METHODS AND DEVICES FOR DEEP VEIN THROMBOSIS PREVENTION

Abstract

Portable devices and methods for preventing deep vein thrombosis (DVT) by assuring that the ankle is flexed and extended sufficiently to promote blood flow in the lower leg are disclosed. The device includes an actuator with a free movement mode that allows a patient to move freely between activations or to initiate movement to delay a next automatic activation.

Claims

1. (canceled)

2. A device for free or controlled movement of a joint of a user, comprising: a portable power supply; an embedded controller powered by the portable power supply; an actuator having an output shaft coupled to a first attachment and a second attachment, the actuator controlled by the embedded controller to deliver a variable drive force output mode for a first direction, a free-movement mode, and a variable drive force output mode in a second direction that is the opposite of the first direction; and a hinged connection coupling the first attachment and the second attachment; wherein the first attachment is configured for coupling to the output shaft and to a first portion of the user and the second attachment is configured for coupling to the output shaft and to a second portion of the user.

3. The device of claim 2 further comprising a force sensor configured to provide an indication to the embedded controller related to the variable drive force in the first direction, the variable drive force in the second direction or a force generated while in the free movement mode.

4. The device of claim 2 further comprising a wireless charger with a portable power supply.

5. The device of claim 2 further comprising a connection port configured for wireless communication between a control unit and the embedded controller.

6. The device of claim 2 the actuator further comprising a first motor driven lead screw, a second motor driven lead screw and a motor driven cam coupled to the first motor driven lead screw and the second motor driven lead screw wherein coordinated operation of the first motor driven lead screw, the second motor driven lead screw and the motor driven cam drive the motion of output shaft.

7. The device of claim 6 wherein the motion of the output shaft is in the first direction and drives relative movement of the first attachment point and the second attachment point relative to the hinge to cause flexion of a joint of the user between the first attachment point and the second attachment point.

8. The device of claim 7 wherein the embedded controller collects and stores in memory data related to the movement of the actuator in the first direction.

9. The device of claim 6 wherein the motion of the output shaft is in the second direction and drives relative movement of the first attachment point and the second attachment point relative to the hinge to cause extension of a joint of the user between the first attachment point and the second attachment point.

10. The device of claim 9 wherein the embedded controller collects and stores in memory data related to the movement of the actuator in the second direction.

11. The device of claim 6 wherein the motion of the output shaft is in a free motion mode and the actuator permits relative movement of the first attachment point and the second attachment point relative to the hinge to permit user initiated movement of a joint of the user between the first attachment point and the second attachment point.

12. The device of claim 11 wherein the embedded controller collects and stores in memory data related to the movement of the actuator in the free motion mode.

13. The device of claim 3 further comprising a joint angle sensor in communication with the embedded controller and positioned to measure the angle between the first attachment or the second attachment or the movement of the hinge.

14. The device of claim 3 wherein the first attachment is adapted for securement to a superior aspect of a joint and the second attachment is adapted for securement to an inferior aspect of a joint.

15. The device of claim 3 wherein the joint is a joint of the leg.

16. The device of claim 15 wherein the joint of the leg is an ankle.

17. The device of claim 15 wherein the joint of the leg is a knee.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 is a block diagram of electronics and an embedded computer that controls a deep vein THROMBOSIS (DVT) prevention device according to an embodiment of the present invention.

[0009] FIG. 2a shows a front view of a DVT prevention device attached to the leg of a patient according to an embodiment of the present invention.

[0010] FIG. 2b shows a side view of the DVT prevention device of FIG. 2a near the flexion limit.

[0011] FIG. 2c shows a side view of the DVT prevention device near the extension limit.

[0012] FIG. 3. shows a continuously variable actuator according to another aspect of the present invention that may be used to construct a DVT prevention device.

[0013] FIG. 4. shows a single-motor actuator with a free movement mode according to another embodiment of the present invention.

[0014] FIG. 5. shows a single-motor actuator as attached to an ankle according to a further embodiment of the present invention.

[0015] FIG. 6. is a flowchart of a method for the prevention of DVT according to one aspect of the present invention.

DETAILED DESCRIPTION

[0016] FIG. 1 shows a block diagram of a deep vein THROMBOSIS (DVT) prevention device 100 according to an embodiment of the present invention. An embedded microcontroller 102 is programmed to accept input from one or more sensors such as joint angle sensor 104 and a force (e.g., current) sensor 106. The embedded microcontroller 102 may also be coupled to a control panel 108. The control panel 108 may be for use by a patient, a doctor, or other health care provider. The embedded microcontroller 102 is operable to produce outputs for power drivers 112 to control the motion of one or more actuators 114.

