention assemblies 80 is to retain the thigh of the patient/user 5 such that internal/external and varus/valgus rotations of the femur are limited.
  • each thigh retention assembly may include two retention bars 84, which are positioned on either side of the thigh of the patient/user's 5 thigh 82 so as to discourage it from movement lateral to the longitudinal axis of the tibia.
  • the two retention bars 84 are configured for centered adjustment, in that they are commonly mounted within an adjustment sub-apparatus that facilitates their common adjustment relative to a common central point. In this manner, in at least one embodiment, as one bar is moved a given distance in one lateral direction, the other bar moves a given distance in the opposite lateral direction. This allows tightening or loosening of the bars about the intermediate thigh without moving the thigh to one side or the other. This could be considered a "self-centering" feature in at least certain of the envisioned embodiments.
  • each thigh retention assembly 80 may include the following:
  • Adjustment Assembly 86 (see also Figures 32 and 33) Adjustment Assembly Handwheel 87
  • the base 82 of the thigh retention assembly 80 may be rigidly attached atop a corresponding one said pivoting leg support assemblies 50.
  • the base 82 may support a corresponding adjustment assembly 86, which in turn may adjustably support two retention bars 84, as further illustrated in at least Figure 12.
  • an adjustment assembly hand wheel 87 allows an operator (such as a clinician, not shown) to rotate the handwheel 87.
  • Rotation of the hand wheel 87 in this manner rotates a threaded rod (or analogous mechanism, as commonly known or understood in the art) having two threaded portions of opposite direction, each one engaging relative to one of said retention bars 84, such that adjustment of the spacing of the two retention bars 84 is facilitated such that a thigh can be suitably clamped therebetween.
  • a threaded rod or analogous mechanism, as commonly known or understood in the art
  • Each of the two thigh retention assemblies 80 may according to various embodiments be attached atop a corresponding pivoting leg support frame assembly 50, such that pivoting of the pivoting leg support frame assembly 50 about its vertical axis (e.g., during adjustment, as previously described herein) likewise facilitates pivoting of the corresponding thigh retention assembly 80.
  • the two retention bars 84 may generally squeeze the thigh in order to stabilize the femur while ensuring that the femur is centrally located in relation to both of the retention bars.
  • each of the tibia retention assemblies 100 includes the following features:
  • the sliding frame 120 of the tibia positioning assembly 100 provides the sliding connection between the tibia positioning assembly 100 and the pivoting leg support frame assembly 50, as there is a sliding connection between elements 50 and 120, which is Action E.
  • Action E as illustrated in at least Figure 2 provides a degree of adjustment, which allows the tibia positioning assembly 100 to be adjusted according to the patient's leg length.
  • the first pivoting assembly 140 may be pivotably mounted relative to the sliding frame 120 of the tibia positioning assembly 100.
  • the first pivoting assembly 140 may be configured to pivot relative to sliding frame 120 via Action "F" (see e.g., Figure 2), about a vertical axis along the "Y" axis.
  • Action "F” action is driven and controlled by motors 148 (see at least Figures 30 and 31), and provides a varus- valgus torque to the knee. Such action around the axis of rotation is used for valgus-varus or medial-lateral testing.
  • motors 148 see at least Figures 30 and 31
  • varus- valgus torque is used for valgus-varus or medial-lateral testing.
  • One current embodiment uses a servomotor to provide the rotational force, although other manual or mechanical methods of force application could be used.
  • the first pivoting assembly 140 includes the following:
  • Pivoting frame 142 See, e.g., Figure 16)
  • pivoting frame 142 provides the pivoting connection between the first pivoting assembly 140 and the sliding frame 120 and in at least certain embodiments the motor 148 (see Figures 30 and 31) drives this pivoting action.
  • the pivoting frame 142 may be configured in substantially the same manner as pivoting frame 162, as will be described in further detail here-below. In other embodiments, the pivoting frame 142 and frame 162 may be substantially different in shape, size and/or configuration, as may be desired for a particular application. Second Pivoting Assembly 160
  • the second pivoting assembly 160 may be configured to be pivotably mounted relative to the first pivoting assembly 140, such that the second pivoting assembly 160 pivots relative to the first pivoting assembly 140 via Action "G" (see Figure 2), about a horizontal axis shown by pivot point GPP (see Figure 4).
