Methods and apparatuses for partial relief system

Abstract

To provide apparatuses and methods for supporting the body weight of a patient during gait therapy.SOLUTION: A partial relief system includes a tether configured to be coupled to an attachment device worn by a user to couple the user to the partial relief system. A method of providing gait training includes: defining a reference length of the tether when the attachment device is in an initial position; and defining a threshold length of the tether. A first amount of partial relief is provided during the gait training as the user moves relative to a surface and the length of the tether is less than the threshold length. A second amount of partial relief is provided during the gait training as the user moves relative to the surface and the length of the tether is greater than the threshold length. The method further includes displaying data associated with the gait training on a display of an electronic device.SELECTED DRAWING: Figure 77

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[1001] This application is a direct result of U.S. Provisional Patent Application No. 62 / 458,648, filed February 14, 2017, entitled “Methods and Methods for Promoting and Combining Electrochemical Signals,” the disclosure of which is incorporated herein by reference in its entirety. This application claims priority to and benefit of "Civil Ware and Apparatus for Body Weight Support System."

[0002]

[1002] This application is the subject of U.S. Patent No. 9,682,000, filed Jan. 20, 2013, entitled “Methods and Methods for Producing and Handling Microorganisms,” the disclosures of which are each incorporated herein by reference in their entirety. No. 9,855,177, filed on March 26, 2014, entitled "Methods and Apparatus for Body Weight Support System," which is a continuation-in-part of U.S. Patent Publication No. 2015 / 0143627, filed on February 3, 2015, entitled "Methods and Apparatus for Body Weight Support System." [Background technology]

[0003]

[1003] FIELD OF THE DISCLOSURE Embodiments described herein relate to devices and methods for supporting a user's body weight, more particularly, embodiments described herein relate to devices and methods for supporting a user's body weight during gait therapy.

[0004]

[1004] Successfully providing intensive but safe gait therapy to individuals with severe walking impairments can present a challenge to skilled therapists. In the acute phase of many neurological injuries such as stroke, spinal cord injury, traumatic brain injury, or the like, individuals often exhibit very unstable walking patterns and low endurance, making gait difficult to safely practice for both the user (e.g., patient) and therapist. For this reason, rehabilitation centers often transfer level gait training to treadmills where a body-weight support system can help minimize falls while increasing the intensity of training.

[0005]

[1005] In some instances, partially weight-supported treadmill training can promote increases in walking capacity similar to or even greater than traditional walking training. Unfortunately, there are few systems to transition patients from training on a treadmill to safe weight-supported level-ground walking training. Furthermore, because the primary goal for most individuals with walking disorders is to walk in their homes and communities rather than on a treadmill, it is often desirable for therapeutic interventions targeting walking to include level-ground walking training (e.g., not on a treadmill).

[0006]

[1006] Some known support systems involve training individuals with gait disorders on a smooth, flat surface. However, some systems significantly hinder the therapist from interacting with the patient, particularly the patient's lower leg. For patients who require partial support to stabilize the knee and / or hip, or who require help propelling the leg, these systems present a significant barrier between the patient and the therapist.

[0007]

[1007] Some known ambulatory support systems are configured to provide static unloading to a patient supported by the system. The length of the shoulder straps supporting the patient is set to a fixed length such that the patient is either bearing substantially all of their weight when the straps are slack and bearing substantially no weight when the straps are taut. Static unloading systems have been shown to result in abnormal ground reaction forces and altered muscle activation patterns in the lower extremities. Additionally, static unloading systems impede vertical displacement of the patient, which can impede some forms of balance and posture therapy when a large range of motion is required. As a result, some known systems are unable to lift the patient from a wheelchair to a standing position, thereby limiting the use of the system to individuals who are not wheelchair-bound (e.g., patients with mild to moderate walking disorders).

[0008]

[1008] In some known static support systems, there may be limitations on the amount of partial unloading. In such systems, the partial unloading is adjusted before a training session begins and remains substantially fixed at that level during training, rather than being continuously modulated. Furthermore, the amount of unloading cannot be adjusted continuously, requiring the operator to manually adjust the system.

[0009]

[1009] In other known systems, a patient may be supported by a passive trolley and rail system configured to support the patient while the patient physically pulls the trolley along an overhead rail during gait therapy. Although the trolley may have relatively little mass, the patient may feel the presence of that mass. Thus, rather than being able to focus on balance, posture, and walking ability, the patient may have to compensate for the mechanics of the trolley. For example, on a smooth, flat surface, if the subject were to suddenly stop, the trolley may continue to move forward, potentially destabilizing the subject and thereby resulting in an abnormal compensatory gait strategy that may persist when the subject is removed from the device.

[0010]

[1010] Some known level ground support systems include a motorized trolley and rail system. In such known systems, the motorized trolley may be relatively bulky, which may impose height limitations on the system. For example, in some known systems, there may be a maximum suitable height for effective support of a patient. In some known systems, a minimum ceiling height may be required in order for the system to support patients of varying heights.

[0011]

[1011] As the trolley is motorized and programmed to follow the subject's movements, the mechanism and overall system dynamics may result in a significant delay in the system's response such that the patient feels that he or she is pulling a heavy and bulky trolley to move. Such system behavior may destabilize a patient with disabilities while walking. Furthermore, some known motorized systems include thick bundles of power and / or control cables to power and control the trolley. Such cable bundles present significant challenges in routing and managing as well as reducing trolley traffic. For example, in some known systems, the cable bundles are arranged in a bellows configuration such that the cable bundles contract when the trolley moves toward the power source and expand when the trolley moves away from the power source. In this manner, trolley traffic is limited by the space occupied by the contracted cable bundle. In some instances, the cable bundles constitute a changing inertia that presents significant challenges in the performance of the control system and thus may reduce the effectiveness of the entire motorized support system.

[0012]

[1012] Therefore, a need exists for improved devices and methods for supporting a patient's weight during gated therapy. Summary of the Invention

[0013]

[1013] Apparatus and methods for supporting a patient's body weight during gait therapy are described herein. In some embodiments, a method of using a partial support system to provide partial support during gait training includes defining a reference length of a tether included in the partial support system. The tether is configured to be coupled to a connection device worn by a user to couple the user to the partial support system. A reference length of the tether is defined when the connection device is in an initial position. A threshold length of the tether is defined. A first amount of partial support is provided during gait training when the user moves relative to the surface and the length of the tether is less than the threshold length of the tether. A second amount of partial support is provided during gait training when the user moves relative to the surface and the length of the tether is greater than the threshold length of the tether. The method further includes displaying data related to the gait training on a display of an electronic device included in the partial support system. [Brief description of the drawings]

[0014] [Figure 1]

[1014] A schematic diagram showing a partial relief system according to one embodiment. [Diagram 2]

[1015] A perspective view showing a partial relief system according to one embodiment. [Diagram 3]

[1015] A perspective view showing a partial relief system according to one embodiment. [Figure 4]

[1016] Various perspective views of a trolley included in the partial relief system of Figure 2. [Diagram 5]

[1016] Various perspective views of a trolley included in the partial relief system of Figure 2. [Figure 6]

[1016] Various perspective views of a trolley included in the partial relief system of Figure 2. [Figure 7]

[1016] Various perspective views of a trolley included in the partial relief system of Figure 2. [Figure 8]

[1017] FIG. 5 is a top perspective view showing a housing contained within the trolley of FIG. [Figure 9]

[1018] FIG. 9 is an exploded view of the housing of FIG. [Figure 10] FIG. 1019 is an enlarged view of the trolley of FIG. 4 identified as region Z. [Figure 11]

[1020] FIG. 5 is a bottom perspective view showing the electronic system contained within the trolley of FIG. [Figure 12]

[1021] FIG. 5 is a perspective view showing a drive mechanism contained within the trolley of FIG. [Figure 13]

[1022] A perspective view showing a first drive assembly contained within the drive mechanism of Figure 12. [Figure 14]

[1022] A perspective view showing a first drive assembly contained within the drive mechanism of Figure 12. [Figure 15]

[1023] FIG. 14 is an exploded view of the first drive assembly of FIG. [Figure 16]

[1023] FIG. 14 is an exploded view of the first drive assembly of FIG. [Figure 17]

[1024] A perspective view showing a first support member, a second support member, and a third support member, each of which is included within the first drive assembly of Figure 13. [Figure 18]

[1024] A perspective view showing a first support member, a second support member, and a third support member, each of which is included within the first drive assembly of Figure 13. [Figure 19]

[1024] A perspective view showing a first support member, a second support member, and a third support member, each of which is included within the first drive assembly of Figure 13. [Figure 20]

[1025] FIG. 14 is an exploded view showing a drive wheel subassembly contained within the first drive assembly of FIG. [Figure 21]

[1026] FIG. 13 is a perspective view showing a secondary wheel subassembly included within the first drive assembly of FIG. [Figure 22]

[1027] FIG. 13 is a perspective view of a portion of the first drive assembly of FIG. 13 showing the secondary wheel subassembly of FIG. 21 coupled to the second support member of FIG. 18. [Figure 23]

[1028] FIG. 14 is a perspective view showing the first drive assembly of FIG. 13 in contact with a support track. [Figure 24]

[1029] A perspective view showing a second drive assembly contained within the drive mechanism of Figure 12. [Diagram 25]

[1030] FIG. 25 is an exploded view of the second drive assembly of FIG. [Figure 26]

[1031] FIG. 25 is a perspective view showing the second drive assembly of FIG. 24 in contact with the support track of FIG. 20. [Figure 27]

[1032] FIG. 10 is a perspective view showing a support mechanism and base contained within the housing of FIG. 8, both of which are contained within the trolley of FIG. [Figure 28]

[1033] FIG. 27 is a perspective view of the support mechanism of FIG. [Figure 29]

