GRASPER FOR HOOF TRIMMING

Abstract

An animal trimming chute for trimming the hooves animals is described which comprises at least one movable grasper adapted to secure the lower leg of an animal during hoof trimming. The grasper comprises a knee board that cooperates with two movable stages for securing the lower leg, an upper stage and a lower stage. The upper stage may have a length along the lower leg of the animal that is substantially greater than the length of the lower stage in the same direction. The animal trimming chute may be part of a smart hoof trimming system employing data from various sensors to assist a trimmer in providing improved care of animals. In one aspect, such care may require adjusting the position of the leg during treatment by releasing the lower stage while still securing the leg with the upper stage.

Claims

1. A grasper for hoof trimming of an animal comprising a knee board, a movable upper stage comprising a broad clamping surface and a movable lower stage comprising a relatively more narrow clamping surface, the upper stage and the lower stage both adapted to cooperate with the knee board to secure the lower leg of the animal.

2. The grasper of claim 1, further comprising at least one belt associated with the upper stage for securing the upper stage against the lower leg.

3. The grasper of claim 2, wherein the upper stage comprises at least one loop associated with the broad clamping for receiving the at least one belt.

4. The grasper of claim 1, wherein the ratio of the maximum width of the movable clamping surface of the upper stage to the maximum width of the movable clamping surface of the lower stage is from 1.2:1 to 30:1.

5. The grasper of claim 1 wherein the clamping length of the upper stage is at least 3 inches.

6. The grasper of claim 1 wherein the clamping length of the upper stage is from 4 inches to 14 inches.

7. The grasper of claim 1, wherein the broad clamping surface is at least 50% wider than the relatively more narrow clamping surface and is rotatably attached to a pivot.

8. The grasper of claim 1 wherein at least one of the knee board, the upper stage and the lower stage is associated with a sensor selected from a load cell, an accelerometer, a strain gauge, a position sensor, and a cardiovascular sensor.

9. The grasper of claim 1, further comprising a sensor associated with at least one of the lower stage, the upper stage, and the knee board, the sensor being selected from a load cell, an accelerometer, a motion detector, a strain gauge, a position detector, and a cardiovascular sensor.

10. The grasper of claim 1, further comprising an ultrasonic head for measuring characteristics of the animal.

11. The grasper of claim 10, further associated with a processor and a database to store information obtained from the ultrasonic head, wherein the processor generates one or more values based on the information obtained from the ultrasonic head and the one or more values are stored in the database and associated with the animal.

12. A chute for receiving animals for treatment of the lower legs or hooves of animals while in the chute, comprising a frame, a front gate attached to the frame, a belly band for supporting the animal and connected to a lifting system attached to the frame, and a grasper attached to the frame via a rotatable linkage, the grasper comprising a knee board, a movable upper stage comprising a broad clamping surface and a movable lower stage comprising a relatively more narrow clamping surface, the upper stage and the lower stage both adapted to cooperate with the knee board to secure the lower leg of the animal when they are in a closed position.

13. The chute of claim 12, wherein the broad clamping surface and the relatively more narrow clamping surface are both independently movable between an open position and a closed position, further comprising a first and second control systems to respectively control a force applied to the broad clamping surface and a force applied to the relatively more narrow clamping surface.

14. The chute of claim 12, further comprising a trimmer guidance system in communication with one or more sensors and a processor that are adapted to receive and analyze data relevant to animal health from the one or more sensors, and adapted to make a recommendation for action to be taken by the animal trimmer responsive to the data relevant to animal health.

15. The chute of claim 13, wherein the data relevant to animal health from one or more sensors comprise ultrasonic imaging data, gait analysis data, weight distribution data, step count data, indications of animal pain or adverse health conditions derived from analysis of at least one of photographs, video, animal sound recordings, measurements of animal motion, and measurements of the animal’s physiological state.