  • this axis is the axis of rotation (normal to the drawing plane, in axis "Z") for anteroposterior laxity testing, causing the rotation indicated as Action G.
  • At least one current embodiment uses a servomotor 168, as illustrated in at least Figure 5, so as to provide the rotational force, although other manual or mechanical methods of force application may be envisioned and/or used, as desirable for any of a variety of applications.
  • Action G is configured to provide internal-external rotation torque to the tibias, as will be described in further detail below.
  • the second pivoting assembly 160 may include any or all of the following features:
  • the pivoting frame 162 provides the pivoting connection between the second pivoting assembly 160 and the first pivoting assembly 140, and in at least the illustrated embodiment the motor 168 drives this pivoting action.
  • the tibia retention assembly 180 as illustrated in at least Figures 20, 21 and 25, may be configured to be attached at the free end of the pivoting frame 162.
  • the location along the patient/user's leg that the tibia retention assembly 180 contacts the leg may be adjustable via Action "I" as illustrated in at least Figures 2, 4, and 5, which is an adjustment of the length of the pivoting frame 162.
  • Action I adjustment may be provided so that the location of force application during the anteroposterior, mediolateral, or valgus/varus testing can be held consistent for each patient.
  • the location of force application may need to be 1" distal to the tibial tuberosity; therefore, this portion of the frame must be adjusted so that the location of force application can be consistently located for patients.
  • clamps such as 163, as provided according to various embodiments, may be clamped down so Action I movement is restricted.
  • any of a variety of commonly known and understood mechanisms may be used and operated so as to selectively permit and/or restrict Action I movement.
  • the tibia retention assembly 180 may be configured to laterally retain the tibia during at least the anteroposterior and varus-valgus testing processes.
  • the tibia retention assembly 180 includes the following, each of which as illustrated in at least Figure 15:
  • the base 182 of the tibia retention assembly 180 may be attached to the free end of the free end of pivoting frame 162 (which as seen in Figures 5 and 24 may comprise one or more pair of telescoping rails).
  • the two rail-like free ends of the pivoting frame 162 each define holes through which the adjustment rods 189 can slidably fit until they are clamped in place.
  • the adjustment rods 189 all have one end rigidly mounted to the cap 185.
  • the clamp assembly 186 may be configured to clamp the rods relative to the base such that the cap 185 is retained in place.
  • the pads 189 may be configured to substantially surround and contact the patient/user's leg.
  • the pads are attached to the rods via the pad support plates 188, although in still other envisioned embodiments, the pads may be attached relative to the rods via any of a variety of methods and devices, as commonly known and understood in the art and desirable for a given application.
  • adjustment of the clamp assembly 186 may be made such that the location of the anterior pad (185 attached to 189) is 1-2 cm above the anterior aspect of the low leg, with the entire system rotated about pivot point GPP so that the posterior pad (182 attached to 189) is located 1-2 cm below the posterior aspect of the low leg.
  • an alternative tibia retention assembly 1180 may be configured substantially the same as tibia retention assembly 180 so to laterally retain the tibia during at least the anteroposterior and varus-valgus testing processes.
  • the tibia retention assembly 1180 further includes a plurality of bladders 1190 configured for applying a force so as to retain at least a portion of the patient's tibia within the assembly.
  • the plurality of bladders 1190 are contained within corresponding cuffs that are positioned relative to the assembly 1180 such that two cuffs are adjacent opposing side portions of the assembly, one cuff is adjacent a top portion of the assembly, and one cuff is adjacent a bottom portion of the assembly, as best illustrated in at least Figure 38.
  • any combination of bladders 1190 and cuffs may be incorporated (e.g., merely one atop and one below the leg or merely two side opposing ones) as may be desired for a particular application.
  • each of the bladders 1190 may be selectively inflated so as to apply or increase a corresponding force to the portion of the patient's tibia positioned substantially adjacent each bladder.
  • the bladders 1190 may be likewise selectively deflated so as to remove or decrease the corresponding force, as desirable.
  • the bladders 1190 may all be inflated and/or deflated simultaneously, while in still other envisioned embodiments, each of the bladders 1190 may be manipulated individually.
