Method for controlling an orthopedic joint

Patent metadata

Field	Value
Publication number	US-12150867-B2
Application number	US-202117209094-A
Country	US
Kind code	B2
Filing date	Mar 22, 2021
Priority date	Nov 7, 2007
Publication date	Nov 26, 2024
Grant date	Nov 26, 2024

Abstract

The invention relates to a method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by an adjustable actuator for adjusting an orthopedic apparatus to walking situations that differ from walking on a plane. The orthopedic apparatus includes a top connector connected to a limb and an orthopedic element that is arranged in a hinged manner distal to the top connector. The method encompasses the following steps: —several parameters (A) of the orthopedic apparatus are sensed by sensors; —the sensed parameters are compared with criteria (K) that have been established based on several parameters and/or parameter curves and are stored in a computer unit; —a criterion is selected that is suitable on the basis of the determined parameters and/or parameter curves; and —resistances to movements, extents of movements, driving forces, and/or the progresses thereof are adjusted in accordance with the selected criterion in order to control special functions (5) that differ from walking on a plane.

First claim

The invention claimed is:

1. A method for controlling a knee joint in a prosthesis, the prosthesis comprising:
an upper attachment component configured to be coupled to a thigh stump;
a lower attachment component coupled to a prosthetic foot;
the knee joint coupled to and positioned between the upper attachment component and the lower attachment component, the knee joint being a passive knee joint;
a passive actuator configured to adjust flexion damping and/or extension damping of the knee joint;
a plurality of sensors configured to detect parameters associated with the prosthesis and/or the thigh stump; and
a computer unit communicatively linked to the passive actuator and the plurality of sensors, the computer unit storing criteria associating the detected parameters with a plurality of walking situations;
wherein the walking situations include at least walking on a planar surface and climbing stairs;

the method comprising:
detecting the parameters associated with the prosthesis and/or the thigh stump; comparing the parameters to the criteria stored in the computer unit;
selecting the criterion for climbing stairs as the most suitable based on the detected parameters; and
adjusting the flexion damping and/or extension damping of the knee joint in accordance with the criterion for climbing stairs, wherein adjusting the flexion damping and/or extension damping includes increased flexion damping and/or extension damping of the knee joint in a set-down phase to a level above such damping in a swing phase while walking on a planar surface when an axial force drops below a fixed level.

2. The method of claim 1 wherein the detected parameters include one or more movement states and/or load states of the prosthesis.

3. The method of claim 1 wherein the lower attachment component is a lower attachment shaft and detecting the parameters includes detecting horizontal rearward movement of the lower attachment shaft.

4. The method of claim 1 wherein the lower attachment component is a lower attachment shaft and detecting the parameters includes detecting a reduction in axial force on the lower attachment shaft while the knee joint is straight or being straightened.

5. The method of claim 1 wherein adjusting the flexion damping and/or extension damping of the knee joint includes reducing the flexion damping.

6. The method of claim 1 wherein adjusting the flexion damping and extension damping includes increased flexion damping and extension damping of the knee joint when the criterion for climbing steps is met to a level above such damping in a swing phase while walking on a planar surface.

7. The method of claim 1 wherein adjusting the flexion damping and extension damping takes place during a lift phase.

8. A method for controlling a knee joint in a prosthesis, the prosthesis comprising:
an upper attachment component configured to be coupled to a thigh stump;
a lower attachment component coupled to a prosthetic foot;
the knee joint coupled to and positioned between the upper attachment component and the lower attachment component, the knee joint being a passive knee joint;
a passive actuator configured to adjust flexion damping and/or extension damping of the knee joint;
a plurality of sensors configured to detect parameters associated with the prosthesis and/or the thigh stump; and
a computer unit communicatively linked to the passive actuator and the plurality of sensors, the computer unit storing criteria associating the detected parameters with a plurality of walking situations;
wherein the walking situations include at least walking on a planar surface and climbing stairs;

the method comprising:
detecting the parameters associated with the prosthesis and/or the thigh stump;
determining that the criterion for climbing stairs is most suitable based on the detected parameters; and
adjusting the flexion damping and/or extension damping of the knee joint in accordance with the criterion for climbing stairs, wherein adjusting the flexion damping and/or extension damping includes increased flexion damping and/or extension damping of the knee joint in a set-down phase to a level above such damping in a swing phase while walking on a planar surface when an axial force drops below a fixed level.

9. The method of claim 8 wherein the detected parameters include one or more movement states and/or load states of the prosthesis.

10. The method of claim 8 wherein the lower attachment component is a lower attachment shaft and detecting the parameters includes detecting horizontal rearward movement of the lower attachment shaft.

11. The method of claim 8 wherein the lower attachment component is a lower attachment shaft and detecting the parameters includes detecting a reduction in axial force on the lower attachment shaft while the knee joint is straight or being straightened.

12. The method of claim 11 wherein adjusting the flexion damping and/or extension damping of the knee joint includes reducing the flexion damping.

13. The method of claim 8 wherein adjusting the flexion damping and extension damping includes increased flexion damping and extension damping of the knee joint when the criterion for climbing steps is met to a level above such damping in a swing phase while walking on a planar surface.

14. The method of claim 8 wherein adjusting the flexion damping and extension damping takes place during a lift phase.

15. A prosthesis comprising:
an upper attachment component configured to be coupled to a thigh stump;
a lower attachment component coupled to a prosthetic foot;
a knee joint coupled to and positioned between the upper attachment component and the lower attachment component, the knee joint being a passive knee joint;
a passive actuator configured to adjust flexion damping and/or extension damping of the knee joint;
a plurality of sensors configured to detect parameters associated with the prosthesis and/or the thigh stump; and
a computer unit communicatively linked to the passive actuator and the plurality of sensors,
the computer unit storing criteria associating the detected parameters with a plurality of walking situations;

wherein the walking situations include at least walking on a planar surface and climbing stairs; and
wherein the computer unit is configured to:
detect the parameters associated with the prosthesis and/or the thigh stump;
determine that the criterion for climbing stairs is most suitable based on the detected parameters; and
adjust the flexion damping and/or extension damping of the knee joint in accordance with the criterion for climbing stairs, wherein the computer unit is configured to increase the flexion damping and/or extension damping of the knee joint in a set-down phase in accordance with the criterion for climbing stairs to a level above such damping in a swing phase while walking on a planar surface when an axial force drops below a fixed level.

16. The prosthesis of claim 15 wherein the detected parameters include one or more movement states and/or load states of the prosthesis.

17. The prosthesis of claim 15 wherein the lower attachment component is a lower attachment shaft and the computer unit is configured to detect horizontal rearward movement of the lower attachment shaft and determine that the criterion for climbing stairs is most suitable based at least in part on the detected horizontal rearward movement of the lower attachment shaft.

18. The prosthesis of claim 15 wherein the lower attachment component is a lower attachment shaft and the computer unit

Assignees

• Ottobock Se & Co Kgaa

Inventors

• Pusch Martin
• Boiten Herman
• Zarling Sven

Classifications

• A61F2/741

  using powered actuators, e.g. stepper motors or solenoids · CPC title

• A61F2/74

  fluid {, i.e. hydraulic or pneumatic} · CPC title

• A61F2/68

  Operating or control means · CPC title

• A61F2/70

  electrical · CPC title

• A61B5/4851

  Prosthesis assessment or monitoring · CPC title