16. A method for hoof trimming, comprising guiding an animal into a chute, the chute comprising a belly band for supporting the animal, and at least one movable grasper for securing the lower leg of an animal, the grasper comprising a kneeboard, a movable upper stage, and a movable lower stage, wherein after the animal enters the chute, the grasper is moved into a position to grasp the lower leg of the animal by placing the leg between the knee board and both the upper stage and lower stage, then clamping the upper stage and the lower stage onto the lower leg of the animal, wherein a clamping surface of the upper stage contacts the lower leg along a contact length extending along the lower leg that is substantially greater than the contact length of the lower stage in the same direction, followed by rotating the grasper to bend the lower leg of the animal about the knee of the leg to bring the hoof into a position suitable for hoof trimming, followed by a hoof trimmer trimming the hoof.

17. The method of claim 16, wherein in response to a need for expanded access to the hoof or lower leg of the animal for treatment, expanded access is provided by releasing the lower stage without losing a secure grip on the lower leg of the animal provided by the upper stage.

18. The method of claim 16, wherein the rotation of the grasper is adjusted by one of hydraulics, pneumatics, or electric devices, and closing or opening of the upper stage is driven by one of hydraulics, pneumatics, or electric devices.

19. The method of claim 16, further comprising electronically providing a message to the hoof trimmer to guide the hoof trimmer on special needs of the animal, the message being generated by a processor in response to data acquired regarding animal health by one or more sensors or detection systems.

20. The method of claim 16, wherein the chute is provided with one or more sensors for assessing the health or behavior of the animal, and wherein data from the one or more sensors is stored in a database, the one or more sensors being selected from cameras, ultrasonic measurement systems, microphones, load cells, strain gauges, accelerometers, facial recognition systems, biometric identification systems, cardiovascular sensors, and gait analyzers.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG. 1 a version of a grasper for grasping the lower leg of an animal.

[0060] FIG. 2 depicts several basic elements of a trimming chute including a front leg grasper.

[0061] FIG. 3 is a photograph of one version of a grasper.

[0062] FIG. 4 is another view of the grasper of FIG. 3.

[0063] FIG. 5 is another view of the grasper of FIGS. 3 and 4.

[0064] FIG. 6 is another view of the grasper of FIGS. 3-5

[0065] FIG. 7 is a view of the grasper of FIGS. 3-6.

[0066] FIG. 8 depicts a front portion of a partially assembled trimming chute showing a shoulder-mounted grasper support frame.

[0067] FIG. 9 depicts another view of the shoulder-mounted grasper support frame of FIG. 8.

[0068] FIG. 10 provides another view of the shoulder-mounted grasper support frame of FIGS. 8-9.

[0069] FIG. 11 is a flowchart showing the use of data about an animal obtained prior to entering the chute to tailor the treatment of the animal.

DETAILED DESCRIPTION

[0070] FIG. 1 depicts a grasper 10 adapted for grasping the leg of an animal (not shown) below the knee to facilitate hoof trimming or other lower leg treatments with the leg in a restrained position.

[0071] The grasper 10 comprises an upper stage 16 for grasping the lower leg (e.g., the upper or middle portions of the lower leg) of an animal typically just below the knee (not shown) and a lower stage 18 for grasping a lower portion of the leg near the hoof and, when applicable, grasping the region between the dewclaw and the bulb (also called the heel bulb) of the hoof (not shown). Both the upper stage 16 and the lower stage 18 can rotate about an axis of rotation 54, here shown passing through a cylinder 20 serving as a pivot support (though other forms of pivot supports could be used and the upper stage 16 and lower stage 18 need not share the same axis of rotation). Upper pivots 22A and 22B are connected respectively to a first rod 24A and a second rod 24B, which in turn are connected to the clamping bar 50 of the upper stage 16, while a lower pivot 30 is joined to a rod 26 that serves as a clamping surface for the lower stage 18. The rods 24A, 24B and 26 may have any reasonable cross-sectional shape such as circular, elliptical, rectangular, etc., and may have a width (diameter or maximum diameter) of at least 0.5 inches such as from 0.5 inches to 2.5 inches, or from 0.5 inches to 1 inch, etc., and like most other components described herein, may be made from any suitable material such as carbon steel and other ferric alloys, aluminum, fiberglass, plastics, composite plastics, titanium, sintered metal, etc. The upper stage 16 comprises a clamping bar 50 with a width L1 that extends substantially parallel to the direction of the axis of rotation 54 that passes through the centerline of the cylinder 20. The upper stage 16 cooperates with a knee board 12 having a width L2. The knee board 12 in this aspect is rigid and not rotatable, but could be rotatable or adjustable if desired. The width L1 may be similar to the width L2, though it may be greater or shorter by any suitable factor such as less than 10%, 20%, 30% or 40% of L2.

