Robotic prosthesis alignment device and alignment surrogate device

Abstract

A robotic prosthesis alignment device is disclosed that may automatically move the alignment of a prosthesis socket in relation to a prosthesis shank. The robotic prosthesis alignment device provides automatic translation in two axes. The robotic prosthesis alignment device includes angulation mechanics that automatically provide for plantarflexion, dorsiflexion, inversion, and eversion of the foot and shank with respect to the prosthesis socket. A surrogate device is also disclosed that can replicate the alignment achieved with the robotic prosthesis alignment device.

1 . A robotic prosthesis alignment device, comprising:
 a translation assembly comprising a first slide deck and a second slide deck that translates in a different direction to the first slide deck;   an angulation assembly comprising a first wedge and a second wedge, each wedge being separately capable of rotation; and   one or more drivers to move the first and second slide decks and rotate the first and second wedges.   
     
     
         2 . The device of  claim 1 , wherein the translation assembly provides displacement of an object attached to the translation assembly along a two dimensional plane. 
     
     
         3 . The device of  claim 1 , wherein the angulation assembly provides displacement by tilting an object attached to the angulation assembly. 
     
     
         4 . The device of  claim 1 , wherein the movement of the first and second slide decks is linear. 
     
     
         5 . The device of  claim 1 , wherein each wedge comprises a circular member that varies in height around the circumference. 
     
     
         6 . The device of  claim 1 , further comprising a driver having a revolution counter and a processor that correlates a translational position to the number of revolutions. 
     
     
         7 . The device of  claim 1 , further comprising a driver having a revolution counter and a processor that correlates an angular position to the number of revolutions. 
     
     
         8 - 9 . (canceled) 
     
     
         10 . A prosthesis system, comprising:
 a prosthesis socket for receiving an amputated limb;   a prosthesis shank attached to the prosthesis socket;   a prosthesis foot attached to the lower end of the prosthesis shank; and   a robotic prosthesis alignment device of  claim 1  attached at the joint between the prosthesis socket and the prosthesis shank and/or at the joint between the prosthesis shank and the prosthesis foot, the robotic prosthesis alignment device comprising encoders that provide a translational position and angular position of the prosthesis.   
     
     
         11 - 17 . (canceled) 
     
     
         18 . The prosthesis of  claim 10 , further comprising a computer in communication with the robotic prosthesis alignment device, wherein the computer computes a gait cycle profile from the translational and angular position. 
     
     
         19 . The prosthesis of  claim 18 , further comprising a memory device having stored therein correlations of linear positions and angular positions to a plurality of gait cycle profiles. 
     
     
         20 . The prosthesis of  claim 18 , further comprising a torque sensor attached to the prosthesis that provides torque measurements to generate a profile of a gait cycle. 
     
     
         21 . The prosthesis of  claim 18 , wherein the computer compares a gait cycle profile generated from translational and angular positions to a gait cycle stored in a database and computes a translational position and angular position that approximately matches the gait cycle profile stored in the database. 
     
     
         22 . A method for automatically controlling the alignment of a prosthesis, comprising:
 measuring a first translational and angular position of a mechanical joint on a prosthesis and providing the measurements to a computer;   determining, via the computer, a first gait cycle profile from the first translational and angular position of the mechanical joint;   obtaining, via the computer, a second gait cycle profile stored in a computer memory;   comparing, via the computer, the first gait cycle profile to the second gait cycle profile and determining differences;   calculating, via the computer, a second translational position and angular position calculated to reduce the differences between the first and second gait cycle profiles; and   moving the mechanical joint to the second translational position and angular position.   
     
     
         23 - 25 . (canceled) 
     
     
         26 . The method of  claim 22 , wherein the first gait cycle profile is determined by searching a database having stored therein profiles of gait cycles correlating to translational positions and angular positions. 
     
     
         27 . The method of  claim 22 , wherein the first gait cycle profile is determined by torque forces measured along the posterior/anterior plane and right/left planes. 
     
     
         28 . The method of  claim 22 , wherein the mechanical joint attaches a prosthesis socket to a prosthesis shank or a prosthesis shank to a prosthesis foot. 
     
     
         29 . The method of  claim 22 , wherein the mechanical joint comprises a robotic prosthesis alignment device, comprising:
 a translation assembly comprising a first slide deck and a second slide deck that translates in a different direction to the first slide deck;   an angulation assembly comprising a first wedge and a second wedge, each wedge being separately capable of rotation; and   one or more drivers to move the first and second slide decks and rotate the first and second wedges.   
     
     
         30 . A surrogate device for transferring an alignment to a prosthesis, comprising:
 a first wedge comprising marks, wherein the marks are determinative of a position on the wedge; and   a second wedge comprising marks, wherein the marks are determinative of a position on the wedge, wherein the first and second wedge are rotationally positionable with respect to each other such that aligning a mark of the first wedge with a mark on the second wedge results in a predetermined angular position.   
     
     
         31 - 33 . (canceled) 
     
     
         34 . A method for maintaining the alignment of a prosthesis, comprising:
 setting the angular alignment of a prosthesis, wherein the angular alignment is controlled by a robotic device having first and second wedges that are automatically and rotationally positionable with respect to each other;   moving the wedges with respect to each other to achieve an alignment;   taking a measurement of the positions of the two wedges in the alignment; and   assembling a surrogate device having first and second wedges that are assembled to correlate with the measured positions of the wedges of the robotic device to achieve an alignment achieved with the robotic device.   
     
     
         35 . The method of  claim 34 , further comprising setting the translational alignment of the prosthesis, wherein the translational alignment is controlled by a robotic device having first, second and third slide decks that are automatically and translationally positionable with respect to each other and taking a measurement of the positions of the slide decks, and assembling the surrogate device having two decks that are assembled to correlate with the measured positions of the slide decks of the robotic device. 
     
     
         36 - 39 . (canceled)