System and method for providing oscillatory motion to an individual

Abstract

A medical device for providing oscillating movement to an individual is provided. The medical device includes a support capable of supporting one or more body parts of the individual, and an oscillation mechanism capable of delivering an oscillating force to the support. The medical device includes one or more sensors that provide information about the individual, and one or more compliant components configured to allow movement of the one or more body parts that deviates from the oscillating movement. The oscillation mechanism is capable of dynamically changing an oscillation frequency based on feedback from the one or more sensors. The oscillation mechanism is also capable of dynamically changing an oscillation amplitude based on feedback from the one or more sensors.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 978,774, entitled “Systems and Methods for Providing Oscillatory Motion to an Individual,” filed February 19, 2020, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present invention relates to a medical device that delivers reciprocating motion to an individual. BACKGROUND

[0004] There are many physiological processes that follow a regular periodic pattern, such as breathing and heartbeats. Such physiological processes often respond to oscillatory stimuli. Human health practitioners have long applied reciprocating pressure and motion to various parts of the body to provide positive physiological outcomes. Other forms of reciprocating motion are known to stimulate physiological outcomes. For example, it has long been known that a gentle rocking can soothe a baby. In another example, it has been shown that the heart responds to oscillatory motion. Enhanced external counterpulsation is a technique for treating angina by compressing the extremities with an oscillatory rhythm that matches the heartbeat. In another example, it has been suggested that high frequency oscillatory ventilation of preterm infants can prevent lung injury.

[0005] Automated equipment and systems, no matter how efficient, often do not match the touch and versatility of a human practitioner. A human practitioner can adjust the frequency or pressure of reciprocating motion to a patient based on various feedback from the patient. There is a need in the art for a better system that delivers oscillatory motion to an individual to induce physiological effects including pain and inflammation reduction, immune system enhancement, and stimulation of parasympathetic nervous system responses. There is also a need in the art for a device that mimics the touch and versatility of a human practitioner. SUMMARY

[0006] The present disclosure includes a medical device for providing reciprocating motion to an individual. In an exemplary embodiment, the medical device includes a bolster capable of supporting one or more body parts of an individual and an oscillation mechanism capable of imparting an oscillating force to the bolster. The medical device includes one or more sensors providing information about the individual and one or more compliant components configured to allow motion of the one or more body parts that deviates from the oscillating motion. The oscillation mechanism is capable of dynamically changing the oscillation frequency based on feedback from the one or more sensors. The oscillation mechanism dynamically changes the oscillation amplitude based on feedback from the one or more sensors. The one or more compliant components are configurable to allow the one or more body parts to deviate from the oscillating movement in a direction perpendicular to the oscillating motion. At least one of the one or more compliant components can include one or more rods connecting the bolster to the oscillation mechanism, where the one or more rods are flexible. The oscillation mechanism is configurable to adjust the oscillation frequency of the oscillation mechanism to an optimal frequency of the individual based on feedback. The feedback from the one or more sensors can be a contact force between the individual and the oscillation mechanism, where the oscillation mechanism is configured to adjust the oscillation frequency to the optimal frequency of the individual by minimizing the contact force between the individual and the oscillation mechanism. The feedback can include one or more physiological measurements of the individual from one or more medical sensors. At least one of the one or more compliant components can include a heel bolster shaped to apply pressure to the heel of one or both feet and allow the one or both feet to freely rotate about the ankle of the one or both feet.

[0007] In an exemplary embodiment, the medical device includes a pad shaped to rest against one or more body parts of an individual and one or more sensors providing information about the individual. The medical device includes an oscillation mechanism capable of imparting an oscillating force to the pad as the oscillation mechanism oscillates. The oscillation mechanism can automatically adjust the oscillation frequency. The oscillation mechanism can automatically adjust the oscillation amplitude. The oscillation mechanism can be configurable to adjust the oscillation frequency to minimize a force measured by the one or more sensors. The oscillation mechanism can automatically adjust the oscillation amplitude to maintain contact with the individual as the oscillation mechanism oscillates. The pad can be further shaped to support the heel of one or both feet, where the pad allows the one or both feet to freely rotate about the ankle of the one or both feet while the one or both feet are supported by the pad. The medical device can further include one or more compliant rods connecting the bolster to the oscillation mechanism, where the one or more compliant rods are configured to allow the feet to deviate from the oscillating motion. The oscillation mechanism can be a linear actuator, the linear actuator including a force feedback sensor. The medical device can further include one or more medical sensors measuring a physiological response in the individual.

[0008] Another general aspect is a method of providing reciprocating motion to an individual. The method includes oscillating a pad in contact with a body part of the individual by an oscillation mechanism, where the oscillation mechanism is capable of dynamically changing an oscillation frequency based on feedback from one or more sensors embedded in the device, the one or more sensors providing information about the individual. The oscillation mechanism is capable of dynamically changing an oscillation amplitude based on the feedback. The pad is configured to allow limited motion of the body part in a direction that is offset from the direction of oscillation. The pad can be further configured to support one or both feet of the individual. The force delivered from the oscillation mechanism can be directed in a direction from one or both feet of the individual through a center of mass of the individual. The oscillation mechanism can be configured to adjust the oscillation frequency of the oscillation mechanism to an optimal frequency of the individual based on the feedback. The feedback can include one or more physiological measurements of the individual from the one or more medical sensors. The feedback can further include a contact force between the individual and the oscillation mechanism, where the oscillation mechanism is configured to adjust the oscillation frequency to a natural frequency of the individual by minimizing the contact force between the individual and the oscillation mechanism. The oscillation mechanism can be further configured to adjust the oscillation frequency further from the natural frequency to the optimal frequency based on the one or more physiological measurements, where the cradle is shaped to apply pressure to the heel of one or both feet and allow free rotation of one or both feet about an ankle of one or both feet. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a schematic of a reciprocating medical device illustrating components that can be used in embodiments of the disclosed subject matter.

[0010] Figure 2 is a schematic of an oscillation mechanism for a reciprocating medical device.

[0011] Figure 3 is an illustration of a cradle for a reciprocating medical device.

[0012] Figure 4 is an illustration of interstitial fluid between cells in tissue.