  • a single pressure sensor may be connected to the bladders 1190 (e.g., via the lines or tubes, as seen (but not numbered) in at least Figure 38)) and used to measure the change in pressure for the same.
  • multiple pressure sensors may be employed, as may be desirable for a particular application.
  • Still other embodiments may employ additional and/or alternative sensors or measurement tools, as may be desired.
  • each third pivoting assembly 200 includes at least the following features:
  • the foot plate 202 of each of the third pivoting assembles 200 may be pivotably mounted relative to the pivoting frame 162 of the second pivoting assembly 160 via a rotating shaft 204, such that the foot plate 202 pivots relative to the pivoting frame 162 via Action "H,” as illustrated in at least Figure 4.
  • Action "H” of Figure 4 is powered movement about an axis of rotation for tibial internal and external rotation testing.
  • At least one current embodiment uses a servomotor 206 to provide the rotational force, although other manual or mechanical methods of force application could be used, as desirable for any of a variety of given applications, as commonly known and understood in the art.
  • the motor 206 such may be configured with a housing mounted relative to the pivoting frame 162, such that the motor drives the rotating shaft 204, which itself drives the foot plate 202.
  • the motor 206 such may be configured with a housing mounted relative to the pivoting frame 162, such that the motor drives the rotating shaft 204, which itself drives the foot plate 202.
  • any of a variety of alternative configurations may be envisioned as within the scope of the present invention, as may be desirable for a given application.
  • FIGS 2 and 3 show all the actions performed by various embodiments of the overall RKT device 10. These actions are designated primarily upon Figure 2, with capital letters in circles; for example Action is designated with a circle with an "A" inside. Action A -
  • This adjustment allows for the entire testing system to be properly positioned relative to the patient. This adjustment is not made to accommodate varying leg lengths, but allows for proper positioning of the testing apparatus even if the patient is positioned too far toward either the head or foot of the bed. In at least the shown embodiment this adjustment is along the X axis and is linear.
  • Action B This adjustment according to various embodiments allows the individual tibia positioning assemblies to be aligned according to the patient's natural alignment, as may be seen in at least Figures 8 and 10, respectively. Improper alignment can potentially pre-tension ligaments, thus creating error in the test results.
  • the adjustment of Action B according to various embodiments is made to avoid such errors.
  • the tibia positioning assemblies are able to be moved by hand on sliding contact C; however, the coefficient of friction is such that the valgus-varus position of the tibia positioning assemblies may be maintained during laxity testing.
  • the tibia positioning assemblies pivot freely and independently, including during testing, to allow for proper varus-valgus alignment of the limb to match the person's natural alignment.
  • the tibia positioning assemblies are clamped relative to their supporting frame just prior to testing.
  • Action C - This is a factional sliding contact point (1 of 2) which supports the tibia positioning assemblies as they pivot according to various embodiments.
  • Action D As noted above, Action D adjustment is provided prior to testing in one embodiment to change the degree of knee flexion in an effort to be consistent with previously accepted clinical evaluation procedures.
  • alternate embodiments and methods include the use of automated actions to perform more complicated, multi-planar motions.
  • the apparatus could be so used to simulate the pivot shift test which involves applying internal rotation and valgus torques while at the same time increasing the degree of knee flexion.
  • Action D according to these and still other envisioned embodiments changes the degree of knee flexion.
  • Action E This adjustment according to various embodiments allows the tibia positioning assembly 100 to be adjusted according to the patient's leg length. In a second embodiment, this action can be automated with the use of a ball screw, worm gear, or other motorized linear actuator.
  • the entire tibial positioning assembly 100 may then be moved closer to or further away from the support cushion 30. Moving the tibial positioning assembly closer to the support cushion would increase the degree of knee flexion and moving further away from the support cushion 30 would then move the knee into extension. This allows, in at least certain embodiments, for individualized static positioning of the knee for each person or would allow for the degree of knee flexion or extension to be changed during laxity testing, and could be coordinated to perform multiplanar testing with any or all of the three testing axes (Actions F, G, and H).