[1034] A perspective view showing a winch assembly contained within the support mechanism of Figure 27. [Diagram 30]

[1035] An exploded view of the winch assembly of Figure 29. [Diagram 31]

[1036] FIG. 27 is an exploded view showing a guide assembly contained within the support mechanism of FIG. [Diagram 32]

[1037] FIG. 28 is a perspective view of the support mechanism of FIG. 27 shown without the winch assembly of FIG. [Diagram 33]

[1038] An exploded view showing a cam assembly contained within the support mechanism of Figure 27. [Diagram 34]

[1039] A perspective view showing a patient connection mechanism according to one embodiment. [Diagram 35]

[1040] A perspective view showing a partial relief system according to one embodiment. [Diagram 36]

[1041] A cross-sectional view of the partial relief system of FIG. 35 taken along line XX. [Figure 37]

[1042] A schematic diagram showing a support system according to one embodiment. [Figure 38]

[1043] A perspective view showing a portion of a support system according to one embodiment. [Figure 39]

[1044] FIG. 39 is a perspective view of a push cart contained within the support system of FIG. [Diagram 40]

[1045] FIG. 40 is a cross-sectional view of a connecting member included in the stroller of FIG. 39 taken along line 40-40. [Diagram 41]

[1046] Top and bottom perspective views showing portions of a support system according to one embodiment. [Diagram 42]

[1046] Top and bottom perspective views showing portions of a support system according to one embodiment. [Diagram 43]

[1047] A perspective view showing a portion of a support system according to one embodiment. [Diagram 44]

[1048] FIG. 44 is a cross-sectional view of a stop mechanism included in the support system of FIG. 43 taken along line 44-44. [Diagram 45]

[1049] A schematic diagram showing an optical tracking system included within a support system according to one embodiment. [Figure 46]

[1049] A schematic diagram showing an optical tracking system included within a support system according to one embodiment. [Figure 47]

[1049] A schematic diagram showing an optical tracking system included within a support system according to one embodiment. [Figure 48]

[1050] A schematic diagram showing a control diagram according to one embodiment. [Figure 49]

[1051] A graph showing displacement of a patient's center of mass according to one embodiment. [Figure 50]

[1052] A graph showing operating conditions associated with a patient support mechanism in response to patient movement according to one embodiment. [Figure 51]

[1052] A graph showing operating conditions associated with a patient support mechanism in response to patient movement according to one embodiment. [Figure 52]

[1052] A graph showing operating conditions associated with a patient support mechanism in response to patient movement according to one embodiment. [Diagram 53]

[1052] A graph showing operating conditions associated with a patient support mechanism in response to patient movement according to one embodiment. [Figure 54]

[1053] A diagram showing a graphical representation of one or more operating conditions associated with an electrical stimulation device and / or a patient with a disability walking while using a partial support system according to one embodiment. [Figure 55]

[1054] A figure showing a graphical representation of a set of patient gait characteristics determined at least in part based on data relating to a partial unloading system and, for example, an electrical stimulation device, according to one embodiment. [Figure 56]

[1055] A screenshot of a display showing a graphical representation of data relating to a symmetry analysis of a patient's gait as determined at least in part by a partial unloading system, according to one embodiment. [Figure 57]

[1056] A screenshot of a display showing a graphical representation of data related to a patient's timed-up-and-go test, as determined at least in part by a partial unloading system, according to one embodiment. [Figure 58]

[1057] A screenshot of a display showing a graphical representation of data relating to a patient's timed-distance test, as determined at least in part by a partial unloading system, according to one embodiment. [Figure 59]

[1058] A screenshot of a display showing a graphical representation of data related to a fall prevention system included within and / or implemented by a partial support system, according to one embodiment. [Figure 60]

[1059] Screenshots of displays graphically depicting the portions of the fall prevention system shown in FIG. 59 in a first mode and / or configuration, a second mode and / or configuration, and a third mode and / or configuration, respectively. [Figure 61]

[1059] Screenshots of displays graphically depicting the portions of the fall prevention system shown in FIG. 59 in a first mode and / or configuration, a second mode and / or configuration, and a third mode and / or configuration, respectively. [Figure 62]

[1059] Screenshots of displays graphically depicting the portions of the fall prevention system shown in FIG. 59 in a first mode and / or configuration, a second mode and / or configuration, and a third mode and / or configuration, respectively. [Figure 63]

[1060] A screenshot of a display graphically illustrating the portion of the fall prevention system shown in FIG. [Figure 64]

[1061] Various screenshots of a display showing a graphical representation of data related to the use of a partial support system while a patient is using a treadmill, according to one embodiment. [Figure 65]

[1061] Various screenshots of a display showing a graphical representation of data related to the use of a partial support system while a patient is using a treadmill, according to one embodiment. [Figure 66]

[1061] Various screenshots of a display showing a graphical representation of data related to the use of a partial support system while a patient is using a treadmill, according to one embodiment. [Figure 67]

[1061] Various screenshots of a display showing a graphical representation of data related to the use of a partial support system while a patient is using a treadmill, according to one embodiment. [Figure 68]

[1061] Various screenshots of a display showing a graphical representation of data related to the use of a partial support system while a patient is using a treadmill, according to one embodiment. [Figure 69]

[1061] Various screenshots of a display showing a graphical representation of data related to the use of a partial support system while a patient is using a treadmill, according to one embodiment. [Figure 70]

[1062] A schematic diagram showing a portion of the support track, a portion of the power rail, and a turntable according to one embodiment. [Figure 71]

[1063] A schematic diagram showing a support system according to one embodiment. [Figure 72]

[1064] Each of the figures is a perspective view showing a portion of a power system according to a different embodiment. [Figure 73]

[1064] Each of the figures is a perspective view showing a portion of a power system according to a different embodiment. [Figure 74]

[1065] FIG. 10 is a front view, a side view, and a bottom view, respectively, showing a partial relief system according to one embodiment. [Figure 75]

[1065] FIG. 10 is a front view, a side view, and a bottom view, respectively, showing a partial relief system according to one embodiment. [Figure 76]

[1065] FIG. 10 is a front view, a side view, and a bottom view, respectively, showing a partial relief system according to one embodiment. [Figure 77] 1066] Each of the flowcharts illustrates a method for providing partial relief, according to a different embodiment. [Figure 78] 1066] Each of the flowcharts illustrates a method for providing partial relief, according to a different embodiment. [Figure 79] 1066] Each of the flowcharts illustrates a method for providing partial relief, according to a different embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015]

[1067] In some embodiments, a method of using a partial support system to provide partial support during gait training includes defining a reference length of a tether included within the partial support system. The tether is configured to be coupled to a connection device worn by a user to couple the user to the partial support system. A reference length of the tether is defined when the connection device is in an initial position. A threshold length of the tether is defined. A first amount of partial support is provided during gait training when the user moves relative to a surface and the length of the tether is less than the threshold length of the tether. A second amount of partial support is provided during gait training when the user moves relative to a surface and the length of the tether is greater than the threshold length of the tether. The method further includes displaying data related to the gait training on a display of an electronic device included within the partial support system.

[0016]

[1068] In some embodiments, a method of using a partial support system to provide partial support during gait training includes defining a reference length of a tether included in the partial support system. The tether is configured to be coupled to a connection device worn by a user to couple the user to the partial support system. A reference length of the tether when the connection device is in an initial position is defined. A first criterion related to a change in the length of the tether is defined, and a second criterion related to a change in the length of the tether is defined. An amount of partial support to provide in response to a user falling during gait training is defined. The method includes determining that a fall has occurred based on the first criterion and the second criterion being satisfied, and in response to the first criterion and the second criterion being satisfied, the amount of partial support is provided.

[0017]

[1069] In some embodiments, a method of using a partial support system to provide partial support during gait training includes defining a reference length of a tether included within the partial support system. The tether is configured to be coupled to a connection device worn by a user to couple the user to the partial support system. A reference length of the tether is defined when the connection device is in an initial position. A threshold length of the tether is defined. The threshold length of the tether is associated with the user falling during the gait training. A threshold number of falls during the gait training is defined. The method includes providing a predetermined amount of partial support during the gait training when the user moves relative to a surface and the number of falls is less than the threshold number of falls. In response to the threshold number of falls being satisfied during the gait training, the predetermined amount of partial support to provide to the user is increased. The method further includes displaying data related to the gait training on a display of an electronic device included within the partial support system.

[0018]

[1070] In some embodiments, the apparatus includes a trolley having a drive mechanism, a patient support mechanism, and an electronic system. The drive mechanism is configured to movably suspend the trolley from a support track. The drive mechanism includes a first sensor configured to sense an operating condition of the drive mechanism. The patient support mechanism includes a tether and a second sensor. The second sensor is configured to sense an operating condition of the patient support mechanism. The tether may be operably coupled to the patient such that the patient support mechanism supports the patient. The electronic system is configured to update an operating condition of at least one of the drive mechanism or the patient support mechanism in response to receiving a signal from the first sensor and a signal from the second sensor such that the patient support mechanism supports a predetermined amount of the patient's body weight.

[0019]

[1071] In some embodiments, the apparatus includes a drive mechanism, a patient support mechanism, and an electronic system. The drive mechanism is included in the trolley and configured to suspend the trolley from a support track. The drive mechanism includes a first sensor configured to sense an operating condition of the drive mechanism. The patient support mechanism is coupled to the trolley and includes a tether and a second sensor. The tether is configured to be operably coupled to the patient such that the patient support mechanism supports at least a portion of the patient's weight. The second sensor is configured to sense an operating condition of the patient support mechanism. The electronic system is included in the trolley and has at least a processor and a memory. The processor is configured to define a gait characteristic of the patient based at least in part on the signal received from the first sensor and the signal received from the second sensor.