[0013] Figure 5 is an illustration of the interconnectivity of interstitial fluid with capillaries and the lymphatic system.

[0014] Figure 6 is an illustration of the lymphatic system in an individual.

[0015] Figure 7A is a flowchart of a process for providing reciprocating motion to an individual.

[0016] Figure 7B is a flowchart of a process for adjusting reciprocating motion to an optimal frequency of an individual.

[0017] Figure 8is an illustration of an individual's feet positioned in cradles of a reciprocating medical device.

[0018] Figure 9 is an illustration of an embodiment of a cradle of a reciprocating medical device that holds two feet.

[0019] Figure 10 is an illustration of a reciprocating medical device that can transfer reciprocating motion to an individual.

[0020] Figure 11 is a block diagram of a computer system that can be implemented in various embodiments of a controller for a reciprocating medical device. DETAILED DESCRIPTION

[0021] The disclosed subject matter describes a device that transfers reciprocating motion to an individual. In some cases, the reciprocating motion can effect a physiological response in the individual. The reciprocating motion of a skilled human practitioner often provides excellent physiological results. One goal of a reciprocating medical device is to precisely replicate the actions of a skilled human practitioner to achieve the best physiological results. Another goal of a reciprocating medical device is to achieve precise reciprocating motion that exceeds the capabilities of a skilled human practitioner. The reciprocating medical device can make subtle adjustments to the amplitude, frequency, and vector of the reciprocating motion based on feedback sensed by the reciprocating medical device.

[0022] Various factors that can describe how one patient moves differently than another patient include the mass of the individual, the amplitude of the oscillation, and the frequency of the oscillation. The reciprocating medical device can adjust its motion based on these factors. The reciprocating device can be portable such that when the individual is lying in a bed, the reciprocating device can be positioned at the foot of the bed with the individual's heel positioned in a foot cradle attached to the reciprocating medical device by a compliant rod.

[0023] The reciprocating medical device can oscillate the cradle such that a slight push oscillation is transferred to the individual. In each push oscillation, the cradle is extruded and the individual is gently pushed in a direction from the feet to the center of mass or the head such that the individual's head moves about 0-2.5 cm. In various embodiments, the range of motion can be greater than 2.5 cm. For example, the range of motion can be 0-3.0 cm or 0-3.5 cm. The reciprocating medical device can be configured to adjust this range based on the individual patient and the patient's condition. For example, for a patient such as one who has just come out of surgery, in a weakened condition, the reciprocating medical device can be set to a low frequency and low range of motion.

[0024] Clinical evidence suggests that the use of a reciprocating medical device has a profound effect on inflammation and changes the way clotting factors work. The placement of the reciprocating medical device and the adjustment of the frequency and amplitude of the motion can depend on the location of the wound or where the procedure is performed on the mucosal tissue. In various cases, blood vessels can be closer to the surface and thus require different treatment to avoid bleeding.

[0025] After the rest, the individual is returned to the individual's initial position. In various embodiments, the rest can be configured to only push the individual. In exemplary embodiments, the rest is configured to push and pull the individual. In exemplary embodiments, the rest is configured to only pull the individual. The individual can be returned to the initial position because the portion of the individual's skin that remains in contact with the surface on which the individual is located when the individual is gently pushed so that the individual does not slide. Thus, when the rest is retracted, the individual is returned to the individual's initial position.

[0026] The frequency and amplitude of the oscillation of the reciprocating medical device can be adjusted. In various embodiments, the frequency and / or amplitude are automatically adjusted to match the individual's optimal frequency. In some cases, the individual's optimal frequency is the frequency of the individual's motion that requires the least force to maintain. In other cases, the optimal result can be achieved by deviating from the frequency that requires the least force to maintain. In exemplary embodiments, the reciprocating medical device can sense the frequency that requires the least force to maintain and use that frequency to establish a base frequency at which the body naturally moves with a given amplitude of movement. The reciprocating medical device can then deviate from that base frequency to provide the optimal physiological result.

[0027] The reciprocating medical device can be configured to automatically adjust the frequency of the oscillation to the individual's optimal frequency based on feedback from sensors embedded in the device that provide information about the individual's motion. The sensors can also provide information based on physiological responses in the individual. For example, the sensors can measure heart rate or blood oxygen levels. The sensors can measure the amount of swelling in a region of the body.

[0028] Similar to the frequency, the amplitude of the oscillation can be adjusted to match the individual's natural range of motion. The natural range of motion can be defined in various ways. In one embodiment, the natural range of motion is the length that the individual can be pushed comfortably without sliding. Similar to the frequency of the oscillation, the reciprocating medical device can automatically adjust the amplitude of the oscillation based on feedback. The feedback can be the force with which the individual resists the reciprocating medical device, such as the contact force between the rest and the individual.

[0029] In various embodiments, factors other than the natural range of motion can be used to set the amplitude, frequency, and vector of the motion. These factors can include the physician's input to the reciprocating medical device about the patient's condition. The patient's preferences can also be a factor in the setting of the amplitude, frequency, and vector of the motion.

[0030] Factors that can affect the amplitude of motion can include the mass of the individual, the friction of the surface on which the individual is leaning, and the frequency of motion required. In an example embodiment, based on Equation 1, V = F α A β M γ a variable (V) is determined for the individual, where V is determined as the product of the frequency (F), amplitude (A), and mass (M) of the individual. The constant exponents a, b, and g can be determined experimentally. Once the natural amplitude and frequency are determined, the amplitude and frequency can be adjusted based on example Equation 1.

[0031] The cradle of the reciprocating medical device can be shaped so that the body part can be comfortably leaned in the cradle while maintaining a considerable degree of freedom of movement. In one embodiment of the cradle, the cradle is shaped to allow the heel of the individual to rest in the cradle. The cradle can include one or more flexible components that allow the foot to move freely about when the reciprocating force is transmitted to the foot. In an example embodiment, the foot is not restricted in the cradle, but rather the foot can rotate freely about the ankle while the reciprocating motion is transmitted to the individual. In various embodiments, the compliant rod can bend to allow a limited degree of freedom of movement of the foot.