  • Action F This action according to various embodiments is driven and controlled by motors 148, and provides a varus-valgus torque to the knee. Such action around the axis of rotation is used for valgus-varus or medial-lateral testing. At least one envisioned embodiment uses a servomotor to provide the rotational force, although other manual or mechanical methods of force application could be used.
  • GPP is the axis of rotation (normal to the drawing plane, in axis "Z") for anteroposterior laxity testing, causing the rotation indicated as Action G.
  • At least one envisioned embodiment uses a servomotor 168 to provide the rotational force, although other manual or mechanical methods of force application could be used.
  • Action H - This is the axis of rotation for tibial internal and external rotation testing according to various embodiments. At least one envisioned embodiment uses a servomotor 206 to provide the rotational force, although other manual or mechanical methods of force application could be used.
  • Action I This action may be adjusted according to various embodiments so that the location of force application during the anteroposterior, mediolateral, or valgus/varus testing can be held consistent for each patient.
  • the location of force application may need to be 1 " distal to the tibial tuberosity; therefore, this portion of the frame must be adjusted so that the location of force application can be consistently located for patients.
  • Action J - This action according to various embodiments is lateral sliding movement of laterally slidable knee support pad 64 knee support/stabilizing assembly 60.
  • the laterally slidable knee support pad is slidably mounted relative to the pedestal 62 of the knee support/stabilizing assembly 60, such that it can move about an axis such as shown by the arrows in Figures 15 and 34.
  • various embodiments of the testing procedures made possible by the overall RKT device 10 may be accomplished by the use of six (6) brushless servo motors, namely two motors 148, two motors 168, and two motors 208. It should be understood that fewer or additional motors may be employed, as may be desirable for any of a variety of envisioned applications, in particular those involving one or more manual inputs, as previously described herein.
  • all input and output signals are accomplished through the use of these motors.
  • motion tracking systems may be used in conjunction with the motors in order to accurately and reliably measure motion of the tibia relative to the femur.
  • Examples of motion tracking systems would include, but not limited to, optoelectronic, electromagnetic, ultrasonic, fluoroscopic, stereo bi-plane radiographic, and other imaging methods commonly used to measure motion of the tibia relative to the femur in vivo.
  • input signals are sent to the motors regarding the target torque thresholds for each of the three tests for each patient, as well as the signals to start and complete each test.
  • output signals are sent from or regarding the motors regarding the amount and direction of torque from each motor as well as the encoder count for each motor.
  • the patient 5 may be positioned supine, and motion tracking sensors are applied to each tibia, femur, and the patella as needed. The patient's feet are then strapped into the corresponding Foot Rotation Assemblies 200.
  • the underlying rationale of the laxity testing methods described in the following paragraphs is that the tibia, which is an intercalary bone, is perturbated in a given direction by the device, and the motion of the tibia relative to the femur is measured. This is inherently different from all other techniques and devices and methods previously utilized to evaluate knee joint laxity.
  • the tibia retention assembly does not squeeze tightly on the lower leg, but leaves gaps between the assembly and the anterior, posterior, medial, and lateral aspects of the proximal low leg. Squeezing tightly on the proximal low leg makes it more difficult to accurately measure motion of the tibia itself, as the act of squeezing the proximal low leg causes compression of soft tissues thus resulting in greater soft tissue artifact or error in the measurements of tibial motion. Squeezing makes it more difficult to differentiate motion of the tibia from motion of the skin, muscle, adipose, etc.
  • the RKT apparatus 10 simultaneously cycles both knees into 1) internal and external rotation, 2) anterior and posterior translation, and 3) varus and valgus rotations. Each test can be performed individually or performed in any combination or order of the three motions.
  • Each of these three motions may be tested separately. For each motion, three cycles of each motion are performed to precondition the structures of the knee, and both the amount of torque applied and the rate at which the torque was applied are controlled by the system. Following the three preconditioning cycles, three test cycles are performed with the magnitude, direction, and rate of force/torque application as well as motion of the tibia relative to the femur being collected. Each of the three motions will now be discussed individually. Internal and External Rotation
  • the patient is suitably positioned within the RKT apparatus 10, and patient's feet are ensured to be suitably strapped into the corresponding Foot Rotation Assemblies 200.
