US 6,267,737 B1 · Robotic system for lengthening muscles and method of use

Abstract

A robotic muscular therapy system, and method of use, for applying repeated amounts of concentrated pressure to targeted muscles one-at-a-time to lengthen even deeply positioned muscle tissue layer by layer and thereby reduce limitations on joint extension and flexibility as well as eliminate pain caused by excess muscle contraction. The system comprises a beveled treatment probe designed to concentrate pressure without breaking the skin of an average patient, a probe column assembly for fine X, Y, and Z probe movement over a patient, and a plurality of interchangeable column assembly supports for coarse X, Y, and Z probe movement. Patient safety limitations include a torque-limited and current-limited motor with a slip clutch, a probe which withdraws from its treatment position when a patient grabs it or a pre-set maximum tissue pressure is encountered, and a swivel fitting which allows the probe to give when a patient sneezes and allows patients to easily push the probe away upon demand. The system may optionally have an X-Y positionable patient support; automated control means probe movement; a computer learn mode for creating individualized treatment routines; patient movement sensors; and probe sensors for patient progress data collection. Applications can include, but are not limited to, elimination of acute and chronic of pain; treatment of conditions resulting from accidents and injury; pre-surgery conditions involving muscle spasm; post-surgery recovery, reduction of scar tissue, and restoration of flexibility; reduction of stress and tension; improved sports performance; treatment of conditions involving restricted physical movement; and postural improvement.

A robotic apparatus for giving automated and semi-automated muscular therapy treatments to targeted points of spasms in patient muscles, for increasing joint flexibility and eliminating pain due to excess muscle contraction, including points of spasm in deeply layered muscle tissue which are not easily reached by other forms of automated and non-automated treatment, said robotic apparatus being capable of applying a maximum force of approximately one hundred pounds to the excessively contracted muscle fibers at such points of spasm, with greater frequency, uniformity, safety to both patient and therapist, and precision than can be provided manually by therapists with knuckles and hand-held bevel-edged pressure bars to effect a superior result over the manual treatment procedures from which said robotic apparatus has evolved, such applied force releasing acids built up in treated muscle tissue and lengthening muscle fibers, with resulting patient benefit following treatment being immediate pain reduction and increased flexibility, said robotic apparatus comprising:

a probe column assembly having a proximal end and a distal end, said probe column assembly having a swivel fitting between said proximal end and said distal end, said swivel fitting being configured to permit movement of said distal end in a substantially 360° arc over a patient and also configured to allow said probe to move through approximately 180° from a raised approximately horizontal position in any one direction to a raised approximately horizontal position in the opposite direction, said swivel fitting configured from materials able to provide a maximum axial resistance in said probe column assembly of approximately one hundred pounds of force and a distal end which can be easily pivoted away from a substantially downwardly depending treatment position, said swivel fitting configuration also providing sufficient yield to accommodate slight patient movement without injury, said probe column assembly also comprising a quick release mechanism connected to said swivel fitting and configured to fix said distal end relative to said proximal end in any direction at an angle not exceeding 90°;
at least one probe having a beveled treatment edge and being detachably connected to said distal end of said probe column assembly so that said beveled treatment edge is placed during use into a position opposed to said swivel fitting, said beveled treatment edge being adapted to concentrate a maximum applied force of approximately one hundred pounds to a precise point of spasm on targeted muscle tissue subsequent to a slow and incremental advance of said beveled treatment edge toward a patient during treatment, said probe being adapted for direct and sheer force measurement according to encountered muscle hardness;
a probe motor electrically connected to said probe, said motor being attached to said probe column assembly between said swivel fitting and said distal end, said probe motor having limited torque which is merely adequate for incremental moving of said probe against a patient at a maximum force of approximately one hundred pounds, said probe motor also having external torque limiting means adapted for preventing said probe from applying force in excess of one hundred pounds to muscle tissue, said probe motor also having current limiting means independent from said torque limiting means adapted for preventing excess amounts of electrical current from reaching said motor which would cause said probe to apply force higher than one hundred pounds to muscle tissue, said motor also having a slip clutch configured for reversing advance of said probe toward a patient when excess electrical current in said probe motor is detected as well as when a maximum desired applied force against muscle tissue is achieved, as determined by said direct and sheer force measurement according to encountered muscle hardness, said slip clutch having an adjustable tension control;
a plurality of interchangeable probe column assembly supports each having a two-part frame structure permitting movement of a first frame part relative to a second frame part, each of said supports having a sturdy base configuration balanced for stability during treatment routines involving maximum muscle tissue application forces of approximately one hundred pounds without having to be secured to a supporting floor surface, each of said supports further having a first movement means for coarse X-axis, Y-axis, and Z-axis movement of said distal end relative to a patient with X-axis movement being in the direction of a patient's head to the patient's feet, Y-axis movement being in the direction of the left side of a patient to the patient's right side, and Z-axis movement being in a vertical direction relative to the ground;
said probe column assembly comprising a second movement means adapted for fine X-axis, Y-axis, and Z-axis movement of said distal end relative to a patient, said second movement means including said probe motor;
computer means connected to said second movement means and adapted for automated movement of said distal end within a defined probe working space having an X-axis dimension of approximately twelve inches, a Y-axis dimension also of approximately twelve inches, and a Z-axis dimension of approximately six inches said computer means also adapted for interpretation of said direct and sheer force measurement according to encountered muscle hardness, detection of excess probe motor current, and reverse advancement of said probe when a maximum pre-set amount of probe motor current or applied force against targeted muscle tissue is achieved;
controller means connected to said computer means and adapted for semi-automated movement of said distal end within a defined probe working space having an X-axis dimension of approximately twelve inches, a Y-axis dimension also of approximately twelve inches, and a Z-axis dimension of approximately six inches;
and
electrical connection means adapted for connecting said second movement means to said probe, said computer means to said second movement means, said controller means to said computer means, and said computer means to an external power source so that said probe can be made to slowly, incrementally, and safely apply increasingly concentrated force up to a maximum of approximately one hundred pounds while accounting for slippage and sheering forces, to layered muscle tissue at the precise site of a muscle spasm to lengthen even the most deeply positioned muscle tissue at the treatment site and eliminate pain that had been caused by the excess contraction.

6 more elements

Robotic system for lengthening muscles and method of use

Life of this patent

Robotic system for lengthening muscles and method of use

Life of this patent

Abstract

Claims20