[0032] Reference Figure 1 , Figure 1 is a schematic diagram 100 of a reciprocating medical device 102 that illustrates components that can be used in embodiments of the disclosed subject matter. The reciprocating medical device 102 can be used to provide therapy to an individual 103 that is similar to the therapy of a human practitioner massaging a patient. The human practitioner can adjust the frequency and range of motion of the massage based on feedback from sensors. Similarly, the human practitioner can move position to allow a range of freedom of movement of the individual 103.

[0033] Similar to a human practitioner, the reciprocating medical device 102 adjusts based on feedback from sensors to accommodate the individual 103. The reciprocating medical device 102 can adjust the frequency of oscillation and the amplitude of oscillation. When the reciprocating medical device 102 cradles the heel of the individual 103, the reciprocating medical device can allow the individual 103 to move relatively freely by allowing the ankle of the individual 103 to rotate freely. A flexible compliant rod can also allow a limited degree of freedom of movement of the foot of the individual.

[0034] The reciprocating medical device 102 includes an oscillation mechanism 104 and a cradle 120. The oscillation mechanism 104 generates a reciprocating motion 124 that is transmitted to the individual 103. The oscillation mechanism 104 can control the frequency and amplitude of the reciprocating motion 124. The oscillation mechanism 104 can receive feedback so that the oscillation mechanism 104 can adjust the frequency and / or amplitude of the reciprocating motion 124 based on the feedback.

[0035] The oscillating mechanism 104 can include a controller 106 and an actuator 108. The controller 106 is a computer system capable of sending instructions that, when executed, control the reciprocating action 124 of the oscillating mechanism 104. The controller 106 can be a stand-alone system, an Internet of Things device, a co-located computer, a cloud-based computer, or the like. The controller 106 can include an amplitude control module 110 and a frequency control module 112.

[0036] The amplitude control module 110 determines the amplitude of the reciprocating action 124 produced by the oscillating mechanism 104. The amplitude control module 110 can be configured to adjust the amplitude of the reciprocating action 124 based on feedback from sensors. The amplitude control module 110 can use various criteria to determine the amplitude. The amplitude of the reciprocating action 124 can be divided into a peak and a trough. The peak is the farthest point that the oscillating mechanism 104 can push the individual 103. The trough is opposite the peak and exists where the oscillating mechanism 104 retracts to the farthest point from the individual 103.

[0037] In various embodiments, the amplitude control module 110 can set the peak and the trough based on feedback from sensors embedded in the device that provide information about the individual’s 103 motion and / or physiological responses in the individual. In one embodiment, the feedback is the force exerted by the individual 103 on the reciprocating medical device 102. In various embodiments, the feedback is a physiological measurement of the individual, such as a sensor that measures inflammation in the individual. In an exemplary embodiment, the amplitude control module 110 can be configured to set the peak such that the force exerted by the individual 103 on the reciprocating medical device 102 remains below a maximum force during the forward stroke. The amplitude control module 110 can be configured to set the trough such that the force exerted by the individual 103 remains above a minimum force. In various embodiments, the amplitude control module 110 can be configured to set the peak and the trough based on measurements rather than the force exerted by the individual. In an exemplary embodiment, after setting the peak and the trough based on the force exerted by the individual 103, the amplitude control module 110 can also adjust the peak and the trough based on sensors that measure physiological responses from the individual. An example of a sensor that measures physiological responses can be a thermometer or a respiration sensor.

[0038] The frequency control module 112 determines the frequency of the reciprocating motion 124 of the oscillating mechanism 104. The frequency control module 112 can be configured to set the oscillating frequency based on feedback from the sensors. The frequency control module 112 can use various forms of feedback to determine the frequency. In one embodiment, like the amplitude control module 110, the frequency control module 112 can determine the frequency based on the force the individual 103 is pushing the reciprocating medical device 102. The frequency control module 112 can set the frequency such that the individual 103 is exerting a minimum force over the cycle of the oscillating mechanism 104. In various embodiments, the frequency control module 112 can determine a frequency other than the frequency of the minimum force / resistance. In one example, the frequency control module can determine the frequency of the minimum force / resistance and then modify the frequency based on a physiological response from the individual. For example, the frequency control module 112 can receive a physiological measurement from the individual. Examples of physiological measurements can be the individual's heart rate, respiration rate, and blood oxygen level. In various embodiments, the frequency control module 112 can receive a measurement related to inflammation in the individual. An example of a measurement related to inflammation can be a color sensor that transmits the color of an inflamed area of the skin. The frequency control module 112 adjusts the frequency to maximize a beneficial physiological response or minimize a harmful physiological response. For example, the frequency can be adjusted to reduce inflammation in the individual 103.

[0039] The actuator generates the reciprocating motion 124 in the oscillating mechanism 104. The actuator 108 can have a motor 114 and a feedback sensor 116. The motor 114 can be various machines that convert any form of energy into mechanical energy. In various embodiments, the motor 114 is a servo motor that precisely controls the position of the output generated by the motor 114. The actuator 108 can be connected to the holder 120 through an actuator rod 118. The actuator 108 moves the holder 120 in the reciprocating motion 124 based on the amplitude and frequency set by the controller 106.

[0040] The feedback sensor 116 senses the feedback force based on the interaction between the holder 120 and the individual 103. The data measured by the feedback sensor 116 can be communicated to the controller 106 to determine the optimal amplitude and frequency of the reciprocating motion 124. The feedback sensor 116 can collect various forms of data based on the interaction between the holder 120 and the individual 103.

[0041] In one embodiment, the feedback sensor 116 can measure the force exerted by the rest 120 on the individual 103. In various embodiments, the feedback sensor 116 can measure the force exerted by the rest on the individual 103 by a force gauge. The force measured by the force gauge can be used by the amplitude control module 110 and the frequency control module 112. In one example, the amplitude control module 110 sets the trough at the position of the actuator 108 where the feedback sensor 116 measures the least force. Similarly, the amplitude control module 110 can set the peak at the position of the actuator 108 where the feedback sensor measures the greatest force. The minimum and maximum forces can be determined manually or automatically. In various embodiments, the feedback sensor can be a current sensor that measures the current and thus the torque exerted by the motor 114. The torque exerted by the motor 114 is directly proportional to the force exerted by the rest 120 on the individual 103.