  • Each of the knee support/stabilizing assemblies are configured in stabilizing mode (clamp assembly 66 in place, see, for example Figure 21) and adjusted such that the knee is suitably stabilized.
  • the two pivoting leg support frame assemblies 50 As each of the two pivoting leg support frame assemblies 50 is free to pivot relative to the sliding support framework 40, the legs of the patient, the two pivoting leg support frame assemblies 50 thus tend to be aligned according to the patient's natural alignment. Improper alignment would pre-tension ligaments thus creating error in the test results. All adjustments are then complete and the patient is then ready to be tested.
  • the knee is preconditioned by performing at least three complete rotational cycles. Following the 3 preconditioning cycles, 3 additional test cycles will be performed and the data from these test cycles will be used for analysis.
  • any of a variety of cycles or testing programs may be employed, as desirable for a particular application.
  • the R T apparatus 10 then provides torque first in tibial external rotation at a velocity of 5°/sec until the desired torque threshold of 6 N-m is reached.
  • the RKT apparatus 10 then reverses direction until the threshold is reached in internal rotation, thus completing one cycle.
  • the RKT again reverses direction and repeats this process for two additional cycles.
  • the number of cycles performed can be increased or decreased as necessary and the torque threshold and test velocity can also be individually adjusted if deemed appropriate. Testing for internal and external rotation is thus complete.
  • the patient is suitably positioned within the RKT apparatus 10, and patient's feet are ensured to be suitably strapped into the corresponding Foot Rotation Assemblies 200.
  • Each of the knee support/stabilizing assemblies are configured in stabilizing mode (clamp assembly 66 in place) and adjusted such that the knee is suitably stabilized.
  • the two pivoting leg support frame assemblies 50 As each of the two pivoting leg support frame assemblies 50 is free to pivotably relative to the sliding support framework 40, the legs of the patient, the two pivoting leg support frame assemblies 50 thus tend to be aligned according to the patient's natural alignment. Improper alignment would pre-tension ligaments thus creating error in the test results.
  • the pivoting frame 162 is adjusted to control the location of force application so that force is applied with the tibia containing assembly 180 in a location that proximal to the gastrocnemius muscle belly and distal to the tibial tuberosity.
  • the position is then maintained by tightening clamp 163.
  • the tibia containing assembly 180 is then adjusted so that the pads 189 are located 1 cm away from both the anterior aspect of the tibia and the posterior aspect of the gastrocnemius. This adjustment is made using adjustment rods 184 and the position is maintained by tightening clamp 186. According to certain embodiments, all adjustments are then complete and the patient is then ready to be tested.
  • tibia containing assembly 1180 having a plurality of bladders 1190 contained within cuffs (e.g., pads substantially similar to pads 189) further adjustment of the bladders (e.g., by inflation and/or deflation thereof) may be completed prior to performing patient testing.
  • the knee is preconditioned by performing 3 complete rotational cycles. Following the 3 preconditioning cycles, 3 additional test cycles will be performed and the data from these test cycles will be used for analysis.
  • the RKT apparatus 10 provides torque first in anterior translation at a velocity of 1 mm/s (The 1 mm/s was based on the velocity at the knee joint of an average male using accepted anthropometric normative values.) until the desired force threshold is reached. The RKT apparatus 10 then reverses direction until the threshold of 223 N is reached in posterior translation, thus completing one cycle.
  • anterior translation the applied force takes into account the patient's height and weight, equaling 134 N in addition the force necessary to raise the mass of the low leg.
  • the weight of the low leg can be estimated based on the patient's height and weight based on accepted anthropometric measures. For example, the force necessary to raise a low leg that weighs 20 lb is 89 N.
  • the force threshold is then 134 N plus 89 N, for a total of 223 N.
  • the RKT again reverses direction and repeats this process for two additional cycles.
  • the number of cycles performed can be increased or decreased as necessary and the force threshold and test velocity can also be individually adjusted if deemed appropriate. Testing for anterior and posterior translation is thus complete. Varus and Valgus Rotation
  • the knee is preconditioned by performing 3 complete varus-valgus cycles. Following the 3 preconditioning cycles, 3 additional test cycles will be performed and the data from these test cycles will be used for analysis.
  • the R T apparatus 10 then provides torque first in varus rotation at a velocity of l°/sec until the desired torque threshold is reached.