[0072] As depicted, the clamping bar 50 further comprises two loops 52 for engaging with two restraining belts (not shown) that can pass through the loops 52 and be tightened to hold the upper stage 16 firmly in place. The lower stage 18 also comprises a loop 28 for engaging with a restraining belt (not shown) that can be cinched to secure it in place. Other suitable means may be used for holding clamping bar 50 and the lower stage rod 26 in place, such as ratchet mechanism or other locking mechanisms in the respective pivots, or other restraining devices or movable barriers (not shown).

[0073] Movement of the upper stage 16 may be controlled manually or by mechanical or electric systems such as hydraulics or electric actuators (not shown). The upper stage 16 is depicted having a mounting plate 42 that engages the first and second rods 24A, 24B with a seat 44 for receiving a rod or other force-delivering component from a hydraulic unit (not shown) or other device for controlling motion of the upper stage 16. The lower stage 18 also has a mounting plate 46 attached to the rod 26 further comprising a seat 48 adapted to receive a rod or other force-delivering component from a hydraulic unit or other device for controlling motion of the lower stage 18. The grasper 10 may be adapted to have one or both of the upper stage 16 and lower stage 18 be subject to manual control of position instead of or in combination with hydraulic or other non-manual position control systems.

[0074] The knee board 12 may be substantially rectangular or any other suitable shape and may have a three-dimensional structure with some degree of curvature to more comfortably conform with the typical shape of the animal legs to be treated. It may be made of rigid material such as steel, polycarbonate, etc., but may also comprise padding such as neoprene or rubber. The knee board may be adjustable or fixed in place. It may be attached to the cylinder 20 via one or more connections such as the connection members 14A, 14B, and may be attached to other structures such as the beam 40.

[0075] The upper end (left end in FIG. 1) of the cylinder 20 is adapted to receive a mounting element 32 adapted to attach the grasper 10 to a shoulder-mounted frame (not shown). The mounting element 32 comprises a cylindrical mounting rod 34 that bends at an elbow 38 and then joins to a receiving mount 36 that can receive and fixedly connect with the cylinder 20. Of course, many other forms of connection between the grasper 10 and a chute (not shown) can be used.

[0076] Instrumentation such as various sensors may be attached to or associated with the various components of the grasper 10 such as upper stage 16 and/or the lower stage, where FIG. 1 depicts, by way of example only, a first sensor 33 attached to or disposed within the broad clamping surface 50 of the upper stage 16 and a second sensor 35 attached to or disposed within the rod 26 of the lower stage 18. Such sensors may each be independently selected from a load cell, strain gauge, or other force or sensor for measuring force or pressure sensor, an accelerometer or other vibration detector; a position detector (e.g., position of the broad clamping surface 50 or the relatively more narrow clamping surface of the rod 26) such as sensors of the rotation angle of any one or more of the pivots 22A, 22B, 30, inclinometers, visual monitors of position, angular or rotary position sensors, Hall-effect position sensors, wireless position sensors, a linear variable displacement transducer (LVDT) as a position sensor, absolute linear sensors, potentiometers, actuators such as programmable electric actuators, visible gauges, and the like. A plurality of sensors may also be contemplated in such locations and elsewhere, such as a combination of position or force sensors as well sensors for body temperature, pulse, blood oxygen, vibration, stress factors or infection markers in saliva, etc.