[0042] The rest 120 is the portion of the reciprocating medical device 102 that comes into contact with the individual 103. The reciprocating action 124 generated by the actuator 108 is transmitted to the rest 120 through the actuator rod 118, which transmits the reciprocating action 124 to the individual 103. In various embodiments, the feedback sensor 116 can be embedded in the rest 120. In various embodiments, the feedback sensor 116 can be embedded in the actuator 108 or the actuator rod 118. In one embodiment, the rest 120 can be shaped such that the rest 120 can transmit the reciprocating action 124 by pushing rather than pulling the individual 103. In an exemplary embodiment, the rest 120 can be configured to both pull and push the individual 103.

[0043] In one embodiment, the rest 120 is shaped to cradle one or both feet of the individual 103, the shape of the rest 120 can allow one or both feet of the individual 103 to rest in the rest 120 while freely rotating about the ankle. The freedom of movement can allow the individual 103 to be comfortable and thus derive the maximum benefit from the reciprocating action 124. If the individual 103 moves position, as allowed by the rest 120, the controller 106 of the oscillating mechanism 104 can adjust the frequency and amplitude based on the new position of the individual 103. The reciprocating medical device 102 can also be configured to allow the individual's feet to freely translate and rotate while the oscillating motion is transmitted to the feet.

[0044] In various embodiments, reciprocating medical device 102 can require a brace 122 to be placed against individual 103 to stabilize reciprocating medical device 102 as reciprocating action 124 is transferred to individual 103. As reciprocating medical device 102 can be light and portable in various embodiments, brace 122 can be required to hold reciprocating medical device 102 stationary while in operation. Brace 122 can be various objects that are sufficiently strong and / or sufficiently heavy to remain stationary as actuator 108 pushes against individual 103.

[0045] In various embodiments, reciprocating medical device 102 can include medical sensors 130. Medical sensors 130 can be configured to detect various physiological measurements in individual 103. Examples of medical sensors include, but are not limited to, heart rate sensors, respiration sensors, blood oxygen level sensors, thermometers, and sweat sensors. In an example embodiment, medical sensors 130 can measure indicators of inflammation. For example, medical sensors 130 can include a camera configured to measure inflammation in an area of individual 103. The camera can measure inflammation by identifying indicators of inflammation such as swelling and color changes. In one example, controller 106 can process the camera images, or the camera can include a controller that processes the images using a machine learning algorithm to identify inflammation. The machine learning algorithm can be taught by various machine learning algorithms such as neural networks. The machine learning algorithm can train the machine learning algorithm to identify inflammation in individual 103 using training images of inflamed body parts.

[0046] Reference is made to Figure 2 , Figure 2 is a schematic diagram of an oscillation mechanism 200 for reciprocating medical device 102. Oscillation mechanism 200 can be various mechanisms that are capable of transferring motion to individual 103. Motor 114 of oscillation mechanism 200 can be various types including electrically powered, air driven, pneumatically powered, and hydraulically powered. In Figure 2 In one embodiment, as shown, oscillation mechanism 200 converts rotational motion to linear motion.

[0047] The motor 114 rotates the rotor 202. The rotor 202 can be various sizes. In an embodiment where the rotor 202 is configured to rotate in a full circle to produce the reciprocating motion 124, the radius of the rotor 202 can determine the amplitude of the reciprocating motion 124. The rotary joint 204 can connect the rotor 202 to the actuator rod 208 as the rotor 202 is rotated by the motor 114. The actuator rod 208 can be guided by the slider 210, which fixes one end of the actuator rod 208 to travel in a straight path. If the rotor 202 rotates in a full circle, the radius of the rotary joint 204 that rotates around the rotor 202 can determine the amplitude of the reciprocating motion 124. In various embodiments, the motor 114 is a servo motor that finely controls the rotational position of the rotor 202. The servo motor can be configured to oscillate back and forth on an incomplete circle, which produces the reciprocating motion 124. The amplitude of the servo motor can be based on the start and end positions of the rotor 202 as the motor 114 oscillates between the start and end positions.

[0048] The oscillation mechanism 200 can have a radius adjustment component 206 that can modify the radius of the rotary joint 204. In various embodiments, the rotor 202 rotates in a full circle in one direction to produce the reciprocating motion 124. The radius adjustment component 206 can adjust the amplitude of the oscillation by changing the radius of the rotary joint 204. The frequency can be adjusted by changing the rotational speed of the rotor 202. In various embodiments, the reciprocating motion 124 is produced by the precise back and forth motion of a servo rotor. The frequency is determined by the rate of the back and forth motion produced by the servo motor.

[0049] Referring to Figure 3 , Figure 3 is an illustration of a rest 300 for the reciprocating medical device 102. The rest 300 can be shaped to rest or support various body parts. Figure 3 The rest 300 shown in FIG. 1 1 is shaped to support the heel of the foot. In various embodiments, the rest 300 can be shaped to support other body parts, such as the hand, head, and shoulder. Multiple rests 300 can be used together in one reciprocating medical device 102. Figure 9 The illustration shown in FIG. 12 shows two rests 300 being used in one reciprocating medical device 102.

[0050] In Figure 3In the embodiment shown in FIG. 3, the rest 300 is shaped to allow the heel of the foot to rest in a heel cradle 310 having a quarter-tube shape. A pair of ridges 320 are higher than the heel cradle 310. The pair of ridges 320 and the heel cradle 310 provide support for the heel of the foot while allowing the foot to rotate about the ankle. The pair of ridges 320 are aligned on the side of the rest 300 facing the foot when the heel rests in the heel cradle 310. The pair of ridges 320 do not completely enclose the side of the foot, which allows the foot to have free lateral movement.

[0051] The heel cradle 310 provides support for the heel of the foot against gravity when the heel rests in the rest. The curved heel stop 340 of the rest 300 is curved so that it provides support against gravity and transmits the reciprocating motion 124 from the reciprocating medical device 102. The reciprocating medical device 102 transmits the reciprocating motion 124 in the foot to the center of mass direction of the individual 103. The bottom of the curved heel stop 340 supports the heel against gravity, while the upper portion of the curved heel stop 340 transmits the reciprocating motion 124 to the foot. The midfoot support 330 is above the curved heel stop 340.