  • the torque threshold is calculated based on the patient's height and weight, and is equal to 1 N-m per unit of Body Mass Index (kg/m ). Since there is a frictional component of the slide attached to the knee pedestal and since the force is being applied at varying lever lengths based on patient height, we are increasing/decreasing the force based on patient height and weight in order to apply enough force to move the joint in this plane.
  • the RKT apparatus 10 then reverses direction until the threshold is reached in valgus rotation, thus completing one cycle.
  • the RKT again reverses direction and repeats this process for two additional cycles. The number of cycles performed can be increased or decreased as necessary and the torque threshold and test velocity can also be individually adjusted if deemed appropriate. Testing for varus-valgus rotation is thus complete.
  • a Sensor Cluster 1000 is shown.
  • This sensor cluster in various embodiments anticipates the use of electromagnetic motion tracking system consisting of an electromagnetic transmitter and 4 to 6 (or any of a variety number of) electromagnetic sensors.
  • the electromagnetic system outputs the location and orientation of each sensor, and a custom software is used to calculate the six degree of freedom kinematics of the knee during laxity testing.
  • the tracking system and custom software allow for accurate and clinically meaningful measurements of motion of the tibia relative to the femur.
  • the motion tracking system is a Polaris Spectra® system manufactured by Northern Digital Inc., of Waterloo, Canada.
  • the Polaris® System uses a camera to measure three-dimensional positions and orientations of retro-reflective markers placed on a patient.
  • the reflective markers are affixed to rigid arrays that are then applied to the patient's thigh, low leg, and foot.
  • the Polaris® system is able to determine the position and orientation of each of the rigid arrays in space, and therefore the relative position and orientation of the patient's knee. It is able to measure joint motion in six degrees of freedom, meaning that it can determine both rotation and translation of the joint about all three planes of motion.
  • opto-electronic tracking devices may be used, which emit optical signals that are received by a camera and the camera is configured to follow the three-dimensional position of each sensor.
  • ultrasonic devices may be used. These devices determine their three-dimensional position and orientation with respect to one another.
  • Figure 17 shows a subjective measurement module 2000 including a subjective measurement module dial 2001 (operated by the user) and an output display 2002.
  • Figure 36 shows a subjective measurement module 2100 including a subjective measurement module dial 2101 and an overall machine stop button 2102.
  • Figure 18 shows a subjective measurement module 2200 including a subjective measurement module slide 2201 (operated by the user) and an output display 2202.
  • the device described consists of a digital potentiometer or similar device that a patient can continuously adjust to rate their current level of pain (either a 0- 10 scale or "no pain” to "maximum pain” scale) during joint laxity testing.
  • no other joint laxity measurement system has the ability to capture subjective pain ratings from the patient that can then correlated with the instantaneous torque, position, and angle data being captured as part of the joint laxity examination.
  • the ability to incorporate subjective pain ratings with the objective measures being collected with the laxity test system allows surgeons and other medical professionals to better understand the anatomic structure(s) that may be involved.
  • the proposed device may according to various embodiments comprise a separate hand-held pendant to be used by a patient during instrumented joint laxity testing.
  • the device may have either a dial (see modules 2000 and 2100) or slide potentiometer (see module 2200) that a patient would adjust according to his/her pain level at any given moment.
  • the patient would be able to rate his/her pain with a single hand through the use of a hand-held device featuring either a plunger that could be depressed with the thumb and/or a lever or other "trigger" that could be depressed with the fingers. The patient could then use either depress the thumb plunger or squeeze the trigger to report increasing levels of pain and/or discomfort.
  • hand held systems that could be used include, but are not limited to, the Aurora AFX Adjustable Control or the Omron A4EG.
  • the Aurora device features a trigger mechanism that could be squeezed to indicate the patient's current level of pain and the Omron device features a compressible area that can be squeezed by the fingers as well as an emergency stop button that can be activated with the thumb.
  • the subjective ratings of pain would be output not only to the output displays shown, but also to a dedicated computer that would also be collecting torque and position data from the motors as well as the position and angle data from the three-dimensional motion tracking system.
  • the pain ratings would be captured at regular sub-second intervals and synchronized with the torque, position, and angle data.