[0020]

[1072] In some embodiments, the method includes receiving a signal associated with a first operating condition of at least one of the drive mechanism or the patient support mechanism. The patient support mechanism is coupled to the active trolley and configured to support a patient. The drive mechanism is coupled to the active trolley and configured to move the trolley along the support track in response to movement of the patient. A signal associated with a second operating condition of at least one of the drive mechanism or the patient support mechanism is received. A difference between the first operating condition and the second operating condition is determined. Based at least in part on the determination, a gait characteristic of a patient supported by the patient support mechanism is defined.

[0021]

[1073] In some embodiments, the method includes receiving a first signal from a first sensor. The first signal is related to an operating condition of a patient support mechanism included within the patient support system. The patient support mechanism includes a tether configured to tether a patient to the patient support mechanism such that the patient support system supports at least a portion of the patient's weight. A second signal is received from the second sensor. The second signal is related to an operating condition of a drive mechanism included within the patient support system. The drive mechanism is configured to (1) suspend the patient support system from a support track and (2) move along the support track in response to movement of the patient. At least one gait characteristic associated with the movement of the patient is determined based at least in part on the operating condition of the patient support mechanism and the operating condition of the drive mechanism. A third signal is sent to an output device. The third signal is indicative of instructions to output data associated with the at least one gait characteristic via the output device.

[0022]

[1074] In some embodiments, the system includes a first trolley and a second trolley movably suspended from a support track. The first trolley includes a patient connection mechanism configured to support a first patient. The first trolley is configured to move relative to the support track. The second trolley includes a patient connection mechanism configured to support a second patient. The second trolley is configured to move relative to the support track such that movement of the second trolley is independent of movement of the first trolley. A collision management assembly is configured to be coupled to one of the first trolley and the second trolley. The collision management assembly includes a bumper configured to prevent the first trolley from directly contacting the second trolley.

[0023]

[1075] In some embodiments, the apparatus includes a coupling portion and a trolley portion. The coupling portion is coupled to an end of the support track. The coupling portion includes a first member and a second member. The second member is maintained in a fixed position relative to the support track, and the first member is configured to move relative to the support track to transition the coupling portion between a first configuration and a second configuration. The trolley portion is movably suspended from the support track and coupled to an end of the first member. The trolley portion includes a bumper configured to be positioned in contact with a portion of the patient support system such that when the bumper contacts the portion of the patient support system and the patient support system moves along the support track toward the end, the trolley portion moves from a first position to a second position relative to the support track. The first member of the coupling portion is moved relative to the second member of the coupling portion when the trolley portion is moved from the first position to the second position, thereby placing the coupling portion in the second configuration. The trolley portion and the coupling portion collectively limit movement of the patient support system toward the end of the support track when the coupling portion is in the second configuration.

[0024]

[1076] In some embodiments, the apparatus includes a trolley, a patient connection mechanism, and a tracking member. The trolley is movably suspended from the support track. The trolley includes an electronic system having an imaging device. The electronic system is configured to control movement of the trolley along a length of the support track. The patient connection mechanism is coupled to the trolley and configured to support the patient as the patient moves from a first position to a second position. The tracking member is coupled to the patient connection mechanism and configured to be moved relative to the trolley from a first position associated with the first position of the patient to a second position associated with the second position of the patient. The imaging device of the trolley is configured to capture an image of the tracking member at the first position and an image of the tracking member at the second position, and the electronic system is configured to control movement of the trolley along the length of the support track based at least in part on the image of the tracking member at the first position and the image of the tracking member at the second position.

[0025]

[1077] In some embodiments, the partial unloading system includes a trolley, a power rail operably coupled to a power supply, and a patient connection mechanism. The trolley includes a drive train, a control system, and a patient support system. The drive train is movably coupled to the support rail. At least a portion of the control system is physically and electrically coupled to the power rail. The patient support mechanism is at least temporarily coupled to the patient connection mechanism. The control system can control at least a portion of the patient support mechanism based at least in part on a force applied to the patient connection mechanism.

[0026]

[1078] In some embodiments, the partial unloading system includes a closed-loop track, a powered conductor coupled to the closed-loop track, an actively controlled trolley, and a patient support assembly. The actively controlled trolley is movably suspended from the closed-loop track and electrically coupled to the powered conductor. The patient support assembly is coupled to the trolley and configured to dynamically support a body weight of a patient.

[0027]

[1079] In some embodiments, the partial relief device includes a housing, a drive element, a wheel assembly, and a patient support assembly, at least a portion of the drive element and at least a portion of the wheel assembly are disposed within the housing, the patient support assembly is coupled to the drive element and configured to dynamically support a body weight of the patient.

[0028]

[1080] As used herein, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, the term "a member" is intended to mean a single member or a combination of members, and "a material" is intended to mean one or more materials or combinations thereof.

[0029]

[1081] As used herein, the term "about" generally means ±10% of the stated value, for example, about 0.5 includes 0.45 and 0.55, about 10 includes 9 to 11, and about 1000 includes 900 to 1100.

[0030]

[1082] As used herein, the term "set" can refer to multiple features or a single feature having multiple portions. For example, when referring to a set of walls, the set of walls can be considered as one wall having multiple portions, or the set of walls can be considered as multiple separate walls. Thus, an integrally constructed item can include a set of walls. Such a set of walls can include multiple portions that are either continuous or discontinuous from one another. For example, an integrally constructed wall can include a set of detents. It can be said to form a set of walls. A set of walls can also be manufactured from multiple items that are made separately and then joined together (e.g., via welding, adhesive, or any suitable method).

[0031]

[1083] As used herein, the term "parallel" generally describes a relationship between two geometric structures (two lines, two planes, one line and one plane, or the like) that do not substantially intersect when the two geometric structures extend substantially to infinity. For example, as used herein, a line is said to be parallel to another line when the line does not intersect the line when the line extends to infinity. Similarly, when a flat surface (i.e., a two-dimensional surface) is said to be parallel to a line, all points along the line are substantially equally spaced from the nearest portion of the surface. Two geometric structures are described herein as "parallel" or "substantially parallel" to each other when they are nominally parallel to each other, e.g., when they are parallel to each other within a certain tolerance. Such tolerances include, for example, manufacturing tolerances, measurement tolerances, or the like.

[0032]

[1084] As used herein, the term "tension" refers to an internal force (i.e., stress) in an object in response to an external force that pulls the object axially. For example, an object having a mass suspended from a rope at one end and fixedly attached to a support at the other end exerts a force that puts the rope under tension. The stress in an object under tension can be characterized in terms of the cross-sectional area of ​​the object. For example, an object having a larger cross-sectional area is subjected to less stress than another object having a smaller cross-sectional area. The maximum stress acting on an object under tension prior to plastic deformation (e.g., permanent deformation such as necking and / or the like) is characterized by the tensile strength of the object. Tensile strength is an intensive property of (i.e., inherent to) the material of construction. Thus, the maximum amount of stress in an object under tension can be increased or decreased by forming the object from a material having a higher or lower tensile strength, respectively.

[0033]

[1085] As used herein, the term "kinematics" describes the motion of a point, object, or system of objects without considering the cause of the motion. For example, the kinematics of an object can describe translational motion, rotational motion, or a combination of both translational and rotational motion. When considering the kinematics of a system of objects, known mathematical equations can be used to describe the motion of an object relative to a plane or set of planes, an axis or set of axes, and / or one or more other objects included in the system of objects.

[0034]

[1086] As used herein, the terms "feedback," "feedback system," and / or "feedback loop" refer to a system in which past or present characteristics influence current or future actions. For example, a thermostat is said to be a feedback system in which the state of the thermostat (e.g., "on" or "off" configuration) depends on the temperature that is fed back to the thermostat. A feedback system may be, for example, a proportional-integral-derivative ( Feedback systems may include control schemes such as proportional-integral-derivative (PID) controllers. More specifically, the output of some feedback systems may be mathematically described by a sum of proportional, integral, and derivative terms. PID controllers are often implemented within one or more electronic devices. In such controllers, the proportional, integral, and / or derivative terms may be actively "tuned" to change the characteristics of the feedback system.

[0035]

[1087] Electronic devices often implement feedback systems to actively control the kinematics of a mechanical system to achieve and / or maintain a desired system state. For example, a feedback system may be implemented to control forces within a system (e.g., a spring-mass system and / or the like) by altering the kinematics and / or position of one or more components relative to any other components included within the system. More specifically, a feedback system may determine the current and / or past state (e.g., position, velocity, acceleration, force, torque, tension, power, etc.) of one or more components included within the mechanical system and return the past and / or present state values ​​to, for example, a PID control scheme. In some examples, the electronic device may implement any suitable numerical method or any combination thereof (e.g., Newton's method, Gaussian elimination, Euler's method, LU decomposition, etc.). Thus, based on the past and / or current state of one or more components, the mechanical system may be actively altered to achieve a desired system state.

[0036]

[1088] FIG. 1 is a schematic diagram of a partial support system 1000 according to one embodiment. The partial support system 1000 (also referred to herein as a "support system") includes at least a trolley 1100, a patient connection mechanism 1800 (also referred to herein as a "connection mechanism"), a power supply 1610, a powered conductor or rail 1620, and a control 1900. The support system 1000 may be used to support a patient having walking impairment caused by neurological damage, such as stroke, spinal cord injury, traumatic brain injury, or the like, in intensive ambulation therapy. In such an example, the support system 1000 may be used to support at least a portion of the patient's body weight to facilitate ambulation therapy. In another example, the support system 1000 may be used to simulate low gravity scenarios or the like, such as for astronaut training. In some embodiments, the support system 1000 may be used to support a patient on a treadmill or stairs instead of or in addition to supporting a patient across flat ground.

