Electronically assisted medical device

Abstract

An electronically assisted artificial vertebral disc having an upper disc plate and a lower disc plate is disclosed. An actuator imparts movement to at least one of the upper and lower disc plates. A control device controls the actuator and the amount of movement between the disc plates. The actuator includes a plurality of either linear actuators or rotary actuators that are driven by electric motors in response to the control device. The control device includes at least a first sensor for detecting the position of the actuator and at least a second sensor for detecting the spatial orientation of at least one of the upper and lower disc plates. The control device also preferably includes a microprocessor that calculates the desired positions of the upper and lower disc plates and provides a control signal to the actuator to drive the upper and lower disc plates to their desired positions.

Claims

1. A method of controlling an electronically assisted medical device, the method comprising: providing an electronically assisted medical device comprising at least one microprocessor, a first device body, a second device body, at least first and second joints positioned between the first and second device bodies, wherein the first joint includes a first position sensor, a first force sensor, and a first actuator, wherein the second joint includes a second position sensor, a second force sensor, and a second actuator; sensing, via the first position sensor, a first position of at least a first portion of the electronically assisted medical device; sensing, via the first force sensor, force applied to at least the first portion of the electronically assisted medical device; sensing, via the second position sensor, a second position of at least a second portion of the electronically assisted medical device; sensing, via the second force sensor, force applied to at least the second portion of the electronically assisted medical device; sensing, via at least one gyroscopic sensor, speed, orientation, and/or velocity of the electronically assisted medical device; determining a desired position of the second device body based on sensed data from each of the first position sensor, the second position sensor, the first force sensor, the second force sensor, and the at least one gyroscopic sensor; providing control signals from the microprocessor to the first actuator and the second actuator to drive movement of the first joint and the second joint to move the second device body with respect to the first device body from a sensed position to the desired position; and actuating the electronically assisted medical device via the first actuator and the second actuator to drive movement of the first joint and the second joint to move the second device body from the sensed position to the desired position.

2. The method of claim 1, wherein the gyroscopic sensor is configured to obtain sensed speed, orientation, and velocity.

3. The method of claim 1, wherein the electronically assisted medical device further comprises an acceleration sensor.

4. The method of claim 1, wherein the first joint has six degrees of freedom.

5. The method of claim 1, and further comprising sensing linear and angular degrees of motion.

6. The method of claim 1, wherein the first actuator comprises a rotary actuator having an electric motor.

7. The method of claim 1, wherein the electronically assisted medical device includes third, fourth, fifth, and sixth electronically actuated joints with third, fourth, fifth, and sixth actuators in addition to the first and second joints with the first and second actuators.

8. The method of claim 1, wherein the first and second position sensors detect positions of the first and second actuators.

9. The method of claim 1, wherein the first and second actuators include first and second motors with first and second stators and first and second rotors, respectively.

10. The method of claim 1, wherein the first and second actuators include first and second lead screws.

11. The method of claim 1, wherein the gyroscopic sensor is positioned in the electronically assisted medical device and configured to obtain macroscopic speed, orientation and velocity.

12. The method of claim 1, wherein each of the first and second joints includes at least one universal joint.

13. The method of claim 1, wherein each of the first and second joints includes two universal joints.

14. The method of claim 1, wherein the microprocessor is hermetically sealed within the electronically assisted medical device.

15. The method of claim 1, wherein the electronically assisted medical device is an artificial intervertebral disc.

16. The method of claim 15, wherein the artificial intervertebral disc dynamically responds to sensed changes in locomotion and spinal motion gradients to provide constant real-time dynamic changes in the artificial intervertebral disc.

17. The method of claim 1, wherein the electronically assisted medical device dynamically responds to sensed changes to provide constant real-time dynamic changes in the electronically assisted medical device.

18. The method of claim 1, wherein the electronically assisted medical device comprises a ball and a trough.

19. The method of claim 1, wherein the gyroscopic sensor is positioned on the second device body.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 illustrates an electronically assisted artificial disc with a ball/trough design, microchip, and three linear activation systems (LASs) (Embodiment I).

(2) FIG. 2 illustrates a control algorithm of the electro-mechanical artificial disc (Embodiments I, II, and II).

(3) FIGS. 3A (1)-(4) illustrates the LAS components of the electro-mechanical artificial disc (Embodiment I).

(4) FIG. 3B illustrates the inner aspect of the EMD superior plate (Embodiment I).

(5) FIG. 3C illustrates the inner aspect of the EMD inferior plate (Embodiment I).