[0077] FIG. 2 depicts a cattle chute 80 comprising a frame 82, but with many support structures and peripheral elements not shown to more clearly show certain components. The frame 82 comprises an upper section 88, a rear section 106 having an entrance gate 126 with entrance doors 104A, 104B, a front section 89 comprising an exit gate 128 having exit doors 86A, 86B, side portions 110A, 110B, a “comealong” 90 mounted on the top of the chute 80 having a rotatable lower section 92 that can rotate downward and toward the front section 89 to help drive an animal forward, and a belly band 96 for supporting the brisket or belly portion of an animal, attached to a pair of pivotable belly band arms 98A, 98B that are mounted on opposing sides 110A, 110B of the frame 82 and rotate about pivots 102A, 201B. Also attached to the frame 82 near the front section 89 are a pair of shoulder-mounted front-leg grasper support frames 100A, 100B, details for which are enumerated for the foremost support frame 100B. The support frame 100B is attached to a shoulder mount 112 having a shoulder pivot 116 connected to an upper arm section 118, which is connected to an elbow joint 124 that connects to a forearm section 120 which can rotate relative to the upper arm section 118 via the elbow joint 124. The forearm section comprises an open cylindrical mount 122 (though many other configurations for rotatable mounts could be used) which is adapted to receive the cylindrical mounting rod 34 of the mounting element 32 of the grasper 10 shown near but not yet connected to the grasper support frame 100B. Once the cylindrical mounting rod 34 is inserted into the cylindrical mount 122, the grasper 10 that hangs from the cylindrical mounting rod 34 can be swung into the chute 80 through the rotation of the grasper support frame 100B about the shoulder mount 112 and the elbow joint 124 to place the open grasper 10 over the leg of an animal (not shown). Hydraulic pistons (not shown) or other means can be used to adjust the position of the upper stage 16 and the lower stage 18, and belts (not shown) can be used to firmly hold the upper stage 16 and the lower stage 18 in effective clamping positions. At that point, the grasper 10 can be rotated upward relative to the cylindrical mount 122 to a relatively horizontal position in order to bend the lower leg of an animal about the knee. This upward motion of the grasper 10 can be achieved using a hydraulic cylinder, pneumatic devices, electrical drives, or other means to apply force to ropes, cables, chains, belts, or other connections (not shown) between the hydraulic cylinder and the grasper 10 to apply sufficient force to lift the grasper 10 and the lower leg of the animal into a suitable position for hoof trimming or other treatments. Once the treatment is complete, the hydraulic or other force or restraint is relaxed, allowing the grasper 10 to swing back down such that the animal’s leg is again in the normal standing position, and the belts can be released and the upper stage 16 and lower stage 18 opened to allow the grasper 10 to release the leg, after which the grasper 10 can be rotated back out of the chute 80 to no longer impede animal motion once the front doors 86A, 86B are opened.

[0078] Many versions of the gates 86A, 86B, 104A, 104B and other components can be considered. For example, automated devices (not shown) may be used to control opening and closing of the gates. The gates 86A, 86B may be oriented at an angle relative to the front plane of the chute 80 and may travel in tracks to control the position of the gates.

[0079] FIG. 2 also illustrates the use of sensors associated with the chute 80, such as a weight distribution measurement platform 130 comprising load cells and optional accelerometers to obtain information about the animals distribution of weight between legs and/or on individuals hooves, which can be interpreted by an algorithm on a processor (not shown, such as a processor operatively associated with a computer and software on a computer readable medium, optionally associated with a database) to guide a trimmer regarding the needs of an animal. Such information can be stored in a database (not shown) for future reference and optionally for customizing future treatments, including treatments in the chute, based on health-related data for individual animals stored in the database.

[0080] The weight distribution measurement platform 130 may be much longer or wide than depicted, and a plurality of such platforms may be provided, including platforms for measuring load distribution before and after treatment.

[0081] Another sensor is shown as a camera 132 mounted in the top of the chute 80, where the chute can more readily be kept clean and free of animal waste. The camera 132 can monitor animals for signs of pain, for improper gait, for condition of hooves, skin health, anxiety, etc. Observations may be made using conventional cameras as well as IR cameras, etc. Images may be processed by image analysis or other medical diagnostic software using a processor (not shown) in association with a database (not shown) for storing results obtained by analysis of images.