[0037]

[1089] The trolley 1100 included in the support system 1000 may be of any suitable shape, size, or configuration and may include one or more systems, mechanisms, assemblies, or subassemblies (not shown in FIG. 1 ) that may perform any suitable function, such as related to supporting at least a portion of a patient's body weight. The trolley 1100 may include at least a drivetrain 1300, a patient support mechanism 1500, and an electronic system 1700. In some embodiments, the drivetrain 1300 may be movably coupled to a support track (not shown in FIG. 1 ) and configured to move (e.g., slide, roll, or otherwise advance) along a length of the support track. The support track may be of any suitable shape, size, or configuration. For example, in some embodiments, the support track may be substantially straight or curved. In other embodiments, the support track may be a closed loop, such as, for example, a circle, an oval, an ellipse, a rectangle (e.g., with or without rounded corners), or any other suitable shape. In some embodiments, the support track can be a beam (e.g., an I-beam or the like) contained within a roof or ceiling structure from which at least a portion of the trolley 1100 can "hang" (e.g., at least a portion of the trolley 1100 can extend away from the beam). In other embodiments, at least one end of the support track can be coupled to a vertical wall or the like. In yet other embodiments, the support track can be contained within a freestanding structure, such as a gantry or A-frame.

[0038]

[1090] The drive train 1300 of the trolley 1100 may include one or more wheels configured to roll along a surface of the support track such that the weight of the trolley 1100 and a portion of the weight of a patient utilizing the support system 1000 (e.g., the patient is temporarily coupled to the trolley 1100 via a patient connection mechanism 1800, as described in further detail herein) are supported by the support track. Similarly stated, one or more wheels of the drive train 1300 may be adjacent to and disposed on a horizontal surface of the support track, such that the trolley 1100 may "hang" or be suspended from the support track. In other embodiments, the surface from which the trolley 1100 hangs need not be horizontal. For example, at least a portion of the support track may define a downward slope (and / or an upward slope), where a first end of the support track is disposed at a first height and a second end of the support track is disposed at a second height different from the first height. In such an embodiment, the trolley 1100 can hang from a surface of a support track parallel to a longitudinal centerline (not shown) of the trolley 1100. In such an embodiment, the trolley can be used to support a patient moving across incline / decline surfaces, climbing stairs, etc.

[0039]

[1091] In some embodiments, the trolley 1100 has or defines a relatively small profile (e.g., height) such that the space between the surface of the trolley 1100 and a portion of the patient can be large enough to allow the patient to move between a sitting and standing position, such as when the patient rises from a wheelchair. Furthermore, with the trolley 1100 suspended from the support track, the weight of the trolley 1100 and the weight of the patient utilizing the support system can increase friction (e.g., traction) between one or more wheels of the drivetrain and the surface of the support track from which the trolley 1100 is suspended. Thus, one or more wheels of the drivetrain 1300 can roll along the surface of the support track substantially without slipping.

[0040]

[1092] In some embodiments, the trolley 1100 can be motorized. For example, in some embodiments, the trolley 1100 can include one or more motors configured to power (e.g., drive, rotate, turn, engage, activate, etc.) the drivetrain 1300. In some embodiments, the motor(s) can be configured to rotate the wheels of the drivetrain 1300 at any suitable speed and / or in any suitable direction (e.g., forward or reverse) such that the trolley 1100 can keep pace with a patient utilizing the support system 1000, as described in more detail herein. In some embodiments, the electronic system 1700 and / or the control 1900 can be operatively coupled (e.g., electrically connected) to the one or more motors such that the electronic system 1700 and / or the control 1900 can send electrical signals related to operating the motor(s). In some embodiments, the motor(s) may include a clutch, brake, or the like configured to substantially lock the motor(s) in response to a power outage or the like. Similarly stated, the motor(s) may be arranged in a locked configuration to limit movement of the trolley 1100 (e.g., limit movement of the drive train 1300 and / or the patient support mechanism 1500) in response to a power outage (e.g., partial power outage and / or complete power outage).

[0041]

[1093] The patient support mechanism 1500 (also referred to herein as the "support mechanism") may be of any suitable configuration and may be at least temporarily coupled to the connection mechanism 1800. For example, in some embodiments, the support mechanism 1500 may include a tether that may be temporarily coupled to a coupling portion of the connection mechanism 1800. Additionally, the connection mechanism 1800 may further include a patient coupling portion (not shown in FIG. 1) configured to receive a portion of a harness or the like worn by or coupled to the patient. Thus, the connection mechanism 1800 and the support mechanism 1500 may support a portion of the patient's weight and temporarily couple the patient to the trolley 1100. This can be done.

[0042]

[1094] In some embodiments, the end of the tether can be coupled to, for example, a winch. In such embodiments, the winch can include a motor that can rotate a drum to wind or unwind the tether. Similarly stated, the tether can be wound around a drum, and the motor can rotate the drum in a first direction to wind more tether around the drum, and can rotate the drum in a second direction opposite the first direction to unwind more tether from around the drum. In some embodiments, the support mechanism 1500 can include one or more pulleys with which the tether can engage, such that the support mechanism 1500 gains a mechanical advantage. Similarly stated, the pulleys can be positioned such that the force exerted by the winch to wind or unwind the tether around the drum is reduced while the patient is coupled to the connection mechanism 1800.

[0043]

[1095] The horizontal drive train / motor configured to enable movement of the trolley along the track and the vertical drive train configured to move to control the tether may or may not be controlled and operated simultaneously. For example, when a patient is walking on a treadmill, there is little or no horizontal movement, but the vertical (weight-bearing) drive train is operating to compensate for changes in gait, falls, etc.

[0044]

[1096] In some embodiments, the pulley system can include at least one pulley configured to move (e.g., pivot, translate, swing, or the like). For example, the pulley can be included within or coupled to a cam mechanism (not shown) configured to define a range of motion of the pulley. In such embodiments, the movement of the at least one pulley can be coincident with and / or caused by a force acting on the connection mechanism 1800. For example, in some instances, the patient can move relative to the trolley 1100 such that the force acting on the tether is altered (e.g., increased or decreased) by the patient's weight. In such instances, the pulley can be moved in accordance with the change in force such that the tension in the tether is not substantially altered. Additionally, for pulleys included within or coupled to a cam mechanism, movement of the pulley can move the cam through a predetermined range of motion. In some embodiments, the electronic system 1700 can include a sensor or encoder operably coupled to the pulley and / or cam configured to determine an amount of movement of the pulley and / or cam. In this manner, the electronic system 1700 can send a signal to a motor included within the winch associated with winding or unwinding the tether around the drum in accordance with the movement of the pulley. For example, the pulley can be moved in a first direction in response to an increase in force on the tether, and the electronic system 1700 can send a signal to the winch motor associated with rotating the drum to unwind a portion of the tether from the drum. Conversely, the pulley can be moved in a second direction opposite the first direction in response to a decrease in force on the tether, and the electronic system 1700 can send a signal to the winch motor associated with rotating the drum to wind a portion of the tether around the drum. Thus, the support mechanism 1500 can be configured to exert a counter force in response to a patient exerted force such that the portion of the patient's body weight supported by the support system 1000 remains substantially unchanged. Additionally, by actively supporting a portion of the patient's body weight, the support system 1000 can limit the likelihood and / or severity of a fall of a patient supported by the support system 1000.Similarly, the support mechanism 1500 and electronic system 1700 can respond to changes in the force acting on the tether within a relatively short amount of time (e.g., much less than one second) to actively limit the severity of a patient fall.

[0045]

[1097] As described above, the electronic system 1700 contained within the trolley 1100 can control at least a portion of the trolley 1100. The patient support system 1000 includes at least a processor and memory. The memory can be, for example, random access memory (RAM), a memory buffer, a hard drive, read only memory (ROM), erasable programmable read only memory (EPROM), and / or the like. In some embodiments, the memory stores instructions that cause the processor to execute modules, processes, and / or functions associated with controlling one or more mechanical and / or electrical systems included within the patient support system 1000, as described above. In some embodiments, the control signals are delivered over a powered rail, for example, using a broadband over power-line (BOP) configuration.

[0046]

[1098] The processor of the electronic device may be any suitable processing device configured to run or execute a set of instructions or code. For example, the processor may be a general purpose processor (GPU), a central processing unit (CPU), an accelerated processing unit (APU), and / or the like. The processor may be configured to run or execute a set of instructions or code stored in memory associated with the control of one or more mechanical and / or electrical systems included within the patient support system 1000. For example, the processor may run or execute a set of instructions or code associated with the control of one or more motors, sensors, communication devices, encoders, or the like, as described above. More specifically, the processor may execute a set of instructions in response to receiving a signal from one or more sensors and / or encoders associated with a portion of the drive train 1300 and / or the support mechanism 1500. Similarly, the processor may be configured to execute a set of instructions associated with a feedback loop (e.g., based on a proportional-integral-derivative (PID) control method) in which the electronic system 1700 can control subsequent actions of the drive train 1300 and / or support system 1500 based at least in part on current and / or previous data received from the drive train 1300 and / or support system 1500 (e.g., position, velocity, force, acceleration, tether angle, or the like), as described in further detail herein.

[0047]

[1099] In some embodiments, the electronic system 1700 may include a communication device (not shown in FIG. 1 ) that may be in communication with the control 1900. For example, in some embodiments, the communication device may include one or more network interface devices (e.g., network interface cards). The communication device may be configured to transmit data over a wired network and / or a wireless network (not shown in FIG. 1 ) associated with sending data to the control 1900 and / or receiving data from the control 1900. The control 1900 may be any suitable device or module (e.g., a hardware module or a software module stored in a memory and executed in a process). For example, in some embodiments, the control 1900 may be an electronic device including at least a processor and memory (not shown in FIG. 1 ) and configured to run, for example, a personal computer application, a mobile application, a web page, and / or the like. In this manner, a user may interact with the control 1900 to establish a set of system parameters associated with the support system 1000, as described in further detail herein. In some embodiments, the control 1900 may be implemented as a handheld controller.