(6) FIG. 4 illustrates a three-dimensional view of an EMD (Embodiment II).

(7) FIG. 5A illustrates the superior disc plate of the EMD (Embodiment II)

(8) FIG. 5B illustrates the inferior disc plate of the EMD (Embodiment II).

(9) FIG. 6A illustrates an exploded view of the EMD, Roller-Bearing design (Embodiment III).

(10) FIG. 6B illustrates a lateral view of the EMD, Roller-Bearing design (Embodiment III).

(11) FIG. 6C illustrates a perspective view of the EMD, Roller-Bearing design (Embodiment III).

(12) FIG. 7A illustrates the inferior aspect of the superior plate with guidance ring of EMD, Roller-Bearing design (Embodiment III).

(13) FIG. 7B illustrates the intermeshing of the guidance ring with gear motors of the EMD, Roller-Bearing design (Embodiment III).

(14) FIG. 7C illustrates the superior view of the Roller found in the EMD (Embodiment III).

(15) FIG. 7D illustrates the inferior view of the Roller found in the EMD (Embodiment III).

(16) FIG. 7E illustrates the superior view of the inferior plate of the EMD (Embodiment III).

(17) FIG. 8 illustrates a three-dimensional view of an Electromechanical Disc (EMD), Roller-Bearing design with a position-force sensor (Embodiment IV).

DESCRIPTION OF THE PREFERRED EMBODIMENTS

(18) The Medical Device

(19) Referring now to FIGS. 1-3 the above described problem can be solved by the surgical implantation of an artificial intervertebral disc 100 having ball 101 and trough 102, with three LASs 105 placed circumferentially around the core ball/trough. The LASs 105 are each comprised of two universal joints 106, two struts 107 surrounding a motor-controlled lead screw 109 (FIGS. 1A and 3A). The motor assembly 108 for the lead-screw 109 in the LAS 105 is illustrated in FIG. 3A(4). This figure also illustrates how rotation within the motor assembly 108 effects linear motion in the struts 107. The stator 111 causes rotations in the rotor 110 thereby rotating the lead screw 109 which then causes the strut 107 to engage or disengage. In order to assess the degree of engagement or disengagement of the strut 107 from the lead screw 109 a rotation sensor 112 signals the number of turns completed by the lead screw 109. This data is processed to calculate the total change in height of the strut motor system. FIG. 3B illustrates the inner aspect of the artificial disc shell. It illustrates the hermetically sealed control circuit (microchip) 301, the gyroscopic sensor 302, slots 303 for the universal joints 106, position sensors 305 and electrical conduits 306. FIG. 3C illustrates the inner aspect of the opposing artificial disc plate 103 comprised of the trough 102 and slots 303 for the universal joints 106.

(20) FIG. 2 illustrates the control algorithm of the electro-mechanical artificial disc as it cycles. The gyroscopic sensor 302 obtains macroscopic (i.e. full body) speed, orientation and velocity. Such a gyroscopic sensor may be of a type described in ADXL330 Specifications, Small, low power, 3-Axis+3 g iMEMS accelerometer ADXL330, Analog Devices, Inc., Norwood Mass., 2006. This in turn estimates motion e.g. walking, running, lifting, swimming etc. and is mapped as described in V. Feipel, T. De Mesmaeker, P. Klein, M. Rooze, Three-dimensional kinematics of the lumbar spine during treadmill walking at different speeds, Eur. Spine J 10: 16-22, 2001, in order to find a desired position/trajectory of the disc plates. The universal joint 106 and lead screw sensors 305 obtain positions of the opposing plates 103, 104 relative to each other. The lead screw sensors 305 may be of a type described in R. Pallas-Areny, J. G. Webster, Sensors and Signal Conditioning, 2nd Ed., John Wiley & Sons, N Y, 2001. This data is compared with a desired position/trajectory in the microchip 301, and future position of the top-plate 102 is thereby determined from the difference between current and desired positions. The lead screws 109 are then correspondingly adjusted to obtain this desired position in the LAS 105. The subsequent cycle (N+1) repeats ad infinitum at a frequency that supersedes, and is relatively much higher than, the change of macroscopic motion in the spine. The battery which can be replaceable or rechargeable is implanted percutaneously under the skin where it is easily accessible. It is also hermetically sealed.