[0082] Another sensor depicted is an ultrasonic scanner system 114 with a movable ultrasonic head 138 connected to the body 115 of the ultrasonic scanner system 114 with a flexible cable 136. The ultrasonic scanner system 114 may be mounted in any convenient location, but is shown here on the upper right side for convenience and visibility. The ultrasonic scanner system 114 may be powered by electrical power from a cable (not shown) or by batteries (not shown), etc. Ultrasonic heads 138 in other aspects may be embedded in or attached to the grasper 10, such as being associated with the lower stage 18 or the clamping bar 50 of the upper stage 16 or the knee board 12, a configuration not explicitly shown. Data from the ultrasonic measurement may be analyzed to give relevant instructions to a trimmer via a voice, text, or visual signal such as one displayed on an output device on the ultrasonic scanner system 114. The instructions may give guidance on where to trim in relationship to the bone inside the hoof region for a better trim, or indicate where trouble spots are detected in need of special care such as a wrap or medication. Application of a wrap in response to animal needs detected by sensors or by visual inspection may require adjustment of the grip such as release of the lower stage 18 in order for the trimmer to apply the wrap. In this case, the release of the lower stage 18 does not permit the animal to move its leg substantially or to withdraw its legs from the grasper 10 because of the broad clamping area of the upper stage 16 and the presence of one or two belts (not shown) applying pressure and fortifying the restraint on the animal.

[0083] In one aspect also shown here, the chute 80 may be in communication with a computer system 127 comprising a processor and in communicative association with a database 125 that can store data relevant to animal health as well as past and planned treatments pertaining to individual animals or groups thereof to be treated in the chutes disclosed herein. The computer system 127 can receive data from the various sensors of the chute 80, from other sensors or measurements made throughout a facility or operation for managing the animals in question, or from the operator (not shown) of the chute via any suitable communication means. One aspect shown here involves a communication network 129 linking the computer system 127 to the chute 80. Communication may occur via wire or wireless methods, including WIFI, 5G, 6G, NFC, Ethernet, or any known protocol, etc. Thus sensors associated with the chute 80 and operator input may be provided to the computer system 127 and stored in the database 125 along with other data from health-related measurements made in other settings for the animals (not shown). Software associated with the computer system 127 (e.g., on storage media in the computer or other computer readable media) can then be run by the processor (not shown) to analyze data in the database 125 and make recommendations to operators of the chute 80 to guide them in making appropriate treatments. In some aspects, improved treatment may require adjusting leg position during treatment by releasing the lower stage 18 while still securing the leg with the upper stage 16 of the grasper 10.

[0084] FIG. 3 is a drawing based on a photograph of a prototype of one version of a grasper 10 showing the upper stage 16 and its clamping bar 50, the lower stage 18, the knee board 12, the mounting element 32 with the cylindrical mounting rod 34 inserted into the cylindrical mount 122 and also into the receiving mount 36, etc. The cylindrical mount 122 is joined to shoulder mount 112 via a shoulder pivot (not shown since the linkage details are blocked in this perspective) that supports the grasper 10 and allows the grasper 10 to be rotated in the horizontal plane, as shown by rotation arrow 43C, while the cylindrical mount 122 allows the grasper 10 to be rotated vertically, as shown by rotation arrow 43D, between the displayed horizontal orientation or downward into a vertical orientation (not shown) in which the grasper 10 can be used to clamp onto the lower leg of an animal (not shown), after which it can be rotated to a more horizontal position for convenient treatment of the hoof (not shown). The positioning of the grasper 10 can be done by hand or mechanically with the aid of pulleys, chain drives, pneumatics, hydraulics, etc., as desired. In the aspect shown here, a positioning linkage 29 is shown, which is a shaft connected to the grasper 10 that can be moved by the action of pulleys or other mechanical systems acting on a remote end (not shown, but above the view shown here) to regulate the position of the grasper 10, particularly moving the grasper 10 between the vertical and horizontal positions.