  • Data could be sent from the Subjective Measurement Module to the computer by a number of means including, but not limited to direct USB cable or other cables, or wirelessly with a Bluetooth connection or other wireless means.
  • the patient's pain rating may be output to a visual display on the pendant in real time. Pain ratings could either be displayed using a numeric display or graphical display.
  • the numeric display (see e.g., Figure 17) could range from 0.0 to 10.0, with 0 representing "No Pain” and 10 representing "Max Pain”.
  • the graphical display (see e.g., Figure 18) may use a scrolling horizontally-directed line to indicate pain (y-axis) as a function of time (x-axis).
  • the pain measurement device may according to various embodiments also be used as an additional safety measure for the laxity system, such that when the patient indicates maximum pain or pain above a pre-determined threshold (8 out of 10 for example), then the motors applying the torque would either reverse direction or be disengaged.
  • This threshold could vary in intensity for different tests or patient profiles, as some patients will perceive pain differently from others.
  • one input could be used to rate pain and the other input be used as an emergency stop for the knee testing system.
  • the subjective measurement module 2100 features two such patient inputs.
  • the subjective measurement module dial 2101 would be used by the pain to indicate his or her level of pain.
  • the second input, stop button 2102 would then be used as an emergency stop switch that would disengage the motors and terminate a given laxity test.
  • the "trigger” could be squeezed by the patient to indicate his or her current level of pain, and the thumb plunger could be used as an emergency stop button that would disengage the motors and terminate a given laxity test.
  • the Subjective Measurement Module may according to various embodiments also be used by patients to rate other subjective measures.
  • the same 0 to 10 rating system could be used for patients to rate their sensations of instability or the feeling of "giving way", which is clinically associated with joint laxity or instability.

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Abstract

La présente invention concerne un appareil pour évaluer les caractéristiques de mouvement des jambes d'un patient. L'appareil comprend un ensemble de base configuré pour au moins partiellement soutenir le torse du patient; et des premier et deuxième ensembles de support de jambe montés de façon pivotante indépendamment autour d'un axe de pivot par rapport à l'ensemble de base. Chaque ensemble de support de jambe est configuré pour au moins partiellement soutenir une partie de l'une respective des première et deuxième jambes, indépendamment du support du torse. Chacun des ensembles de support de jambe comprend en outre : un premier composant de support de jambe comprenant un ensemble de rotation de pied configuré pour au moins partiellement retenir et soutenir un pied associé du patient et le faire tourner autour d'un axe de rotation par rapport à l'ensemble de base; et un deuxième composant de support de jambe configuré pour soutenir une partie de la jambe à un emplacement proximal par rapport au premier composant de support de jambe.
PCT/US2011/047453 2010-08-13 2011-08-11 Dispositif d'essai de genou robotique, dispositif d'entrée de patient subjectif et procédés pour utiliser ceux-ci WO2012021726A1 (fr)

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US9289157B2 (en) 2010-08-13 2016-03-22 ERML Inc. Robotic knee testing device, subjective patient input device and methods for using same
US9408771B2 (en) 2010-08-27 2016-08-09 Ermi, Inc. Bladder driven linear cylinder and associated devices driven thereby

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9289157B2 (en) 2010-08-13 2016-03-22 ERML Inc. Robotic knee testing device, subjective patient input device and methods for using same
US10813591B2 (en) 2010-08-13 2020-10-27 RoboDiagnostics LLC Robotic knee testing device, subjective patient input device and method for using same
US9408771B2 (en) 2010-08-27 2016-08-09 Ermi, Inc. Bladder driven linear cylinder and associated devices driven thereby
WO2014043724A1 (fr) * 2012-09-17 2014-03-20 Ermi, Inc. Dispositif de test de genou robotique (rkt) ayant une capacité de commande découplée, et systèmes et procédés le comprenant
US9814411B2 (en) 2012-09-17 2017-11-14 Emri, Inc. Robotic knee testing (RKT) device having decoupled drive capability and systems and methods providing the same
US10925519B2 (en) 2012-09-17 2021-02-23 RoboDiagnostics LLC Robotic knee testing (RKT) device having decoupled drive capability and systems and methods providing the same

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