# US 11,298,286 B2 · Rehabilitation system for robotized mobilization of a glenohumeral joint

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- Number: US 11,298,286 B2
- Document ID: US11298286B2
- Status: Granted
- Kind: B2
- Application number: 16/356,029
- Filed: 2019-03-18
- Published: 2019-07-11
- Granted: 2022-04-12
- Earliest claimed: 2018-03-18
- Assignees: Sina Robotics and Medical Innovators Co. Ltd
- Applicants: Mohammad Hassan Azarsa; Alireza Mirbagheri; Azadeh Shadmehr; Noureddin Karimi
- Inventors: Mohammad Hassan Azarsa; Alireza Mirbagheri; Azadeh Shadmehr; Noureddin Karimi
- Web page: https://patentgrep.com/patent/US11298286B2

## CPC

- A61H 1/0281: {Shoulder}
- A61B 8/4218: {characterised by articulated arms}
- A61H 1/008: {Apparatus for applying pressure or blows almost perpendicular to the body or limb axis, e.g. chiropractic devices for repositioning vertebrae, correcting deformation}
- B25J 11/00: Manipulators not otherwise provided for
- B25J 13/088: {with position, velocity or acceleration sensors}
- A61B 8/0875: {for diagnosis of bone}
- A61H 2201/018: By limiting the applied torque or force
- A61H 2201/1215: Rotary drive
- A61H 2201/149: rotation-linear or vice versa
- A61H 2201/1638: Holding means therefor
- A61H 2201/1645: contoured to fit the user
- A61H 2201/1664: linear
- A61H 2201/1666: multidimensional
- A61H 2201/5007: computer controlled
- A61H 2201/501: connected to external computer devices or networks
- A61H 2201/5061: Force sensors
- A61H 2201/5064: Position sensors
- A61H 2203/0456: Supine
- A61H 2205/062: Shoulders
- A61H 2230/00: Measuring physical parameters of the user
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A rehabilitation system for robotized mobilization of a human glenohumeral joint of a patient. The rehabilitation system may include a limb gripping member and an actuating mechanism. The limb gripping member may be configured to receive an arm of a patient and secure the arm of the patient in a predetermined position. The actuating mechanism may be configured to urge a head of a humerus bone of the patient to glide along a first axis by applying a linear force to a proximal end of the humerus bone of the patient.

## Claims

### Claim 1

A rehabilitation system for robotized mobilization of a human glenohumeral joint of a patient, the rehabilitation system comprising:
a limb gripping member configured to:
receive an arm of a patient; and
secure the arm of the patient in a predetermined position;
an actuating mechanism configured to urge a head of a humerus bone of the patient to move along a first axis by applying a linear force to a proximal end of the humerus bone of the patient, the head of the humerus bone of the patient located at the proximal end of the humerus bone of the patient; and
a guide rail, the limb gripping member mounted slidably onto the guide rail, the guide rail configured to limit movements of the patient's arm and the limb gripping member to a linear movement along a second axis,
wherein the actuating mechanism comprises:
a force applying assembly mounted slidably onto the guide rail, the guide rail configured to limit movements of the force applying assembly to a linear movement along the second axis; and
an actuator fixedly attached to the guide rail, the actuator configured to apply a linear force along the first axis to the proximal end of the humerus bone of the patient by moving the force applying assembly on the guide rail and along the second axis.

### Claim 2 (depends on 1)

The rehabilitation system of claim 1, wherein the first axis is parallel with the second axis.

### Claim 3 (depends on 1)

The rehabilitation system of claim 1, wherein the force applying assembly comprises:
a stylus configured to push the head of the humerus bone of the patient to move along the first axis responsive to the actuator moving the force applying assembly on the guide rail and along the second axis, the stylus further configured to be aligned with the head of the humerus bone of the patient responsive to the arm of the patient inserted into the limb gripping member; and
a force measuring member disposed between the actuator and the stylus, the force measuring member configured to:
measure the linear force applied to the proximal end of the humerus bone of the patient from the stylus; and
transmit a first set of data to one or more processors associated with the measured linear force applied to the proximal end of the humerus bone of the patient from the stylus.

### Claim 4 (depends on 3)

The rehabilitation system of claim 3, wherein the actuating mechanism further comprises an encoder coupled to the actuator, the encoder configured to:
measure an amount of the linear movement of the force applying member along the second axis; and
transmit a second set of data to the one or more processors associated with the amount of the linear movement of the force applying assembly along the second axis.

### Claim 5 (depends on 4)

The rehabilitation system of claim 4 further comprises an ultrasound imaging system configured to:
capture a third set of data associated with a position of the head of the humerus bone along the first axis; and
transmit the third set of data to the one or more processors.

### Claim 6 (depends on 5)

The rehabilitation system of claim 5, wherein the one or more processors are configured to:
receive the first set of data;
receive the second set of data;
receive the third set of data; and
transmit a fourth set of data to the actuator based on the received first set of data, the received second set of data, and the received third set of data.

### Claim 7 (depends on 6)

The rehabilitation system of claim 6, wherein the force applying assembly is coupled to the actuator utilizing a ball screw mechanism, the ball screw mechanism configured to convert a rotational movement of the actuator to a linear movement of the force applying assembly along the second axis.

### Claim 8 (depends on 7)

The rehabilitation system of claim 7, wherein the force measuring member comprises one of a load cell and a dynamometer.

### Claim 9 (depends on 8)

The rehabilitation system of claim 8, wherein the one or more processors are further configured to receive a fifth set of data from a physician, the fifth set of data associated with a required linear force and a required displacement of the head of the humerus bone of the patient.

### Claim 10 (depends on 9)

The rehabilitation system of claim 9, wherein the limb gripping member further comprises:
a crescent-shaped section configured to grasp the arm of the patient; and
a groove-shaped section configured to secure the arm and an elbow of the patient.

### Claim 11 (depends on 10)

The rehabilitation system of claim 10, wherein the third set of data comprises at least one ultrasound image of the head of the humerus bone of the patient.