[0085] Various rotation arrows 43A through 43G show the motion of various elements. Rotation arrow 43A shows the motion of the curved rod 26 of the lower stage 18 as the attached lower pivot 30 rotates, as shown by rotation arrow 43G, about the cylinder 20 serving as a pivot support. A loop element (not shown) may be attached to the rod 26 such that a belt (not shown) or other means can secure the rod 26 when in a closed position after rotating downward from the displayed open position to secure the lower leg on animal (not shown) with respect to the knee board 12. Rotation arrow 43B was previously mentioned, showing the rotation of the clamping bar 50 of the upper stage 16, while rotation arrows 43E and 43F show the rotation, respectively, of the first rod 24A and the second rod 24B of the upper stage 16 about the cylinder 20 via the attached pivots 22A and 22B, respectively.

[0086] Also shown are the locking mechanism of the pivot shaft 37 associated with the shoulder mount 112, a support beam 41, and the upper stage bracket 27 which is adapted to hold a hydraulic cylinder or other position control device to drive the lower stage 18 (i.e., the rod 26) between open and closed positions.

[0087] FIG. 4 is another view of the grasper 10 of FIG. 3, with the lower stage 18 removed, thereby more clearly showing the cylinder 20 that serves as a pivot support for the upper stage 16 and the lower stage 18 (not shown). Also shown in this view is the upper stage bracket 27 which can support mechanisms (not shown) to drive the lower stage 18 between open and closed positions.

[0088] FIG. 5 is another view of the grasper 10 similar to that of FIGS. 3 and 4, here showing the knee board 12, the upper stage 16, the lower stage 18, the lower stage bracket 27, the upper stage bracket 150, the positioning linkage 29, etc.

[0089] FIG. 6 is another view of the grasper 10 of FIGS. 3-5 also showing the first rod 24A and a second rod 24B of the upper stage 16, the positioning linkage 29, the upper stage bracket 150, etc.

[0090] FIG. 7 is another view of the grasper 10 of FIGS. 3-6 further showing two belts 158A and 158B inserted through the loops 52A, 52B attached to the clamping rod 50 of the upper stage 16. Also shown are the knee board 12 and the lower stage 18.

[0091] FIG. 8 depicts a front portion of a partially assembled trimming chute 80 to show the location of a shoulder-mounted grasper support frame 100 mounted on a front right support column 166 with a shoulder pivot 116 attached to a shoulder mount 112 and rotatably connected to an upper arm section 118, which is connected to an elbow joint 124 that connects to a forearm section 120 which can rotate relative to the upper arm section 118 via the elbow joint 124. The forearm section comprises an open cylindrical mount 122 which can receive the cylindrical mounting rod 34 (not shown) of the grasper 10 (not shown). Other linkages or mounting systems can be used, of course. Also shown is the base 164 of the chute 80, which may comprise sensors (not shown) such as vibration sensors, pressure sensors or load cells, etc. mounted on or otherwise associated with the base 164.

[0092] FIG. 9 depicts another view of the shoulder-mounted grasper support frame 100 of FIG. 8.

[0093] FIG. 10 provides another view of the shoulder-mounted grasper support frame 100 of FIGS. 8-9. Also shown here are the belts 158A and 158B that assist in providing clamping pressure for the upper stage 16. Also shown in this view is the upper stage bracket 150 and a handle 170 attached to the upper stage bracket 150 to assist in lifting and moving the grasper 10 when, for example, manual adjustment is desired.

[0094] FIG. 11 is a flowchart depicting a method of customizing the treatment of an animal 200. Steps shown here are not necessarily in chronological order, one or more steps may be combined and accomplished substantially at the same time, or may be split into further substeps, and conducted in any suitable order. In step 202, an animal approaches the chute for trimming or other treatments. In step 204, the animal is identified and available data on health status is obtained from a database. The database (not shown) may comprise information from veterinary care that include blood test results, body weight tracking data, growth data, observations about feet, skin, teeth, eyes, tongue, udder, etc., milk analysis for dairy cattle, body temperature, indicators of infection, tests for infection, muscle tone, hide or hair characteristics, saliva measurement (e.g., for detection of stress related compounds), dental inspection, eating behaviors, sleep behavior, characteristics of interactions with other animals and humans, etc.