[0048]

[1100] In some embodiments, control of the trolley 1100 may be accomplished using one or more controllers. In embodiments where multiple controllers are utilized (e.g., personal computer control and handheld control), only one controller may be used at a time. In other embodiments, only one of the controllers (e.g., a handheld control) may be used. In some embodiments, a personal computer controller (such as a handheld controller) can override a personal computer controller. In other embodiments, a user can specify which controller is to be utilized by activating the associated controller. In other words, a user can take initiative using a controller or can transfer control to another controller by activating a controller.

[0049]

[1101] In some embodiments, the patient support system 1000 is configured to improve gait and stability rehabilitation training by adding visual and auditory feedback to the gait and stability assistance device. The trolley 1100 adjusts the feedback using heuristic patient data from past training sessions and stores the data per treatment / training.

[0050]

[1102] As shown in FIG. 1 , the trolley 1100 is operably coupled to a power rail 1620. The power rail 1620 is further coupled to a power source 1610 configured to provide a current flow (e.g., power) to the power rail 1620. More specifically, the power rail 1620 may include any suitable transformer, converter, conditioner, capacitor, resistor, insulator, and / or the like (not shown in FIG. 1 ) such that the power rail 1620 can receive a current flow from the power source 1610 and transfer at least a portion of the current flow to the trolley 1100. The power rail 1620 may include one or more electrical conductors, for example, to deliver single-phase or multi-phase power to one or more trolleys 1100. For example, in some embodiments, the power rail 1620 is a substantially tubular rail configured to receive a conductive portion of the electronic system 1600 of the trolley 1100. In some embodiments, the power rail 1620 may include one or more conductive surfaces disposed within an interior portion of a tubular rail along which a conductive member of the electronic system 1700 may move (e.g., slide, roll, or otherwise advance). In other embodiments, the power rail 1620 may be or have a substantially open configuration (e.g., not substantially tubular). In such embodiments, the power rail 1620 may include one or more conductive members disposed on any suitable surface or combination of surfaces of the power rail 1620.

[0051]

[1103] The power rail 1620 is configured to transmit the flow of electrical current from the power source 1610 to the electronic system 1700 of the trolley 1100, as described in further detail herein. The power rail 1620 may be of any suitable shape, size, or configuration. For example, the power rail 1620 may extend in a shape similar to a support track (not shown in FIG. 1) and may be arranged such that the power rail 1620 is substantially parallel to the support track. In this manner, the trolley 1100 may advance along the length of the support track while remaining in electrical contact with the power rail 1620. Additionally, the arrangement of the power rail 1620 and the trolley 1100 is such that the movement of the trolley 1100 along the length of the support track is not impeded or restricted by a bundle of cables, as described above with reference to known support systems. In other embodiments, the power rail 1620 and / or portions thereof may be coupled to, disposed along, and / or otherwise at least partially integrated with the support track or portions thereof. In yet other embodiments, the power rail 1620 may be and / or have a telescoping configuration, where the power rail 1620 extends, for example, from a central power source to the trolley 1100.

[0052]

[1104] Although described above as being coupled to a power rail 1620, in some embodiments, the trolley 1100 may be battery powered. In such embodiments, the trolley 1100 may include one or more batteries or a battery system suitable for providing a flow of electrical current to the trolley 1100. In such embodiments, one or more The batteries may be configured to provide power in addition to and / or instead of the power received from the power rail 1620. In some embodiments, one or more batteries included in such embodiments may be rechargeable. For example, at least a portion of the power or current flow received from the power rail 1620 may be delivered to one or more batteries (e.g., to charge or recharge the batteries). In some embodiments, the power rail 1620 and / or the support track may include one or more charging stations disposed at a location(s) on or along the support track. In such embodiments, the trolley 1100 may automatically dock to the charging station(s) according to, for example, a predetermined or desired algorithm, schedule, and / or condition. For example, the trolley may navigate to and dock to such charging station(s) when the power level of one or more batteries is below a predetermined and / or desired level or during a rest period (e.g., when the system is not being used at a given time, overnight, or at a given time of day).

[0053]

[1105] While the trolley 1100 has been described above as receiving power from one or more of the power rails 1620, a battery, or a battery system, in some embodiments, the support system 1000 may include an uninterruptible power supply (or any other suitable energy capacitor or energy storage device) capable of supplying power to at least a portion of the support system 1000. For example, in some embodiments, an uninterruptible power supply (UPS) may be included to provide a backup for the power supply 1610 and / or one or more batteries included within the trolley 1100. That is, the UPS may be electrically connected between the power source 1610 and the power rails 1620 or between the power source 1610 and the trolley 1100. In other embodiments, the UPS may be configured to supply power to the power supply 1610, for example, in response to a fault and / or interruption in the power grid. That is, the UPS may be electrically connected between the power grid and the power source 1610. In yet other embodiments, the trolley 1100 can include a UPS capable of providing power to the trolley 1100 if the flow of power from the power rail 1620 or one or more batteries is interrupted or otherwise stopped. In some embodiments, the support system 1000 can include a UPS configured to provide primary or backup power to the trolley 1100 and one or more additional devices included within the support system 1000 (e.g., a secondary training device such as a treadmill, one or more computing devices such as a personal computer, server, etc., and / or any other suitable device).

[0054]

[1106] In some embodiments, power and / or electrical energy may be transferred from the power rail 1620 (or one or more portions of the power rail 1620) to the trolley 1100 via any suitable transfer mode. For example, in some embodiments, a conductive member (e.g., a collector or the like) of the trolley 1100 may be in physical and / or electrical contact with a conductor or conductive portion of the power rail 1620. In other embodiments, the trolley 1100 may include one or more induction coils along which a current flow is induced in response to alternating electromagnetic fields generated by or along at least a portion of the power rail 1620 and / or a conductive portion or surface of the track 1050. In such embodiments, the power received via induction may be used to power the trolley 1100 and / or may be used to charge one or more batteries of the trolley 1100, for example.

[0055]

[1107] Additionally, the control 1900 may also be operatively coupled to the power supply 1610 and may be configured to control the amount of power delivered to the power rail 1620 and / or the trolley 1100. For example, the control 1900 may initiate a flow of current from the power supply 1610 to the power rail 1620 to switch on or power up the support system 1000. Conversely, the control 1900 may be configured to stop the flow of current from the power supply 1610 to the power rail 1620 to switch off or power down the support system 1000.

[0056]

[1108] Although the control 1900 is shown in FIG. 1 as being separate from and operatively coupled to the trolley 1100, in some embodiments the control 1900 may be included within the electronic system 1700 of the trolley 1100. For example, in some embodiments the control 1900 may be a hardware module and / or a software module that may be executed by a processor of the electronic system 1700. In such embodiments, the electronic system 1700 may include a user interface (e.g., a touch screen and / or one or more dials, buttons, switches, toggles, or the like). Thus, a user (e.g., a physical therapist, doctor, nurse, technician, etc.) may interact with a user interface associated with the control 1900 to establish a set of system parameters for the support system 1000.

[0057]

[1109] Although not shown in FIG. 1, in some embodiments, multiple trolleys 1100 may be coupled to the same support track. In such embodiments, the trolleys 1100 hanging from the support track may include sensors (e.g., ultrasonic proximity sensors and / or the like) that may send signals to the electronic system 1700 related to, for example, the proximity of one or more trolleys 1100 relative to a particular trolley 1100. In this manner, the electronic system 1700 of the trolley 1100 may control motors included in the drive train 1300, for example, to prevent collisions of the trolleys 1100. Thus, the support system 1000 may be used to support multiple patients (e.g., multiple patients corresponding to multiple trolleys 1100 arranged around the support track) while keeping the patients at a desired distance from each other.

[0058]

[1110] In some embodiments, the support system is configured to provide feedback to the patient during use. In some embodiments, a laser or culminated light source is coupled to the trolley 1100 to create a light path for the patient to follow during the session. The light path allows the patient to look ahead or at their feet while attempting to train their brain to correctly control their leg / foot / hip movements. In some embodiments, a second light source is configured to illuminate a "target" location that the patient can aim at to place their foot in the correct position. In some embodiments, the size of the target can be changed depending on the dexterity of the user. In other words, for users with better muscle control, the target can be smaller. The light path and target location can be changed using a user interface, as described in more detail herein.

[0059]

[1111] In some embodiments, audible feedback is provided to the patient when the patient's gait is improper. In some embodiments, audible feedback may be provided when the patient begins to fall. Different audible tones may be provided for different problems / purposes.

[0060]

[1112] In some embodiments, a CCD camera interface may be configured for video monitoring for future analysis and correlation of sensed rope position, speed, tension, etc. In some embodiments, a monitor may be coupled to the patient's body to monitor muscle usage (e.g., leg muscles, chest muscles, etc.). Such information is wirelessly transmitted to the electronic system 1700 and coordinated within the feedback provided to the patient during and after the treatment / rehabilitation session. In other words, all of the data collected by the various sensors, cameras, etc. may be coordinated to provide dynamic real-time feedback and / or post-session feedback.

