# US 11,992,307 B2 · Method for neuromechanical and neuroelectromagnetic mitigation of limb pathology

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- Number: US 11,992,307 B2
- Document ID: US11992307B2
- Status: Granted
- Kind: B2
- Application number: 16/754,351
- Filed: 2018-10-09
- Published: 2020-10-01
- Granted: 2024-05-28
- Earliest claimed: 2017-10-10
- Assignees: Massachusetts Institute of Technology
- Applicants: Massachusetts Institute of Technology
- Inventors: Hugh M. Herr; Cameron Taylor; Tyler Clites
- Web page: https://patentgrep.com/patent/US11992307B2

## CPC

- A61B 5/062: {using magnetic field}
- A61B 5/1107: {Measuring contraction of parts of the body, e.g. organ or muscle}
- A61B 5/05: Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves (measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24)
- A61B 5/1127: {using markers}
- A61B 5/4519: {Muscles (measuring muscular strength A61B5/224; using electromyography [EMG] A61B5/389)}
- A61B 5/4523: {Tendons}
- A61B 5/4851: {Prosthesis assessment or monitoring}
- A61B 5/6811: {External prosthesis}
- A61F 2/48: Operating or control means, e.g. from outside the body or control of sphincters
- A61F 2/70: electrical
- A61F 2/72: Bioelectric control, e.g. myoelectric
- A61B 5/486: {Biofeedback (using electroencephalography [EEG] A61B5/375)}
- A61B 2562/0223: Magnetic field sensors
- A61B 2562/043: in a linear array
- A61F 2002/6863: {magnetic}
- A61F 2002/6872: {attached and mechanically operated by remaining muscle}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)

## Abstract

A physiological feature of a subject is monitored by implanting a plurality of targets, such as magnets, and detecting at least one change in a physical property of the targets, followed by modifying a physiological feature of the subject in response to a change of state detected by the change in physical property detected in the targets. Cutaneous sensory feedback and proprioceptive feedback in a subject, as well as selective stimulation of axons or nerve fascicles of a neuron of a subject are provided.

## Claims

### Claim 1

A method for detecting a physical property of tissue for control of a wearable device, comprising:
implanting a plurality of targets at an individual muscle-tendon tissue;
employing an array of sensors to detect a magnetic field at each of the sensors of the array;
estimating a position and orientation of a magnetic dipole moment of each of at least two of the plurality of targets based on the detected magnetic fields; and
determining at least one state of the at least two targets relative to each other based upon the estimated position and orientation of the magnetic dipole moment of each of the at least two targets, wherein the state of the targets is indicative of a physical property, thereby detecting the physical property of the tissue and wherein the detected physical property is employed in control of a wearable device.

### Claim 2 (depends on 1)

The method of claim 1, wherein the targets are passive targets.

### Claim 3 (depends on 1)

The method of claim 1, wherein the targets are implanted in the tissue.

### Claim 4 (depends on 1)

The method of claim 1, wherein the state of the targets includes a change of state of the targets.

### Claim 5 (depends on 1)

The method of claim 1, wherein the physical property detected is a change in physical property of the tissue.

### Claim 6 (depends on 1)

The method of claim 1, wherein the state of the targets includes at least one of: the positions of the targets relative to each other or the orientations of the targets relative to each other.

### Claim 7 (depends on 1)

The method of claim 1, wherein the state of the targets includes at least one of: the distance of the targets from each other or a speed of the targets relative to each other.

### Claim 8 (depends on 1)

The method of claim 1, wherein the tissue is an individual muscle, and wherein the targets are a pair of targets spaced apart from each other, whereby contraction or relaxation of the muscle causes the targets to move closer to or further from each other, respectively.

### Claim 9 (depends on 8)

The method of claim 8, wherein the targets include a permanent magnetic material.

### Claim 10 (depends on 1)

The method of claim 1, wherein the array of sensors includes at least one member selected from the group consisting of a Hall effect sensor, a magnetoresistor, a magneto-inductive sensor, a fluxgate magnetometer, a superconducting quantum interference device magnetometer, and a passive electromagnetic coil.

### Claim 11 (depends on 1)

The method of claim 1, wherein a geomagnetic field is detected simultaneously.

### Claim 12 (depends on 1)

The method of claim 1, wherein the tissue is a tendon.

### Claim 13 (depends on 1)

The method of claim 1, wherein the targets include a coating of a biocompatible material.

### Claim 14 (depends on 13)

The method of claim 13, wherein the biocompatible material includes at least one member of the group consisting of a bioceramic, parylene, glass, silicone, titanium, and a biocompatible polymer.

### Claim 15 (depends on 1)

The method of claim 1, wherein the at least one state of the targets is detected by at least one member of the group consisting of a three-axis magnetometer; a two-axis magnetometer; and a combination of two single-axis magnetometers.

### Claim 16

A device for detecting a physical property of tissue for control of a wearable device, comprising:
an array of sensors configured to detect a magnetic field from a plurality of targets at an individual muscle-tendon tissue; and
electronics configured to:
estimate a position and orientation of a magnetic dipole moment of each of at least two of the plurality of targets based on the detected magnetic field; and
determine at least one state of the at least two targets relative to each other based upon the estimated position and orientation of the magnetic dipole moment of each of the at least two targets, and
provide an indication of a physical property of the tissue based on the determined at least one state, wherein the physical property is employed in control of a wearable device.

### Claim 17 (depends on 16)

The device of claim 16, wherein the array of sensors is configured to detect targets that are passive targets.

### Claim 18 (depends on 16)

The device of claim 16, wherein the array of sensors is configured to detect targets that are implanted in the tissue.

### Claim 19 (depends on 16)

The device of claim 16, wherein the determined state of the targets includes a change of state of the targets.

### Claim 20 (depends on 16)

The device of claim 16, wherein the determined state of the targets includes at least one of: the positions of the targets relative to each other or the orientations of the targets relative to each other.

### Claim 21 (depends on 16)

The device of claim 16, wherein the determined state of the targets includes at least one of: the distance of the targets from each other or a speed of the targets relative to each other.

### Claim 22 (depends on 16)

The device of claim 16, wherein the determined state of the targets indicates contraction or relaxation of a muscle, the tissue being the muscle, the plurality of targets comprising a pair of targets spaced apart from each other, whereby contraction or relaxation of the muscle causes the pair of targets to move closer to or further from each other, respectively.

### Claim 23 (depends on 22)

The device of claim 22, wherein the array of sensors is configured to detect targets that include a permanent magnetic material.

### Claim 24

A method for detecting a physical property of tissue for control of a wearable device, comprising:
implanting a plurality of targets at an individual muscle-tendon tissue;
employing an array of sensors to detect a magnetic field at each of the sensors of the array;
estimating a position of a magnetic dipole moment of each of at least two of the plurality of targets based on the detected magnetic fields; and
determining at least one state of the at least two targets relative to each other based upon the estimated position of the magnetic dipole moment of each of the at least two targets, wherein the state of the targets is indicative of a physical property, thereby detecting the physical property of the tissue and wherein the detected physical property is employed in control of a wearable device,
wherein the at least one state includes the positions of the at least two targets relative to each other.