[0095] Identification of the animal can be based on imaging and comparison to a database to give animal recognition systems similar to facial recognition for humans. Identification may also be done using tags associated with the animal, such as an ear tag, a collar tag, a subcutaneous tag, etc., and such tags may employ RFID, NFC, or other wireless transmission means as well as the use of printed characters, magnetic strips, or other means for storing and providing information related to unique identities of animals. Identification can also be done manually rather than automatically, such as by reading a tag or noting other identifying markings and then entering the ID information into a user interface.

[0096] | In step 206, data is acquired and analyzed from measurements of gait, weight or force distribution, motion, body temperature, stress factors, human observation, machine observation guided by AI or machine learning, etc., and combined with the health status data from step 204. Such data may, in some aspects, be obtained at least in part while the animal is approaching the chute or after the animal has entered the chute. At least a portion of such data may therefore have been obtained within 1 hour of entering the chute, such as within 45 minutes, 30 minutes, 15 minutes, 10 minutes, 5 minutes, 3 minutes, or 1 minute of entering the chute. This data may then be combined with health status data already in the database that was retrieved in step 204.

[0097] The combined data can then be used in step 206 for analysis to yield information from the analysis about the animal’s apparent health issues and needs. The analysis may rely at least in part on artificial intelligence engines and/or input from a veterinarian or other human experts, such that diverse information about an animal is used to diagnose health conditions and make recommended treatments. A decision is made in step 208 to determine if the animal has a health problem that should be treated while in the chute. If the answer is yes (Y), then a branch is pursued beginning with step 212, in which instructions are provided to an operator or others on specific steps to take during chute operations. Providing such instructions may be done via a text message, a notification displayed on a tablet or monitor, verbal instructions played by a sound system, or any other means. Next, in step 214, the operator or others are provided with any needed tools, medicines, or other items for the customized treatment. Such items may include a syringe provided with a dose of an antibiotic, nutrient, etc., or wound dressings, braces, and other devices to provide aid and care for an animal. Such items may be provided automatically or directions may be provided causing others to provide the needed materials to the operator, or instructions may be given directly to the operator directing the operator to obtain such supplies. Finally, in step 216, the operator conducts trimming and maintenance, which may be routine or may have elements specially adapted for the current needs of the animal, such as customizing the trimming of an injured hoof to minimize the risk of injury or to accelerate healing, in combination with other palliative steps.

[0098] If the answer in step 208 is no (N), then a branch is pursued beginning with step 210, in which normal trimming and maintenance is conducted.

[0099] The recommended actions and the action steps taken by the operator(s) can then be recorded in a database (not shown) storing information about the animal in question.

[0100] It should be understand that more than one person may perform the role of the operator/hoof trimmer in this and related methods. In some aspects, one or more of the tasks described may also be performed by robotic devices when suitable.

FURTHER DETAILS

[0101] In some versions, the cattle chute may be equipped with a variety of sensors and may also be in cooperation with external sensors. The sensors may be inside or outside the chute, either directly mounted on the chute or its peripheral components or may be remote but in communication with a control system for the chute, with communication occurring through radio or other wireless signals (WIFI, 5G, etc.), cable, etc. External sensors include those that can monitor conditions of animals to determine if special treatments are needed, to measure the quality of the treatment by examining one or more factors both before and after the treatment, etc. Such sensors may be used to monitor animals wherever they are, indoors or outdoors, and may be adapted to recognize and track individual animals. For example, for a herd of dairy cows, load distribution platforms may be provided in the return lane from the milking parlor to regular track cows daily, combined with optical sensors to read tags and optionally to track gait or other signs of pain or other problems.