[0061]

[1113] 2-33 illustrate a partial relief system 2000 according to one embodiment. The partial relief system 2000 (also referred to herein as a "support system") may be used to support a portion of a patient's body weight, such as during ambulation therapy. FIGS. 2 and 3 are perspective views of the support system 2000. The support system 2000 includes a trolley 2100, a power system 2600, and a patient connection mechanism 2800 (see, e.g., FIG. 34). As shown in FIGS. 2 and 3, the trolley 2100 is movably coupled to a support track 2050 configured to support the weight of the trolley 2100 and the weight of a patient utilizing the support system 2000. Although the support track 2050 is illustrated as having an I-shape, the support track 2050 may be any suitable shape. Additionally, although the support track 2050 is illustrated as being substantially straight, the support track 2050 may extend in a curved direction. In other embodiments, the support track 2050 may be arranged in a closed loop, such as, for example, a circle, an oval, an ellipse, a square, or the like. As described in further detail herein, the power system 2600 may include a power rail 2620 that extends substantially parallel to the support track 2050 and is at least electrically coupled to the trolley 2100 for transferring the flow of electrical current from a power source (not shown in FIGS. 2-32 ) to the trolley 2100.

[0062]

[1114] 4-7 are perspective views of the trolley 2100. The trolley 2100 may be of any suitable shape, size, or configuration. For example, the trolley 2100 may be suspended from a support track 2050 (as described in further detail herein) and may have or define a relatively small profile (e.g., height) so that the space between the trolley 2100 and the patient may be maximized. In this manner, the support system 2000 may be used to support patients of varying heights while simultaneously supporting a patient rising from a seated position to a standing position, as is common in assisting patients at least partially confined to wheelchairs. The trolley 2100 includes a housing 2200 (see, e.g., FIGS. 8 and 9), an electronic system 2700 (see, e.g., FIGS. 10 and 11), a drive train 2300 (see, e.g., FIGS. 12-26), and a patient support mechanism 2500 (see, e.g., FIGS. 27-33).

[0063]

[1115] 8 and 9, the housing 2200 includes a base 2210, a first side member 2230, a second side member 2240, a third side member 2250, and a cover 2260. The housing 220 is configured to enclose and / or cover at least a portion of the electronic system 2700, as described in further detail herein. As shown in FIG. 9, the base 2210 has a first side 2211 and a second side 2212. The base 2210 defines a set of drive mechanism openings 2213, a fan opening 2214, a guide mechanism opening 2215, a bias mechanism opening 2217, a guide member opening 2218, and a cam pulley opening 2219, a cam pivot opening 2220. As described in further detail herein, the drive mechanism opening 2213 receives at least a portion of a first drive assembly 2310 included in the drive system 2300 such that a set of wheels included in the drive system 2300 can rotate without contacting the base 2210. The fan opening 2214 receives a portion of a fan 2740 included in the electronic system 2700. More specifically, a portion of the fan 2740 can extend through the opening such that the fan can move heat created by the electronic system 2700 out of the housing 2200. The guide mechanism opening 2215 receives a portion of a guide mechanism 2540 included in the patient support mechanism 2500 (also referred to herein as the "support mechanism"). More specifically, the base 2210 includes a set of mounting tabs 2216 configured to extend from a surface of the base 2210 that defines the guide mechanism opening 2215. In this manner, the guide mechanism 2540 can be coupled to the mounting tabs 2216. The biasing mechanism opening 2217, the guide member opening 2218, the cam pulley opening 2219, and the cam pivot opening 2220 are each adapted to movably receive a portion of a cam mechanism 2570 contained within the support mechanism 2500, as described in further detail herein. This can be done.

[0064]

[1116] The first side member 2230 has a first side 2231 and a second side 2232. The second side 2232 defines a slot 2233 that receives a portion of the base 2210 for coupling the base 2210 thereto. The first side member 2230 also includes a mounting portion 2235 that is coupled to a portion of a collector 2770 included within the electronic system 2700, as described in further detail herein. The second side member 2240 has a first side 2241 and a second side 2242. The second side 2242 defines a slot 2243 that receives a portion of the base 2210 for coupling the base 2210 thereto. The second side 2242 also includes a recessed portion 2244 that is coupled to a portion of a winch assembly 2510 included within the support mechanism 2500. A third side member 2250 is coupled to the first side member 2230, the second side member 2240, and the base 2210 and defines a light opening 2251 for receiving an indicator light and a power output opening for receiving a power output module.

[0065]

[1117] The cover 2260 is disposed adjacent the second side 2212 of the base 2210. More specifically, the cover 2260 can be movably coupled to the second side 2212 of the base 2210 to provide access to a portion of the electronic system 2700 enclosed therein. The cover 2260 has a first end 2261 and a second end 2262. The first end 2261 is open and defines a notch 2265 configured to receive a portion of the collector 2770, as described in further detail herein. The second end 2262 of the cover 2260 is substantially enclosed and configured to include a recessed region 2264. In this manner, a portion of the support mechanism 2500 can extend into and / or through the recessed region 2264 for coupling to a patient connection mechanism 2800, as described in further detail herein. Cover 2260 also defines a set of vents 2263 that may be positioned to provide air flow to an area enclosed by cover 2260 so as to enable cooling of at least a portion of electronic system 2700 disposed therein.

[0066]

[1118] 10 and 11 show an electronic system 2700 of the trolley 2100. The electronic system 2700 includes a set of electronic devices that collectively operate to control at least a portion of the trolley 2100. As described above, the electronic system 2700 includes a collector 2770 coupled to a portion of the housing 2200 and disposed in physical and / or electrical contact with the power rail 2620. The collector 2770 may be of any suitable shape, size, or configuration and may be formed from any suitable conductive material, such as, for example, iron, steel, or the like. In this form, the collector 2770 may receive a current flow from the power rail 2620. For example, as shown in FIG. 10, the power rail 2620 is a substantially hollow tube that houses or substantially surrounds one or more conductive portions 2621 (e.g., individual conductors or surfaces) that are electrically coupled to a power source (not shown). In this manner, the collector 2770 may be disposed within the hollow tube of the power rail 2620 such that a conductive portion 2771 (e.g., individual conductors, conductive surfaces, or the like) of the collector 2770 is disposed in electrical communication with one or more conductive portions 2621 of the power rail 2620. The collector 2770 thus receives a flow of current from the power source, which is transferred by the power rail 2620. Additionally, the collector 2770 may be disposed within the power rail 2620 such that a coupling portion 2772 of the collector 2770 extends through a slot 2622 defined by the power rail 2620 to be coupled to the mounting portion 2235 of the housing 2200. The coupling portion 2772 may further be coupled to a power module (not shown) of the trolley 2100. The trolley 2100 thus receives power from the power source via the power rail 2620.

[0067]

[1119] Although the power rail 2620 is illustrated and described as being a substantially hollow tube, in other embodiments, the power rail may be of any suitable configuration. For example, in some embodiments, the power rail may be one or more conductive portions on any suitable surface, such as a relatively flat or open power rail surface. In some embodiments, the power rail may be, for example, one or more conductive portions of the support track 2050 (e.g., one or more inner surfaces and / or one or more outer surfaces). As described in more detail herein, the conductive portions of the trolley 2100 (e.g., collector 2770) may be in electrical contact with the power rail 2620 and / or any other suitable conductive surface that provides electrical power to one or more portions of the trolley 2100.

[0068]

[1120] Although not shown in FIGS. 10 and 11, the electronic system 2700 includes at least a processor, memory, and communication devices. The memory can be, for example, a random access memory (RAM), a memory buffer, a hard drive, a read only memory (ROM), an erasable programmable read only memory (EPROM), and / or the like. In some embodiments, the memory stores instructions that cause the processor to execute modules, processes, and / or functions associated with controlling one or more mechanical and / or electrical systems included within the patient support system 2000. For example, the memory can store instructions, information, and / or data associated with a proportional-integral-derivative (PID) control system. In some embodiments, the PID control system can be included within a software package, for example. In some embodiments, the PID control can be a user-controlled set of instructions executed by the processor that allows the user to "tune" the PID control, as described in more detail herein.

[0069]

[1121] The processor of the electronic device may be any suitable processing device configured to run or execute a set of instructions or code. For example, the processor may be a general purpose processor (GPU), a central processing unit (CPU), an accelerated processing unit (APU), and / or the like. The processor may be configured to run or execute a set of instructions or code stored in memory related to the control of one or more mechanical and / or electrical systems included within the patient support system. For example, the processor may run or execute a set of instructions or code stored in memory related to PID control and further related to the control of a portion of the drivetrain 2300 and / or the patient support mechanism 2500. More specifically, the processor may execute a set of instructions that may control one or more subsequent actions of the drivetrain 2300 and / or the support mechanism 2500 in response to receiving a signal from one or more sensors and / or encoders (shown and described below). Similarly, the processor may execute a set of instructions associated with a feedback loop including one or more sensors or encoders that send signals related at least in part to current and / or previous data (e.g., position, velocity, force, acceleration, or the like) received from the drive system 2300 and / or support mechanism 2500, as described in further detail herein.

[0070]

[1122] The communication device may be, for example, one or more network interface devices (e.g., network cards) configured to communicate with the electronic device via a wired or wireless network. For example, in some embodiments, a user may operate a remote control device that sends and / or receives one or more signals to and / or from the electronic system 2700 related to the operation of the trolley 2100. The remote control may be any suitable device or module (e.g., a hardware module or a software module stored in memory and executed in a process). For example, in some embodiments, the remote control includes at least a processor and memory and may be implemented as, for example, a personal computer application, a mobile application, a web application, or a mobile device. The remote control may be an electronic device that runs a program, a navigation system, a navigation page, and / or the like. In this manner, a user may interact with the remote control to establish a set of system parameters associated with support system 2000, such as the desired amount of weight to be supported by support system 2000.

[0071]

[1123] 12, the drive system 2300 includes a first drive assembly 2310 and a second drive assembly 2400. The drive system 2300 is coupled to a first side 2211 of the base 2210 (see, e.g., FIGS. 2 and 3) and is positioned such that the first drive assembly 2310 and the second drive assembly 2400 are aligned (e.g., coaxial). In this manner, the first drive assembly 2310 and the second drive assembly 2400 can receive a portion of the support track 2050, as described in further detail herein.

