Control system for movement reconstruction and/or restoration for a patient
Inventors
CABAN, Miroslav • BORGERS, Niek • Keller, Urs • Von Zitzewitz, Joachim • Bakker, Jurriaan • DELATTRE, Vincent • Pflug, Hans • van't KLOOSTER, Maryse • KLEIBEUKER, Andre
Assignees
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Publication Number
US-11672982-B2
Publication Date
2023-06-13
Expiration Date
Abstract
A control system for a movement reconstruction and/or restoration system for a patient, comprising at least one sensor,at least one controller,at least one programmer,at least one stimulation system, wherein the controller is connected with the sensor, the programmer and the stimulation system, wherein the sensor is part of or attached to a training entity in order to create and/or guide a movement model for a patient and/oradjust stimulation settings based on sensor input.
Core Innovation
The invention provides a control system for a movement reconstruction and/or restoration system for a patient that supports the patient’s own natural control loop in determining movement cadence without forcing motion. The control system comprises at least one sensor, at least one controller, at least one programmer, and at least one stimulation system, with the controller connected with the sensor, the programmer, and the stimulation system. The at least one sensor is configured to be part of or attached to a training entity to create and/or guide a movement model for a patient and/or adjust stimulation settings based on sensor input.
A central aspect is that the stimulation system is configured based on measured sensor data of a minimum of one complete movement cycle of the patient, where the movement has a regular and characteristic pattern for a healthy subject. The controller receives sensor input and coordinates with the programmer to generate instructions or adjust stimulation settings so the patient receives stimulation support aligned with the natural movement cadence rather than forced motion. The system framework is described to incorporate online and offline tracking and estimating with attention to real-time latency constraints.
In further described embodiments, the system supports movement model learning and adaptation, including tracking/estimating and cross-patient transfer of the movement model. The document also describes optional functional modules that output augmented and/or virtual reality information including gamification information, as well as a pre-warning module that outputs a pre-warning signal indicating that an upcoming stimulation event will occur to improve timing predictability. The architecture is described with various sensor modalities and training entity options, including sensor modalities such as inertial measurement units, optical/camera sensors, pressure sensors, and EMG, and training apparatus forms such as an exoskeleton, robot, treadmill, cycling machine, and body weight support system.
Claims Coverage
The document includes two independent claims: one directed to a control system and one directed to a method for movement reconstruction. The independent claims share the core idea of using sensor measurements over at least one complete movement cycle with a regular and characteristic healthy pattern to generate stimulation instructions/pulses that support the patient’s natural control loop in determining movement cadence without forcing motion.
Supporting a natural control loop without forcing motion
A control system for a movement reconstruction and/or restoration system that supports the patient’s own natural control loop in determining movement cadence without forcing motion.
Sensor-driven movement modeling and stimulation adjustment
At least one sensor is configured to be part of or attached to a training entity to create and/or guide a movement model for a patient and/or adjust stimulation settings based on sensor input.
Stimulation based on measured sensor data of a complete movement cycle with a healthy pattern
The at least one stimulation system is configured based on measured sensor data of a minimum of one complete movement cycle of the patient, the movement having a regular and characteristic pattern for a healthy subject.
Detecting motion and generating stimulation instructions from a healthy-pattern complete movement cycle
Responsive to detection of motion by at least one sensor coupled to a training entity, receiving a signal from the at least one sensor at a controller coupled to a programmer, and generating stimulation instruction by the programmer based on the signal that includes measurements recorded during at least one complete movement cycle of a patient, the movement having a regular and characteristic pattern for a healthy subject.
Commanding stimulation pulses via controller and pulse generator through electrical leads
Commanding generation of stimulation pulses at the controller based on the stimulation instructions provided by the programmer; receiving the stimulation pulses at a pulse generator; and transmitting the stimulation pulses to the patient through electrical leads connected to the pulse generator to support the patient’s own natural control loop in determining movement cadence without forcing motion.
Overall, claim coverage centers on a sensor-controller-programmer-stimulation architecture that uses sensor data from at least one complete movement cycle with a regular and characteristic healthy pattern to generate stimulation instructions/pulses. The system is specifically characterized as supporting the patient’s natural control loop for movement cadence while avoiding forced motion.
Stated Advantages
Supports the patient’s own natural control loop in determining movement cadence without forcing motion.
Documented Applications
Movement reconstruction and/or restoration for a patient using a control system that supports natural movement cadence without forcing motion.
Movement reconstruction based on detection of motion by a sensor coupled to a training entity, generating stimulation instructions, and transmitting stimulation pulses to support the natural control loop in determining movement cadence without forcing motion.
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