[0017] With further reference to FIG. 1, power is supplied to the DVT prevention device 100 through an actuator power supply 116. Power may come through a battery 118 or from an AC adapter 120. In one embodiment, the battery 118 is wirelessly recharged by inductive coupling to a pad conveniently placed, such as at the foot of a hospital bed. Such a wireless recharge device has been announced by Wildcharge at the 2007 Consumer Electronics show.

[0018] In certain embodiments, such as cases where the patient can supply significant force to exercise the ankle, the battery charging requirements may be reduced or eliminated by recharging the battery from energy captured from running the actuator 114 as backdriven motor generator. This may provide an extra incentive to the patient to exercise, especially if the amount of exercise is recorded and presented to the patient, the patient's family and the hospital staff.

[0019] The control panel 108 may be as simple as an on/off switch, or may include switches and displays to allow adjustments for the range of motion, minimum repetition frequency, movement statistics, battery charge, and the like.

[0020] One embodiment includes a USB or wireless connection 122 to allow the DVT prevention device 100, or a pair of devices (e.g., one device each on the left and right ankles), to act as a human interface device (HID) that may be connected, for instance, to a PC. For example, the right ankle position may determine the left/right location of a computer curser and the left ankle position may determine the up/down location of the curser. When a patient uses the computer, for instance to surf the internet or play a game, the ankles must be flexed and extended, and in the process the blood flow to the leg is enhanced. The computer connection may significantly enhance patient compliance, which is a major problem with existing compression devices.

[0021] FIG. 2 shows three views of a DVT prevention device 200, according to another embodiment of the present invention, attached to an ankle 202. An actuator 204 is attached to upper and lower ankle attachment points such that activation of the actuator 204 may extend or flex the ankle 202. FIG. 2a shows a front view of the DVT prevention device 200, FIG. 2b shows a side view of the DVT prevention device 200 near a flexion limit, and FIG. 2c shows a side view of the DVT prevention device 200 near an extension limit. The limits may be programmatically or physically limited within the patient's range of motion. As will be appreciated, a typical extension limit (also known as Planar Flexion) is about 45 degrees from the standing position of the ankle, and a typical flexion limit (also known as Doral Flexion) is about 20 degrees from the standing position.

[0022] With further reference to FIG. 2, a rigid foot support structure 206 is placed under the foot and a rigid ankle support 208 structure is placed behind the calf. The two support structures 206 and 208 are connected to each other with a hinge 210. The actuator 204 is mounted to the upper rigid structure 208. Straps or padded supports 212 hold the ankle support structure 208 and actuator 204 to the lower leg. An output shaft 214 of the actuator 204 is connected to a linkage 216 attached to the foot support structure 206. One or more straps 212 hold the foot support structure 206 to the foot.

[0023] FIG. 3 shows a continuously variable actuator 300 suitable for use as an actuator according to certain embodiments of the present invention. One suitable example of the continuously variable actuator is described in more detail in the Horst et al.'s U.S. patent application Ser. No. 11/649,493, filed Jan. 3, 2007, the contents of which are incorporated herein by reference. The actuator 300 uses a flexible belt 302 connected by belt supports 304 and 306, two motor-driven lead screws 308 and 310 driven by motors 312 and 314, respectively, and a motor driven cam 316 driven by motor 318 to provide variable drive ratio forces in either direction or to allow the output shaft 320 to move in a free-movement mode. Also shown are two driven carriages 322 and 324, and two passive carriages 326 and 328.

[0024] FIG. 4 shows a single-motor actuator 400 suitable for use as an actuator according to another embodiment the present invention. In the single-motor actuator 400, a motor 402, which may have an internal gear head, drives a lead screw 404 to move a nut 406 linearly. The lead screw 404 may be an acme screw, a ball screw with a ball nut for lower friction and higher motor efficiency, or any other suitable screw. The ball nut 406 is always between a flexion stop 408 and an extension stop 410 connected to an output shaft 412. When the ball nut 406 is in a center of travel, the output shaft 412 is free to move linearly in either direction without having movement impeded by interaction with the ball nut 406. This position provides free movement of the output shaft 412, and likewise free movement of the ankle or other relevant body part, even with no power applied to the actuator 400. When it is time to extend or flex the ankle, the ball screw 404 is turned to move the ball nut 406 to the left or the right where the ball nut 406 eventually pushes against the flexion or extension stop. Further movement of the ball nut 406 in the same direction moves the flexion stop 408 or the extension stop 410, and hence moves the output shaft 412, thus causing the ankle to flex or extend, respectively. The output shaft 412 is supported by one or more linear bearings 414 allowing the output shaft 412 to move freely in one dimension while preventing substantial movement or twisting in other dimensions