[0072]

[1124] 13-23 show a first drive assembly 2310. The first drive assembly 2310 includes a motor 2311, a support structure 2315, a set of guide wheel assemblies 2360, a set of drive wheel assemblies 2370, and a set of secondary wheel assemblies 2390. The motor 2311 is coupled to a side member 2320 of the support structure 2315 and is in electrical communication with a portion of the electronic system 2700. The motor 2311 includes an output shaft 2312 (see, e.g., FIGS. 15 and 16) that engages a portion of one of the drive wheel assemblies 2370 to rotate a drive wheel 2385 contained therein. More specifically, the motor 2311 receives an activation signal (e.g., current flow) from the electronic system 2700 that causes the motor 2311 to rotate the output shaft 2312, which in turn rotates the drive wheel 2385. 13 and 14, at least a portion of the first drive assembly 2310 is substantially symmetrical about a longitudinal plane (not shown) defined by the first drive assembly 2310. In this manner, each side of the first drive assembly 2310 includes similar components, thereby increasing versatility and reducing manufacturing costs. For example, while the first drive assembly 2310 includes two side members 2320 and the motor 2311 is illustrated as being coupled to a particular side member 2320, in other embodiments the motor 2311 may be coupled to the other side member 2320.

[0073]

[1125] The support structure 2315 includes two side members 2320, a base 2340, two front end support members 2350, two rear end support members 2354, and two lateral support members 2358. As shown in FIGS. 13-16, the side members 2320 are identical (e.g., due to the symmetry of the first drive assembly 2310). The side members 2320 each define a set of bearing openings 2321, notches 2322, and slots 2325. The bearing openings 2321 of each side member 2320 receive a drive bearing 2376 ( FIG. 20 ) included in the drive wheel assembly 2370. More specifically, the drive bearing 2376 may be disposed within the bearing openings 2321 such that an outer surface of the drive bearing 2376 forms a friction fit with a surface of the side member 2320 that defines the bearing opening 2321. Similarly, the drive bearing 2376 and the surfaces of the side 2320 that define the bearing opening 2321 form a press fit to retain the drive bearing 2376 within the bearing opening 2321 .

[0074]

[1126] A notch 2322 defined by each of the side members 2320 receives a spring bar 2323 and a spring 2324. The spring 2324 is disposed about the spring bar 2323 such that the spring bar 2323 substantially limits the movement of the spring 2324. More specifically, the spring bar 2323 is configured to allow the spring 2324 to move axially (e.g., compress and / or extend) while substantially limiting the movement of the spring 2324 laterally. As described in further detail herein, the spring bar 2323 and the spring 2324 extend from a surface of the notch 2322 to engage with a spring protrusion 2344 of the base 2340. The set of slots 2325 includes a spring bar 2323 and a spring 2324, each of which is disposed about a spring bar 2323 and a spring 2324, each of which is disposed about a spring bar 2323 and a spring 2324, each of which is disposed about a spring protrusion 2344 of the base 2340, as described in further detail herein. 23A. The side members 2320 may be configured to receive attachment hardware (e.g., mechanical fasteners, pins, dowels, etc.) configured to movably couple the side members 2320 to the base 2340.

[0075]

[1127] As described above, base 2340 is movably coupled to side member 2320. Base 2340 includes a set of side walls 2342 and an axle portion 2346. Axle portion 2346 of base 2340 defines an opening 2347 that receives a transfer axle 2388 included in drive wheel assembly 2370. More specifically, transfer axle 2388 may rotate within opening 2347 of axle portion 2346 such that rotational motion may be transferred from one of drive assemblies 2370 to the other of drive assemblies 2370, as described in further detail herein.

[0076]

[1128] The side walls 2342 each define a notch 2343 and include a spring protrusion 2344. More specifically, the spring protrusions 2344 each extend in a substantially perpendicular direction from the side walls 2342. As shown in FIGS. 13 and 14 , when the side member 2320 is coupled to the base 2340, the notches 2322 of the side member 2320 each receive one of the spring protrusions 2344 of the base 2340. Similarly, when the side member 2320 is coupled to the base 2340, the notches 2343 defined by the base 2340 each receive a portion of one of the springs 2324. In this manner, the spring bar 2323 and spring 2324 of each side member 2320 are aligned with the spring protrusion 2344 extending from the side wall 2342 of the base 2340 such that the spring 2324 is disposed in contact with a surface of the corresponding spring protrusion 2344. With the side member 2320 movably coupled to the base 2340 (e.g., by disposing mounting hardware within the slots 2325), the spring 2324 of each side member 2320 can damp movement of the side member 2320 relative to the base 2340. Similarly stated, the spring 2324 of each side member 2320 can engage a surface of the corresponding spring protrusion 2344 to exert a reaction force (e.g., caused by compression of the spring) in response to an external force (e.g., operational vibration, motor exerted torque, or the like) applied to one or both of the side members 2320.

[0077]

[1129] 17-19 each show one of the front end support member 2350, the rear end support member 2354, and the lateral support member 2358. As explained above, the symmetry of the first drive assembly 2310 is such that the two front end support members 2350 are identical, the two rear end support members 2354 are identical, and the two lateral support members 2358 are identical. The front end support members 2350 are each fixedly coupled to one of the side members 2320. As shown in FIG. 17, the front end support members 2350 each define a lever arm notch 2355 for receiving a lever arm 2391 of the secondary wheel assembly 2390, a spring recess 2352 for receiving a spring 2394 of the secondary wheel assembly 2390, and a support track notch 2353 for receiving, for example, the horizontal portion 2051 of the support track 2050 (see, for example, FIG. 23).

[0078]

[1130] The rear end support members 2354 are each fixedly coupled to one of the side members 2320 and disposed at a rearward position relative to the front end support members 2354. More specifically, the rear end support members 2354 are spaced from the front end support members 2354 a distance large enough to allow a portion of the drive wheel assembly 2370 to be disposed therebetween. As shown in FIG. 18 , the rear end support members 2354 each define a belt notch 2355 configured to receive a drive belt 2389 of the drive wheel assembly 2370 and a support track notch 2353 configured to receive a horizontal portion 2051 of the support track 2050 (e.g., as described with respect to the front end support members 2350).

[0079]

[1131] The lateral support members 2358 are fixedly coupled to one of the front end support members 2350 and one of the rear end support members 2354, respectively. Thus, the lateral support members 2358, together with the front end support members 2350 and the rear end support members 2354, each of which is coupled to a corresponding side member 2320, substantially enclose a space configured to house or receive the drive wheel assembly 2370. Furthermore, the arrangement of the support structure 2315 is such that the space defined between adjacent surfaces of the lateral support members 2358 is large enough to receive, for example, the vertical portion 2052 of the support truck 2050.

[0080]

[1132] 19, the lateral support member 2358 defines a bearing opening 2359 that receives a support bearing 2377 of the drive wheel assembly 2370. More specifically, the support bearing 2377 is disposed within the bearing opening 2359 such that an outer surface of the support bearing 2377 forms a friction fit with a surface of the lateral support member 2358 that defines the bearing opening 2359. Stated similarly, the outer surface of the support bearing 2377 and a surface of the lateral support member 2358 form a press fit to retain the support bearing 2377 within the bearing opening 2359.

[0081]

[1133] 13-15, the first drive assembly 2310 includes four guide wheel assemblies 2360. Each guide wheel assembly 2360 includes a mounting bracket 2361 and a guide wheel 2363. More specifically, each of the guide wheels 2363 is rotatably coupled to one of the mounting brackets 2361 such that the guide wheel 2363 can rotate relative to the mounting bracket 2361.

[0082]

[1134] The guide wheel assemblies 2360 are each configured to be coupled to a portion of the support structure 2315. More specifically, as shown in FIGS. 13-16, the mounting bracket 2361 of each guide wheel assembly 2360 is coupled to one of the front end support members 2350 or one of the rear end support members 2354. Stated similarly, both of the front end support members 2350 are coupled to the mounting bracket 2361 included in one of the guide wheel assemblies 2360, and both of the rear end support members 2354 are coupled to the mounting bracket 2361 included in one of the guide wheel assemblies 2360. The guide wheel assemblies 2360 are coupled to the support structure 2315 such that a portion of the guide wheel 2363 extends into the space defined between the cross members 2358. In this manner, the guide wheel 2363 can roll along a surface of the vertical portion 2052 of the support track 2050 when the first drive assembly 2310 is coupled to the support track 2050 (see, e.g., FIG. 23).

[0083]

[1135] As shown in FIGS. 13-15, the guide wheel assembly 2360 may be positioned relative to the support structure 2315 such that the guide wheels 2363 included in the guide wheel assembly 2360 coupled to the front end support member 2350 are positioned substantially below the mounting bracket 2361. Conversely, the guide wheels 2363 included in the guide wheel assembly 2360 coupled to the rear end support member 2350 are positioned substantially above the mounting bracket 2361. This positioning may increase the surface area of ​​the vertical portion 2051 of the support track 2050 that contacts the at least one guide wheel 2360. In this manner, rotational movement about the longitudinal centerline (not shown) of the support track 2050 may be minimized or eliminated. Although shown as being in a particular positioning, in other embodiments the guide wheels 2363 may be positioned in any suitable manner. For example, in some embodiments, all of the guide wheels 2363 may be mounted below the mounting bracket 2361. In other embodiments, all of the guide wheels 2363 may be mounted above the mounting bracket 2361. In still other embodiments, the guide wheels 2363 may be mounted to the mounting bracket 2361 in any combination of configurations (e.g., mounted above or below the mounting bracket 2361 in any suitable arrangement).