[0052] The midfoot support 330 transmits the force of the reciprocating motion 124 from the reciprocating medical device 102 to the foot. The quarter-tube and the pair of ridges 320 provide a pocket for the foot to be placed on the rest 300 while allowing the foot to move freely in all directions. The pair of ridges 320 are aligned on the side of the rest 300 from the heel cradle 310 to the curved heel stop of the midfoot support 330. The quarter-tube shape of the rest 300 can be on the entire side of the rest 300 facing the foot, as shown in FIG. 3, or only on the heel cradle, the curved heel stop, the midfoot support, any combination thereof, or as shown in FIG. 4. Figure 3

[0053] The rest 300 can be shaped to support body parts other than the foot. In one embodiment, the rest 300 can be shaped to apply the reciprocating motion 124 to the back of the individual 103. The rest 300 that supports the back can be shaped so that the individual 103 can lean against the rest 300 when the rest 300 transmits the reciprocating motion 124 in the direction from the back to the chest. In an exemplary embodiment, the rest 300 can be shaped to support the hand. Similar to the shape of the rest 300 shown in FIG. 3, which transmits the reciprocating motion 124 through the heel of the foot, the rest 300 can transmit the reciprocating motion 124 through the palm of the hand. Figure 3

[0054] Referring to Figure 4 , Figure 4 ​​is an illustration 400 of interstitial fluid 402 between cells 404 in a tissue on an individual. The interstitial fluid 402 is the fluid that exists between the cells 404. The interstitial fluid 402 is derived from the fluid that is pumped through the bloodstream and then through the capillary wall 408 of the capillary 406.

[0055] The interstitial fluid 402 transports nutrients to the cells 404 and removes waste. The body cleanses itself through the flow of the interstitial fluid 402. In addition, immune cells such as macrophages, B-lymphocytes, and dendritic cells travel through the interstitial fluid 402 to look for foreign proteins, bacteria, and viruses. The inflammatory response changes the permeability of the capillary wall 408 so that more fluid seeps through the capillary wall into the tissue. This includes excess fluid caused by an inflammatory response such as a wound, infection, or allergic reaction.

[0056] Inflammation is an excess of interstitial fluid 402 in a tissue. Therefore, the movement of the interstitial fluid 402 will have an impact on inflammation. Whether the cause is trauma or infection, damaged tissue releases proteins as a signal to other parts of the body, triggering an inflammatory response. The inflammatory response is modulated by the sympathetic nervous system that reacts to oscillatory movement. In particular, a surface-stimulated sympathetic nervous system can suppress inflammation. Therefore, the oscillatory movement delivered to the body by the reciprocating medical device 102 can stimulate the sympathetic nervous system and thus reduce inflammation. The reciprocating medical device 102 can also adjust the oscillatory movement based on feedback from the medical sensor 130 to optimize the effect on the sympathetic nervous system to control inflammation. It can also adjust the oscillatory movement based on feedback from the medical sensor 130 to optimize the stimulation of the parasympathetic nervous response.

[0057] Reference is made to Figure 5 , Figure 5 is an illustration 500 of the interconnectivity of the interstitial fluid 502 with the capillary 516 and the lymphatic system. Blood is pumped in the circulatory system through arteries 512, and as the blood flows through the capillary 516, fluid leaves the capillary 516, which here moves between the tissue and cells and is referred to as interstitial fluid. The rest of the blood is pumped out through veins 514.

[0058] As described above, the interstitial fluid holds the cells 510 in the tissue. The interstitial fluid 502 then flows into the capillary lymphatics 504 and lymphatic vessels 506, which here are referred to as lymph. While the interstitial fluid 502 is in the tissue and between the cells, it does not have the contraction of the heart or the vessel muscle wall to push it into the lymphatic system. Instead, the interstitial fluid can circulate in response to muscle contractions and body movements.

[0059] The reciprocating medical device 102 applies oscillatory forces to the interstitial fluid 502 to promote its more rapid circulation into the lymphatic system. By moving the interstitial fluid 502, the reciprocating medical device 102 can clear proteins that initiate an inflammatory reflex and possibly reduce inflammation associated therewith. In addition, some proteins in the damaged tissue produce signals that communicate with nearby cells and trigger those cells to begin dividing. This initiates healing of the damaged tissue. These healing-initiating proteins can circulate more rapidly in response to the oscillatory motion. Clinical studies using the reciprocating medical device 102 have shown that healing is accelerated when patients are moved at specific combinations of frequency and amplitude.

[0060] Referring to Figure 6 , Figure 6 is an illustration 600 of the lymphatic system in an individual. The interstitial fluid is called lymph as it flows through the lymphatic system. Lymph can contain immune cells, apoptotic cells, proteins, infectious organisms, and antigens. Pressure gradients control the movement of lymph through lymph vessels 602 and lymphatic ducts 604. In addition, muscle contractions and body movements can promote lymph flow. Various valves in the lymphatic system prevent backward flow of lymph and promote forward flow of lymph into the blood circulation.

[0061] Studies on mice and dogs have shown that lymphatic pumping increases lymph flow. Lymphatic pumping can include manual compression of specific body areas. For example, lymphatic pumping can include compressing a body area at a rate of 20 to 30 compressions for 2 to 5 minutes. Lymphatic pumping treatments on humans have shown positive effects in fighting infections.

[0062] The reciprocating medical device 102 can similarly promote lymph flow in the lymphatic system. Like lymphatic pumping, the oscillatory motion of the reciprocating medical device 102 can promote movement of lymph through the lymphatic system, which can aid in healing and help fight infections. In addition, by tuning to a preferred frequency and amplitude, the reciprocating medical device 102 automatically optimizes the oscillatory motion for best results.