[0102] In general, such sensors and systems, for use with the chute or for use external to the chute may include: [0103] Cameras and related optical systems for analyzing hoof thickness, leg health, regions of the hoof or leg in need of treatment, etc. The cameras may be integrated with individual animal recognition systems, akin to human facial recognition and gait recognition systems, or may cooperate with RFID tag systems or other tagging systems (e.g., optical detection of data on a conventional ear tag), thereby allowing observations of skin health, signs of injuries, etc., to be tracked over time for individual animals. Cameras and other sensors may be combined to give automated or semi-automated scoring of locomotion using any known locomotion index system. [0104] Systems for analyzing bone location and characteristics, which may include x-ray systems, ultrasonic systems, fluorometers, tissue penetrating radar or microwave imaging systems, MRI, etc. A goal of hoof trimming in many cases is to align the horn of the external hoof with the interior bone, and such instrumentation could be helpful in guiding trimmers and assessing the quality of trimming. Results can be stored in databases for individual animals and may include tracking the work and efficiency of individual trimmers. [0105] Gait sensors (particularly systems comprising cameras) that can monitor characteristics of an animal’s motion when walking, such as gait cycle duration, stance, swing phases, motion of individual legs, shoulder and back motion, etc., which may provide data about balance, distribution of weight, sensitivity of the hooves or legs or the presence of pain, mood or overall health, etc. Such data can be integrated with load distributions data from load cells, hoof imprints, and other means to enable analysis of the walking and standing characteristics of individuals animals in ways that relate to hoof health and leg health in order to guide trimmers and others in providing the optimum care. [0106] Facial recognition systems and body recognition systems adapted for the animals of concern. For example, the state of a cow’s back may be indicative of the pain a cow faces, with a flat back being indicative of good health and a more arched back indicative of pain. Pain or other problems may also be reflected in facial characteristics. Interpretation of data may require machine learning systems or artificial intelligence that considers the broad variety of data pertaining to animals and their care in order to give recommendations to trimmers and other managers or care providers. [0107] Accelerometers and related devices that can be mounted on animals to observe walking characteristics, or that may be mounted on floor panels to analyze step characteristics. [0108] Step counting systems, including motion detectors, load cells, accelerometers, cameras, etc., to detect cow motion such as steps taken while standing on a platform, which can be a measure of pain. [0109] Load cells and networks of load cells to form a weight distribution measurement platform or force and pressure platforms can be used to measure load distribution under the legs of the animal both while walking or while standing still, or to measure the load under a single hoof with relatively high spatial resolution.

[0110] Systems incorporating data from various sensors may employ decision-making systems to interpret data and give guidance to trimmers or other caregivers. For example, one or more sensors may obtain data for a given animal and may also obtain identity information from a tag or other means to identify the animal. The data is then processed by a processor using algorithms to determine if the animal, in light of the data, is facing health or pain issues that may require treatment by a trimmer. The processor interprets the data and may apply additional data from a database, such as historic information on the health of the animal to detect noteworthy changes, and the make a judgment about recommended treatment that may be needed or issues that should be checked by a trimmer. If the issues are serious, the animal may be culled ahead of the normally scheduled trim for immediate assistance in light of the issues identified based in the data, or, during the next scheduled trim, the recommendations for action based on the data may be communicated to the trimmer to guide proper care and maintenance in light of apparent problems that were detected. Results and recommendations can also be stored in a database for future tracking of animal characteristics and health to determine the efficacy of the trimmer’s work, etc., and to guide further future steps.

REMARKS

[0111] When introducing elements of aspects of the invention or the embodiments thereof, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements, and thus may include plural referents unless the context clearly dictates otherwise. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements.

[0112] Unless otherwise specified, all patents and patent applications mentioned herein should be understood to be hereby incorporated by reference to the extent they are non-contradictory herewith. Further, all aspects of any invention may be, when not clearly improper, combined with any other aspect, such that any limitation in one claim or other aspect can be inherently available for combination with other aspects and limitations.

[0113] Having described aspects of the invention in detail, it will be apparent that modifications and variations are possible without departing from the scope of aspects of the invention as defined in the appended claims. As various changes could be made in the above compositions, products, and methods without departing from the scope of aspects of the invention, it is intended that all matter contained in the above description shall be interpreted as illustrative and not in a limiting sense.

[0114] While the foregoing description makes reference to particular illustrative embodiments, these examples should not be construed as limitations. The inventive system, methods, and products can be adapted for other uses or provided in other forms not explicitly listed above, and can be modified in numerous ways within the spirit of the present disclosure. Thus, the present invention is not limited to the disclosed embodiments, but is to be accorded the widest scope consistent with the claims below.