Apparatus and method for exerting force on a subject tissue
Inventors
Doidge, Mark S. • Mocanu, Joseph D.
Assignees
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Publication Number
US-8712512-B2
Publication Date
2014-04-29
Expiration Date
Abstract
An apparatus for exerting force on a subject tissue includes a linear motor for generating a force according to a predetermined force profile incorporating at least one motion control parameter. The linear motor is directly coupled to a motor output member to drivingly produce linear motion of the motor output member under direction of a motor controller executing the predetermined force profile. A tissue-contacting member is connected to the motor output member for directly proportional linear motion therewith. A load cell provides load cell feedback to the motor controller. The motor controller adjusts the motion of the motor output member responsive to the load cell feedback to substantially conform the motion to the predetermined force profile. The linear motor moves the tissue-contacting member to contact the subject tissue according to the predetermined force profile and responsively initiate a subject reaction to the exerted force.
Core Innovation
The invention provides an apparatus for exerting force on a subject tissue using a linear motor generating a force according to a predetermined force profile that incorporates at least one motion control parameter. The linear motor is directly coupled to a motor output member and a motor controller executes the predetermined force profile to produce linear motion of the motor output member. A tissue-contacting member is connected to the motor output member for directly proportional linear motion therewith, and the linear motor moves the tissue-contacting member to contact the subject tissue according to the predetermined force profile while responsively initiating a subject reaction to the exerted force.
A load cell is mechanically interposed between the motor output member and the tissue-contacting member and provides load cell feedback to the motor controller. The motor controller adjusts the motion of the motor output member responsive to the load cell feedback to substantially conform the motion to the predetermined force profile. The predetermined force profile is generated by a computer responsive to a user selection of at least one of a force exertion objective and a motion control parameter, such that force exertion is controlled according to user-selected objectives and motion control parameters.
The system further supports somatosensory interaction by detecting and monitoring a subject reaction to the exerted force, including monitoring brain activity via electroencephalography and somatosensory evoked potentials. Synchronization creates event markers when the tissue-contacting member contacts subject tissue, and brain-signal analysis statistical tools correlate and analyze averaged brain activity signals and the event markers in relation to the predetermined force profile. The monitoring system also provides options for visually detecting a physical reaction, aurally detecting a physical reaction, and interacting with the subject for subjective monitoring.
Claims Coverage
The identified independent claims include four independent claim sets, each centered on a linear-motor driven force exertion system with user-selected predetermined force profiles and subject-reaction detection, with inventive features distributed between apparatus, method, and force exertion system claim scopes.
Linearly driven force according to a user-selected predetermined force profile
A linear motor generates a force according to a predetermined force profile incorporating at least one motion control parameter, the linear motor being directly coupled to a motor output member and driven by a motor controller executing the predetermined force profile.
Tissue-contacting member with directly proportional linear motion
A tissue-contacting member is connected to the motor output member for directly proportional linear motion therewith, and the linear motor is configured to move the tissue-contacting member to contact the subject tissue according to the predetermined force profile to responsively initiate a subject reaction.
Load-cell interposition providing feedback to substantially conform motion to the force profile
A load cell is mechanically interposed between the motor output member and the tissue-contacting member, and the load cell provides load cell feedback to the motor controller, wherein the motor controller adjusts the motion responsive to the load cell feedback to substantially conform the motion to the predetermined force profile.
Closed-loop motion/force conformance for somatosensory interaction
A method provides an apparatus including a linear motor, a tissue-contacting member connected to a motor output member, and a load cell mechanically interposed between the motor output member and the tissue-contacting member; the method positions subject tissue, generates and provides the predetermined force profile responsive to a user selection, drives the tissue-contacting member into contact, provides load cell feedback, adjusts motion responsive to the load cell feedback to substantially conform the motion to the predetermined force profile, initiates a subject reaction, and detects the subject reaction.
Objective-driven force-profile selection for threshold and reflex detections
A force exertion system uses a user interface for generating the predetermined force profile responsive to a user selection of at least one of a force exertion objective and a motion control parameter, wherein the predetermined force profile is chosen from a plurality of predetermined force profiles including options for at least one of pressure pain threshold detection, pressure discomfort threshold detection, light touch threshold detection, vibration sense threshold detection, mechanical pain tolerance threshold detection, mechanical pressure withdrawal threshold, mechanical allodynia detection, pin prick pain threshold detection, sensory-motor reflex threshold detection, facial grimace threshold detection, and withdrawal reflex detection.
Subject monitoring system with brain activity, nerve impulses, and subjective/physical reaction detection
The subject monitoring system contributes to detection of the subject reaction and includes options for monitoring at least one of brain activity and nerve impulses of the subject, visually detecting a physical reaction, aurally detecting a physical reaction, and interacting with the subject for subjective monitoring.
Electroencephalography and somatosensory evoked potentials with event markers and statistical correlation
Subject monitoring includes electroencephalography using somatosensory evoked potentials to generate averaged brain activity signals, synchronization to generate event markers when the tissue-contacting member contacts subject tissue, and analysis of averaged signals and event markers with a brain signal analysis statistical tool.
Across the independent claims, the inventive core is a linear-motor force exertion system using a user-selected predetermined force profile, coupled with a tissue-contacting member and load-cell feedback to substantially conform motion to the profile, while initiating and detecting a subject reaction using a monitoring system that includes options such as EEG/SEP monitoring with synchronized event markers and statistical analysis, and subjective or physical reaction detection.
Stated Advantages
Substantially conforming the motion to the predetermined force profile using load cell feedback.
Responsively initiating a subject reaction to the exerted force.
Providing objective monitoring options including monitoring brain activity and nerve impulses.
Enabling detection of subject reaction to exerted force through multiple monitoring modalities including visually and aurally detecting physical reactions and interacting with the subject for subjective monitoring.
Documented Applications
Threshold testing and detections including pressure pain threshold detection, pressure discomfort threshold detection, light touch threshold detection, vibration sense threshold detection, mechanical pain tolerance threshold detection, mechanical pressure withdrawal threshold, mechanical allodynia detection, pin prick pain threshold detection, sensory-motor reflex threshold detection, facial grimace threshold detection, and withdrawal reflex detection.
Monitoring brain activity using electroencephalography and somatosensory evoked potentials with synchronization event markers and statistical analysis to support detection of subject reaction to the exerted force.
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