[0063] Referring to Figure 7A , Figure 7A is a flowchart 700 of a process for tuning the reciprocating action 124 to an optimal frequency for an individual 103. The optimal frequency for the individual 103 can be the frequency of back-and-forth motion that requires the least force to maintain. In various embodiments, the optimal frequency is based on physiological responses from the individual and deviates from the frequency that requires the least force to maintain. At step 705, the reciprocating medical device 102 can oscillate a pad in contact with a body part of the individual 103 by the oscillatory mechanism 104. The pad can be the pad 108 or a different pad. The pad can be in contact with the individual 103 at step 705 by being placed on the individual 103 or by being worn by the individual 103. Figure 3The oscillation mechanism 104 can transmit the reciprocating motion 124 to the rest of the individual 103 through the cushion and the body part. The reciprocating motion 124 can mimic the motion induced by a human practitioner such as a massage therapist. Just as a human practitioner adjusts the treatment of the individual 103, the reciprocating medical device 102 adjusts the reciprocating motion 124 of the individual 103 based on the individual 103.

[0064] At step 710, the reciprocating medical device 102 can dynamically change the oscillation frequency by the oscillation mechanism 104 based on feedback from the sensors. The oscillation mechanism 104 can adjust the frequency to the optimal frequency of the back-and-forth motion of the individual 103. The optimal frequency of the back-and-forth motion can be found by measuring the feedback from the sensors while the individual 103 is oscillated back and forth. The feedback sensor 116 can measure the force exerted by the cradle 120 on the individual 103. Similarly, the medical sensors 130 can measure physiological responses in the individual. The frequency control module 112 can determine the optimal frequency based on the measurements from the feedback sensor 116 and the one or more medical sensors 130.

[0065] At step 715, the reciprocating medical device 102 can dynamically change the oscillation amplitude by the oscillation mechanism 104 based on feedback from the sensors. Similar to the oscillation frequency, the oscillation mechanism 104 can modify the oscillation amplitude based on feedback from the sensors. The amplitude control module 110 can adjust the amplitude based on the measurements from the feedback sensor 116 and the one or more medical sensors 130.

[0066] Reference Figure 7B , Figure 7B is a flowchart 750 of a process for adjusting the reciprocating motion 124 to the optimal frequency of the individual 103. At step 755, the reciprocating medical device 102 can oscillate one or more body parts on the individual 103. In one embodiment, the reciprocating medical device 102 can oscillate the two feet of the individual 103. If the legs of the individual 103 are extended, the oscillation can be transmitted through the feet and the locked knees to the hips, and ultimately to the head as the entire body moves. In various embodiments, the reciprocating medical device 102 can oscillate a body part of the individual 103 other than the feet.

[0067] At step 760, the reciprocating medical device 102 can adjust the oscillation amplitude to maintain pressure on one or more body parts within a range. The pressure on the one or more body parts can be measured by a feedback sensor 116, which can be a force gauge or the like. In one embodiment, the amplitude control module 110 of the oscillation mechanism 104 can adjust the peak and trough of the amplitude separately. The peak is the point in the oscillation that is closest to the individual 103. The trough is the point in the oscillation that is farthest from the individual 103. In various embodiments, the peak and trough are modified together by a single mechanism.

[0068] Because the peak is the point closest to the individual 103, the peak is likely to be the highest pressure point measured by the feedback sensor 116 when the individual 103 is not oscillating. However, the peak can not always have the highest pressure point in the oscillation, as different oscillation frequencies can produce different results. The peak can be set in various ways. In one implementation, the peak is set at the point where the feedback sensor measures the maximum pressure. Similarly, the trough can be the lowest pressure point measured by the feedback sensor 116 when the individual 103 is not oscillating. The trough can be set at the point where the feedback sensor 116 measures the minimum pressure. The maximum and minimum pressures can be set in various ways. In one implementation, the maximum pressure is set to the average pressure exerted when the individual 103 is pushed 1 cm without oscillation. The minimum pressure can be set to half of the maximum pressure.

[0069] At step 765, the reciprocating medical device 102 can adjust the oscillation frequency to minimize the variation in pressure exerted on one or more body parts. Similar to the amplitude, the oscillation frequency can be adjusted based on measurements from the feedback sensor 116. The feedback sensor 116 can measure pressure in various ways, such as spring displacement. The oscillation frequency can be adjusted based on various criteria to find the optimal oscillation frequency for the individual 103. In one embodiment, the frequency can be adjusted to the frequency at which the pressure variation measured by the pressure measurement deviation of the feedback sensor is lowest over one oscillation. In an exemplary embodiment, the oscillation frequency is adjusted to the frequency at which the total pressure during oscillation is lowest. In various embodiments, the reciprocating medical device 102 can determine the frequency and amplitude at which the individual naturally oscillates, and then further adjust the frequency and amplitude based on measurements from one or more medical sensors 130.

[0070] Reference Figure 8 , Figure 8 is an illustration 800 of the feet 802 of an individual 103 leaning against a rest 805 of the reciprocating medical device 102, which can be shaped to rest various body parts. Figure 8The cradles 805 shown in the middle are shaped to cradle the hindfoot and midfoot of the foot 802. The bottom of the midfoot contacts the midfoot support 810. The midfoot support 810 transmits the reciprocating motion 870 to the foot 802 by pushing on the bottom of the foot 802. The heel of the foot 802 is supported by the heel rest 820 when the heel points toward the ground.

[0071] In various embodiments, the individual 103 lies down and rests their heels in a pair of cradles 805. Each cradle 805 only partially covers the sides of the foot 802, allowing the foot 802 to freely turn left and right by rotating about the ankle. The cradles 805 can oscillate in a back-and-forth reciprocating motion 870 when the individual 103 lies in the cradles 805 with one or both feet. The reciprocating motion 870 can be divided into a push motion and a pull motion. The cradles 805 transmit the force 830 of the push motion through the bottom of the foot. The push motion can cause the body to be pushed in the foot-to-head direction. The skin of the individual 103 that is in contact with the horizontal surface can resist movement as the rest of the body moves. In various embodiments, the pull motion does not transmit any force to the foot 802. However, the force 860 of the body can keep the foot 802 in contact with the cradle 805 during the pull motion. The body can follow the cradle 805 as it is pulled away from the body during the pull motion, even though the cradle 805 does not transmit a pulling force to the foot 802.

[0072] The force 840 of the push motion can be counteracted by the force of gravity 850 pushing upward from the heel rest 820. The force of gravity 850 can push the rest of the body to create a frictional force of the body against the horizontal surface on which the individual 103 lies. This frictional force can prevent the individual 103 from sliding due to the force 830 of the push motion. Due to the frictional force that prevents the body from sliding, the force 860 of the body resists the push motion and pushes the body toward the cradle 805 during the pull motion.