(21) FIG. 4 illustrates a complete electronically controlled disc 400 having plates 401 and 402 (Embodiment II). This does not have a ball and trough. Instead it has six LASs 105 that form a Stewart-type platform of the type described in N. Smith and J. Wendlandt, Creating a Stewart platform model using SimMechanics, NewsletterMATLAB Digest, The MathWorks, Inc, Natick Mass., September 2002. See also D. Stewart, A platform with six degrees of freedom Proceedings of The Institution of Mechanical Engineers, 180 Part 1, No. 15, pp. 371-386, 1965-66. The structure and function of the LASs 105 is identical to Embodiment I. FIGS. 5A and 5B illustrate the LAS slot configurations for the opposing artificial disc plates 401, 402.

(22) FIGS. 6 and 7 illustrate the electromechanical disc (EMD) 600, Roller-Bearing design (Embodiment III). We will now describe the mechanism of sensory-motor coupling and actuation for the EMD 600, Embodiment III. This EMD 600 has superior and inferior plates 601, 602 which are each uniquely designed (FIGS. 6A-C, and FIGS. 7A-7E.). The inferior plate 602 provides motor housing 603 and a flexion/extension rotation motor shaft bearing 701 (FIG. 7E) for the shaft 620 of the roller 605 (FIG. 7D), and also has embedded motor and torque sensors 607 which sense the force with which the roller 605 rotates against the inferior plate 602 (FIGS. 6A-C). Additionally it can sense the position that the roller 605 is in.

(23) The inferior plate 602 magnetically controls the shaft 620 and hence position of the roller 605. The position of the roller 605 determines the degree of flexion and extension exhibited by the patient.

(24) Within the roller 605 are embedded motor and sensor 607 pair responding to spatial rotation (FIG. 6A). The sensor 607 detects the rotational position of the superior plate 601, and detects the velocity of the patient. Subsequent to this information being processed, the adjacent motor is activated initiating further rotation consistent with the predicted or anticipated motion of the superior and inferior vertebral bodies. A regenerative energy conserving power source can be incorporated into the roller 605.

(25) The gear mesh which consists of the guidance ring 609 with two geared motors 611, 612, one of which behaves as a sensor, (FIGS. 6A, 7A and 7B) is responsible for a vertebral rotation feed-back loop. The guidance ring 609 is fixed in the superior plate 601, (FIG. 7A) therefore rotation of the superior vertebral body precisely determines the rotation of the guidance ring 609. The guidance ring 609 thereby effects a gear motor that is acting as a sensor in its passive state (FIG. 7B). Within milliseconds the other gear motor initiates a proportionate rotation, thereby rotating the guidance ring 609, and the upper vertebral body.

(26) FIG. 7C illustrates that the shaft of the geared motors 611, 612 is inserted into the motor gear interface 613. The guidance ring bearings 614 serve as a bearing for the guidance ring 609.

(27) FIG. 8 illustrates a fourth EMD embodiment 800 which is based on a Roller-Bearing design as in Embodiment III. However, in addition to Embodiment III, it also contains a position and force sensor system 804. In Embodiment IV the superior disc plate 801 is rigidly attached to a curved protruding element 803. Correspondingly the inferior disc plate 802 is rigidly attached to a curved slot element 805. The protruding element 803 has the ability to rotate within the slot element 805 as well as to translate along the slot element 805. The slot element 805 will sense the acceleration and position of the protruding element 803, and thereby obtain the force and position experienced by the superior and inferior disc plates 801, 802.

(28) Surgical Approach

(29) The surgical implantation of embodiments I, II, III and IV is identical to the techniques described in our previous patent and patent applications, U.S. Pat. No. 7,083,650 and patent applications Ser. No. 11/684,787 and Ser. No. 11/536,815. In addition, after implantation, the insulated leads are brought to the dorsal surface, attached to the comptroller power complex which is buried subcutaneously allowing battery access (not illustrated).

(30) The current embodiments for placement of ECAIDs further enhance prosthetic disc function by more closely simulating the natural disc function by dynamically responding to changes in locomotion and spinal motion gradients hence making it a more effective disc substitute which provides constant real-time dynamic changes.

(31) These embodiments have the potential to lead to significant advances in the care of the spinal patient. Furthermore it is possible that this technology in the future may be applicable to other early diseased joints in the body.

(32) The invention has been described with reference to exemplary embodiments. However, it will be readily apparent to those skilled in the art that it is possible to embody the invention in specific forms other than those of the embodiments described above. This may be done without departing from the spirit of the invention. The exemplary embodiments are merely illustrative and should not be considered restrictive in any way. The scope of the invention is given by the appended claims, rather than the preceding description, and all variations and equivalents which fall within the range of the claims are intended to be embraced therein.