[0025] To further elaborate, lead screws include types of screws such as acme screws and ball screws. Ball screws have nuts with recirculating ball bearings allowing them to be backdriven more easily than acme screws. When using a ball screw, motion of the nut causes the lead screw and hence the motor to rotate. Therefore, when the ball nut is engaged by one of the stops, the patient may exercise the leg muscles by extending or flexing the foot to cause motion of the output shaft and hence cause motion of the motor. Exercise may be accomplished either by resisting the passive motions imparted by the actuator, or through a separate exercise mode where all motion is caused by the patient. In either case, software running in the embedded processor controls the amount of current delivered to/from the motor and therefore the amount of exercise resistance

[0026] FIG. 5 shows the single motor actuator 400 of FIG. 4 attached to an ankle support 212 and coupled to a foot support 206 through a linkage 216. The ball screw 404 in the actuator 400 is shown in a position about to extend the ankle by pushing to the right. Near the extension and flexion limits, some compliance may be built in to provide more comfort to the patient and to assure that there is no possibility of injuring the patent. This may be accomplished by springs in the actuator 400 or springs in the linkage 216, or both (not shown), that expand or compress before damaging forces are applied

[0027] To further elaborate, a free-movement mode of the actuator 400 allows the patient to move the ankle with little resistance. The free movement mode obviates the need to remove the DVT prevention device when walking (for instance, to the restroom); this improves patient compliance because there is no need for the patient or hospital staff to remove and reattach the DVT protection device frequently.

[0028] FIG. 6 is a flowchart of a method for operating a device in the prevention of DVT according to one embodiment of the present invention. In step 602, a person such as a medical professional sets up the device with appropriate limits for range of motion and minimum time between ankle movements. This step 602 may also be performed automatically. Then, in step 604, a DVT prevention device is attached to one or both ankles of the patient, and if necessary the device is turned on. In step 606, a test is made to determine if too much time has elapsed since the last flexion of the ankle. If the predefined time limit between flexion has been exceeded, step 608 runs a device actuator through one flexion/extension cycle or other suitable sequence. This cycle may be purely passive motion, or the patient may actively resist tending to cause more blood flow. If the time limit has not been exceeded or if the cycle is at the end of the passive or active movement cycle, the actuator is put into free movement mode in step 610. Finally, in step 612, the movements of the ankle are monitored to help determine the appropriate time for the next movement. Step 612 is followed by step 606, repeating the sequence until the prevention method stops, the device is removed, or the device is turned off.

[0029] In the flowchart of FIG. 6, step 606 determines if the specified time has elapsed in order to initiate movement of the ankle. The specified time can be determined by any suitable manner including one or more of any of the following ways: [0029] 1. A fixed elapsed time since the last ankle movement [0030] 2. A moving average over time of the frequency of ankle movements. [0031] 3. A dynamic algorithm that approximates blood flow in the leg by taking into account the frequency of movement, the intensity of active movement, and the patients age and condition.

[0030] A fixed time algorithm is simplest to implement, but may move the ankle more than necessary. Using a frequency of movement algorithm, the patient can have more control and has more positive feedback for initiating movements beyond the minimum. A dynamic algorithm rewards patient-initiated exercise (resisting the passive movement) and also customizes the frequency of movement based on the patient's condition. The algorithm can be determined through clinical studies of different patients using the device while monitoring blood flow.

[0031] The invention is not limited to the specific embodiments described. For example, actuators need only have a way to move and allow free movement of the ankle and need not have strictly linear movement. The actuator may be driven from a brushed or brushless motor or may be activated through pneumatics, hydraulics, piezoelectric activation, electro-active polymers or other artificial muscle technology. The usage of the device is not confined to hospitals but also may be beneficial to those bedridden in nursing homes or at home. The device may also be beneficial to avoid DVT for those traveling long distances by airplane, automobile or train.