[0073] Due to the fact that each body is different, the force and distance that the body can be pushed toward the cradle 805 during the pull motion can vary. Likewise, some bodies can be able to resist the motion more than others during the push motion. For these reasons, the ideal frequency and amplitude of the reciprocating motion 870 can be different for each individual 103. The reciprocating medical device 102 can determine the ideal frequency and amplitude by measuring the contact force 830 between the foot 802 and the cradle 805 and adjusting the frequency and amplitude based on the contact force.

[0074] References Figure 9 , Figure 9This is an illustration of an embodiment of a support 900 for supporting two feet 902 in a reciprocating medical device. In various embodiments, the support 900 supports body parts by allowing them to rest against it. In an exemplary embodiment, the support 900 may be a pad-like object that presses against the body parts. Figure 9 In the illustrated embodiment, the support 900 is configured to allow two feet to rest by placing the heels of the feet in the heel rest 310 of the support 900. In various embodiments, the support 900 may be configured to support the back of the individual 103 when the individual 103 rests against the support 900.

[0075] Support 900 can be attached to actuator rod 118, which transmits reciprocating motion 124 to support 900. For example... Figure 9 As shown, in Figure 9 A transparent platform 908, used to display a more complete view of the support 900, provides a connection point for the foot support 904. An actuator rod 118 can also be connected to the platform 908. The actuator rod 118 is part of an actuator that provides thrust and pull for the reciprocating motion 124.

[0076] When the oscillation mechanism 104 transmits the reciprocating motion 124 to the support 900 via the actuator rod 118, the support 900 can move back and forth together with the actuator rod 118. The platform 908 allows the motion of the actuator rod 208 to be transmitted to objects connected to the platform 908. For example... Figure 9 As shown, platform 908 is connected to two foot supports 904. Foot supports 904 are connected to platform 908 via accommodating rods 906. Accommodating rods 906 can be configured to connect foot supports 904 at various angles, independent of the angle of platform 908. For example, accommodating rods 906 can connect foot supports 904 to platform 908 such that feet 902 resting in foot supports 904 can point their toes in a direction comfortable for individual 103. Accommodating rods 906 can be flexible and allow restricted movement deviating from the movement of actuator rods. In various embodiments, accommodating rods 906 only allow deviations from movement perpendicular to actuator rods. This deviation can cause foot supports 904 to move in an elliptical motion rather than a linear motion when the actuator oscillates.

[0077] In an exemplary embodiment, the compliant rod 906 may be made of a material that allows only linear bending of the compliant rod 906. For example, the compliant rod 906 may bend only along an axis extending along the length of the compliant rod 906. Furthermore, the flexibility of the compliant rod 906 may vary between individual compliant rods 906. Therefore, the permissible deviation of the compliant rod 906 can be limited based on the arrangement and flexibility of individual compliant rods 906.

[0078] like Figure 9As shown, the foot rest 904 allows the individual's 103 feet to move freely side to side and pull away from the foot rest 904. The foot rest 904 can partially enclose the sides of the feet 902 to provide stability to the individual 103. However, despite the sides of the foot rest 904 partially enclosing the sides of the feet 902, the individual's 103 feet 902 can still move freely side to side.

[0079] The foot rest 904 is configured to comfortably provide a reciprocating push to the feet 902. The actuator rod 118 can push the platform 908 such that the push is transmitted in a direction from the feet 902 to the head. The actuator rod 118 can also pull the platform such that the foot rest 904 is pulled away from the feet 902. However, the feet 902 are not pulled by the foot rest 904. Rather, the tendency of the individual's 103 body to stay in one place when the individual 103 is on a horizontal surface can cause the feet 902 to follow the foot rest 904 when the foot rest 904 is pulled away from the feet 902.

[0080] The rest 900 can be shaped to rest various body parts besides the feet 902. For example, the rest 900 can be shaped to provide a reciprocating motion 124 to the back of the individual's 103 hips when the individual 103 is in a seated position. In this example, the rest 900 can be a flat pad that comfortably provides a pushing motion to the individual's 103 hips. Similar to the way the individual's 103 feet 902 follow the foot rest 904 when the foot rest 904 is pulled away from the feet 902, the individual's 103 hips can follow the rest 900 when the rest 900 is pulled away from the hips.

[0081] Reference Figure 10 , Figure 10 is an illustration 1000 of a reciprocating medical device 102 that can transmit a reciprocating motion 124 to an individual 1002. The reciprocating medical device 102 can have an oscillating mechanism 1004 that oscillates to create a reciprocating motion 1012 in the individual 1002. The oscillating mechanism 1004 can convert oscillatory rotations to linear oscillations. The oscillating mechanism can be connected to an actuator rod 1006 that transmits the oscillations in a linear direction 1010. As Figure 10 shown, the actuator rod 1006 transmits the oscillations in a direction 1010 from the feet to the head of the individual 1002 when the individual 1002 is lying on a horizontal surface 1014.

[0082] The actuator rod 1006 transmits the reciprocating motion 1012 to a rest 1008. The rest 1008 can rest various body parts. As Figure 10As shown, the support 1008 is supporting the feet of the individual 1002. As the support 1008 pushes the individual 1002 in the direction 1010 from the feet to the head of the individual 1002, the force from the reciprocating medical device 102 is transmitted to the feet of the individual 1002. If the knees of the individual 1002 are locked as shown, the pushing force from the support 1008 can propagate through the body of the individual 1002 to push the head of the individual 1002 in the direction 1010 from the feet to the head. Figure 10 If the knees of the individual 1002 are locked as shown, the pushing force from the support 1008 can propagate through the body of the individual 1002 to push the head of the individual 1002 in the direction 1010 from the feet to the head.

[0083] The feedback sensors 116 can be in various parts of the reciprocating medical device 102. The feedback sensors 116 can be force gauges in the support 1008, whereby the feedback sensors 116 can measure the contact force between the feet and the support 1008. Alternatively, the feedback sensors 116 can be in the oscillating mechanism 704, whereby the feedback sensors can measure the force with which the actuator lever 1006 pushes the support 1008. In various embodiments, one or more medical sensors 130 provide physiological measurements of the individual 1002 to the reciprocating medical device 102.

[0084] The controller 106 can adjust the amplitude and frequency of the oscillating mechanism 1004 based on the measurements of the feedback sensors 116 and / or the medical sensors 130. In various embodiments, the oscillating mechanism 1004 produces the reciprocating action 1012 by repeatedly rotating the rotor 202 in one direction. In an exemplary embodiment, the oscillating mechanism 1004 produces the reciprocating action 1012 by repeatedly reversing the rotation of the rotor 202. During one oscillation, the controller 106 can adjust the frequency to minimize the force measured by the feedback sensors 116. The controller 106 can adjust the amplitude to keep the force measured by the feedback sensors 116 within a minimum and maximum range during one oscillation. The frequency and amplitude of the reciprocating action 1012 can be adjusted by the controller 106 using various other criteria, such as physiological measurements from one or more medical sensors 130.

[0085] The horizontal surface 1014 can be various objects or materials. Ideally, the horizontal surface 1014 is comfortable for the individual 1002 to lie on as the reciprocating action 1012 is transmitted to the individual 1002. The horizontal surface can affect the optimal frequency of the individual 1002 because the horizontal surface provides a frictional force that allows the individual 1002 to return to the individual's 1002 initial position after the reciprocating medical device 102 pushes the individual 1002.

[0086] Reference is made to Figure 11 , Figure 11is a block diagram of a computer system 1100 that can be implemented in various embodiments of a controller 106 for a reciprocating medical device 102. The controller 106 determines the amplitude and frequency of the oscillating mechanism 1110 based on measurements from a feedback sensor 1112. The controller 106 can be a stand-alone computer system 1100, can be co-located, can be a cloud-based computer system 1100, and the like.

[0087] The computer system 1100 can include a bus 1102. The bus 1102 connects the various components of the computer system 1100 so that the components can communicate with one another. The computer system 1100 can include a processor 1104 connected to the bus 1102. The processor 1104 performs calculations and executes instructions transferred to the processor 1104. The processor 1104 can be an integrated circuit such as a central processing unit (“CPU”). Instructions are transferred to the processor 1104 by a memory 1106 over the bus 1102. After the processor 1104 executes the instructions, the executed instructions are transferred back to the memory 1106. In this way, the memory 1106 handles all data transferred to and from the processor 1104. Various types of memory 1106 are random access memory (“RAM”) and read-only memory (“ROM”).

[0088] The memory 1106 can send instructions that, when executed, operate the oscillating mechanism 1110. The instructions sent to the oscillating mechanism 1110 by the memory 1106 can have been processed by the processor 1104. The oscillating mechanism 1110 can start, stop, change the frequency, and change the amplitude of the reciprocating action 124 produced by the oscillating mechanism 1110. The memory 1106 can also receive measurements from the feedback sensor 1112. The memory 1106 can pass the measurements from the feedback sensor 1112 to the processor 1104. The processor 1104 can process the measurements and create instructions that are sent back to the memory 1106. The memory 1106 can pass the processed instructions to the oscillating mechanism 1110 to modify the operation of the oscillating mechanism 1110 or leave the operation of the oscillating mechanism 1110 unchanged. The memory 1106 and the processor 1104 can perform a program that finds the optimal frequency for the individual 103 based on the measurements from the feedback sensor 1112. Similarly, the memory 1106 and the processor 1104 can perform a program that determines the ideal amplitude for the individual 103. The computer system 1100 can be configured so that the individual 103 can manually set the frequency and the amplitude. Alternatively, the individual 103 can limit the frequency and the amplitude at which the oscillating mechanism 1110 can operate.

[0089] Various embodiments of the subject matter disclosed can be made. All of the various embodiments are intended to be included within the scope of the disclosed subject matter. The various embodiments described herein can be implemented in a number of ways. The description of the various embodiments is not to be interpreted as a limitation on the disclosed subject matter. Rather, the scope of the disclosed subject matter shall be governed by the following claims.

Claims

1. A medical device comprising: a holder capable of holding one or more body parts of an individual; an oscillation mechanism capable of imparting an oscillatory force to the holder; one or more sensors providing information about the individual; one or more compliant components connecting the holder and configured to allow movement of the one or more body parts that deviates from a direction of oscillatory motion; wherein the oscillation mechanism is capable of dynamically changing an oscillation frequency based on feedback from the one or more sensors; and wherein the oscillation mechanism dynamically changes an oscillation amplitude based on feedback from the one or more sensors; wherein the feedback from the one or more sensors includes a contact force between the individual and the oscillation mechanism; wherein the oscillation mechanism is configured to adjust the oscillation frequency to minimize the contact force between the individual and the oscillation mechanism; and wherein the one or more compliant components are a plurality of flexible compliant rods, the holder includes a platform and two foot holders, the foot holders are connected to the platform by a plurality of compliant rods, the plurality of compliant rods are configured to connect the foot holders at a plurality of angles.

2. The medical device of claim 1, wherein, The one or more compliant components are configured to allow the one or more body parts to deviate from oscillatory movement along a direction perpendicular to the oscillatory motion direction, such that the foot holders move in an elliptical motion.

3. The medical device of claim 1, wherein, The feedback further includes one or more physiological measurements of the individual from one or more medical sensors.

4. The medical device of claim 1, wherein, The oscillation mechanism automatically adjusts the oscillation amplitude to maintain contact with the individual as the oscillation mechanism oscillates.

5. The medical device of claim 1: wherein the one or more compliant components are shaped to support a heel of one or both feet; and wherein the one or more compliant components allow the one or both feet to freely rotate about an ankle of the one or both feet while the one or both feet are supported by the one or more compliant components.

6. The medical device of claim 5, wherein the one or more compliant components are configured to allow the foot to deviate from a direction of oscillatory motion.

7. The medical device of claim 6: wherein the oscillation mechanism is a linear actuator; the one or more sensors include a force feedback sensor located on the linear actuator; and the one or more sensors further include one or more medical sensors that measure a physiological response in the individual.

8. The medical device of claim 5, wherein, The force imparted from the oscillation mechanism is directed in a direction from the one or both feet of the individual through a center of mass of the individual.

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