[0084]

[1136] FIG. 20 is an exploded view of the drive wheel assembly 2370. As explained above, The symmetry of the one drive assembly 2310 is such that the drive wheel assemblies are identical. Thus, the discussion of the drive wheel assembly 2370 shown in FIG. 20 applies to both drive wheel assemblies 2370. The drive wheel assembly 2370 includes a drive shaft 2371, a drive bearing 2376, a support bearing 2377, a drive sprocket 2379, a transmission sprocket 2381, a drive wheel 2385, a transmission axle 2388 (not shown in FIG. 20), and a drive belt 2389. The drive shaft 2371 has a first portion 2372, a second portion 2373, and a third portion 2374 and defines an opening 2375. The first portion 2372 has a first diameter at least partially related to the drive sprocket 2378. More specifically, the drive sprocket 2378 defines an opening 2380 having a diameter related to the diameter of the first portion 2372 of the drive shaft 2371. In this manner, the drive sprocket 2378 is disposed about the first portion 2372 of the drive shaft 2371 such that the surface of the drive sprocket 2378 that defines the opening 2380 forms a friction fit with the outer surface of the first portion 2372 of the drive shaft 2371. Similarly, the drive bearing 2376 is disposed about the first portion 2372 such that the inner surface of the bearing forms a friction fit with the outer surface of the second portion 2372 of the drive shaft 2371. Thus, rotation of the drive shaft 2371 within the drive bearing 2376 rotates the drive sprocket 2378. Furthermore, with the drive bearing 2376 held using the bearing opening 2321 of one of the side members 2370, the drive shaft 2371 may be rotated relative to the corresponding side member 2370 as described in further detail herein.

[0085]

[1137] The second portion 2373 of the drive shaft 2371 has a second diameter smaller than the diameter of the first portion 2372 and at least partially related to the drive wheel 2385. More specifically, the drive wheel 2385 includes a hub 2386 defining an opening 2387 having a diameter related to the diameter of the second portion 2373 of the drive shaft 2371. As shown in FIG. 20 , the opening 2387 of the drive wheel 2385 includes a keyway configured to receive a key extending from an outer surface of the second portion 2373 of the drive shaft 2371. In this manner, the drive wheel 2385 is fixedly disposed about the second portion 2373 of the drive shaft 2371.

[0086]

[1138] The third portion 2374 of the drive shaft 2371 has a third diameter smaller than the diameter of the second portion 2372 and at least partially associated with the support bearing 2377. More specifically, the support bearing 2377 is disposed about the third portion 2374 of the drive shaft 2371 such that an outer surface of the third portion 2374 forms a friction fit with an inner surface of the support bearing 2377. Further, with the support bearing 2377 disposed within the bearing opening 2359 of the lateral support member 2358, the third portion 2374 of the drive shaft 2371 can be at least partially supported.

[0087]

[1139] The opening 2375 defined by the drive shaft 2371 receives the output shaft 2312 of the motor 2311. More specifically, the drive shaft 2371 may be at least temporarily fixedly coupled to the output shaft 2312 of the motor 2311 such that when the output shaft 2312 is rotated (e.g., in response to an activation signal from the electronic system 2700), the drive shaft 2371 is simultaneously rotated. With the drive bearing 2376 and the support bearing 2377 disposed within the bearing openings 2321 of the side members 2320 and the bearing openings 2359 of the lateral support members 2358, respectively, the drive shaft 2371 may rotate relative to the support structure 2315. Furthermore, the rotation of the drive shaft 2371 rotates both the drive sprocket 2378 and the drive wheel 2385.

[0088]

[1140] The drive sprocket 2378 is configured to engage a drive belt 2389. More specifically, the drive belt 2389 includes a set of teeth 2379 that engage with a set of teeth (not shown) extending from an inner surface of the belt 2389. The belt 2389 is further coupled to a transmission sprocket 2381. The transmission sprocket 2381 is configured to engage with the teeth of the belt 2389. 23. In this manner, rotation of the drive sprocket 2378 (as described above) rotates the belt 2389, which in turn rotates the transmission sprocket 2381. The transmission sprocket 2381 defines an opening 2383 configured to receive a transmission axle 2388 (see, e.g., FIG. 16 ). More specifically, the transmission axle 2388 may be fixedly coupled to the transmission sprocket 2381 of each drive wheel assembly 2370 such that rotation of the transmission sprocket 2381 of the first drive wheel assembly 2370 (e.g., the drive wheel assembly 2370 coupled to the output shaft 2312 of the motor 2311) rotates the transmission sprocket 2381 of the second drive wheel assembly 2370. Thus, when the motor 2311 is activated to rotate the output shaft 2312, both drive wheels 2385 of both drive wheel assemblies 2370 are urged to rotate.

[0089]

[1141] In some embodiments, the side member 2320 and base 2340 of the support structure 2315 can be arranged such that the springs 2324 of the side member 2320 are in a preloaded configuration (e.g., partially compressed without additional external force being applied to one or both of the side members 2320). More specifically, each spring 2324 can exert a force (e.g., due to a preload) on a surface of a corresponding spring projection 2344 of the base 2340 to position the corresponding side member 2320 in a desired position relative to the base 2340. Furthermore, with the drive bearing 2376 fixedly positioned within the bearing opening 2321 of the corresponding side member 2320 and the transmission axle 2388 positioned within the opening 2347 defined by the axle portion 2346 of the base 2340, the belt 2379 disposed around the drive sprocket 2378 and the transmission sprocket 2381 can be placed in tension. Thus, the arrangement of side member 2320 movably coupled to base 2340 can hold belt 2379 with an appropriate amount of tension so that belt 2379 does not substantially slip along teeth 2379 of drive sprocket 2378 and / or teeth 2382 of transmission sprocket 2381.

[0090]

[1142] 21, the first drive assembly 2310 includes a secondary wheel assembly 2390. The secondary wheel assembly 2390 includes a lever arm 2391, a secondary wheel 2393, and a spring 2394. The lever arm 2391 is a substantially angled member including an axle portion 2392, a pivot portion 2395, and an engagement portion 2396. The axle portion 2392 is disposed at a first end of the lever arm 2391 and is movably coupled to the secondary wheel 2393 such that the secondary wheel 2393 rotates about the axle portion 2392. The pivot portion 2395 is movably coupled to a portion of the front end support member 2350 that defines the lever arm notch 2351. For example, in some embodiments, the pivot portion 2395 of the lever arm 2391 can include an opening configured to receive a pivot pin (not shown), for example, included within the front end support member 2350. In this manner, the pivot pin can define an axis about which the pivot portion 2395 can pivot or rotate.

[0091]

[1143] The engagement portion 2396 is configured to engage a portion of the spring 2394. More specifically, as shown in FIG. 22, a first end of the spring 2394 contacts a spring recess 2352 defined by the front end support member 2350, and a second end of the spring 2394 contacts the engagement portion 2396. In this manner, the spring 2394 can exert a force on the engagement portion 2396 to pivot the lever arm 2391 about the pivot portion 2395. More specifically, as shown in FIG. 22, the force exerted by the spring 2394 can pivot the lever arm 2391 such that the secondary wheel 2393 is pivoted towards the drive wheel 2385. Thus, when the first drive assembly 2310 is disposed proximate the support track 2050, the secondary wheel 2393 can be disposed in contact with a lower surface of the horizontal portion 2051 of the support track 2050. Further, the force exerted by the spring 2394 is such that the driving wheel 2385 and the secondary wheel 2393 are respectively supported by the horizontal portion 2 2050. The drive wheels 2385 are adapted to apply a compressive force to the upper and lower surfaces of the horizontal portion 2051 of the support truck 2050. This arrangement can, for example, increase friction between the drive wheels 2385 and the horizontal portion 2051 of the support truck 2050.

[0092]

[1144] 24-26 show the second drive assembly 2400. The second drive assembly 2400 can function similarly to the first drive assembly 2310, and therefore some portions of the second drive assembly 2400 will not be described in further detail herein. The second drive assembly 2400 includes a support structure 2405, a set of guide wheel assemblies 2430, a set of main wheel assemblies 2440, a coupler 2460, and an encoder 2470. As shown, at least a portion of the second drive assembly 2400 is substantially symmetrical with respect to a longitudinal plane (not shown) defined by the second drive assembly 2400. In this manner, each side of the second drive assembly 2400 includes similar components, thereby increasing versatility and reducing manufacturing costs. For example, while the second drive assembly 2400 includes two side members 2420 and the coupler 2460 and encoder 2470 are shown coupled to a particular side member 2420, in other embodiments, the coupler 2460 and encoder 2470 may be coupled to other side members 2420.

[0093]

[1145] The support structure 2405 includes two side members 2410, a base 2420, a set of front end support members 2431, a set of rear end support members 2432, and a set of lateral support members 2433. As shown in FIGS. 24-26, the side members 2410 are identical (e.g., due to the symmetry of the first drive assembly 2400). The side members 2410 each define a bearing opening 2411 that receives a bearing 2454 (FIG. 25) included in the drive wheel assembly 2470. More specifically, the bearing 2454 may be disposed within the bearing opening 2411 such that an outer surface of the drive bearing 2454 forms a friction fit with a surface of the side member 2410 that defines the bearing opening 2411. Stated similarly, the drive bearing 2454 and the surface of the side 2410 that defines the bearing opening 2411 form a press fit to retain the drive bearing 2454 within the bearing opening 2411.

[0094]

[1146] The base 2420 is configured to be fixedly coupled to the side member 2410. The base 2420 includes mounting plates 2421 configured to extend from upper and lower surfaces of the base 2420 for coupling the second drive assembly 2400 to the base 2210 of the housing 2200 (e.g., via any suitable mounting hardware, such as, for example, mechanical fasteners or the like). The mounting plates 2421 can be positioned such that when the second drive assembly 2400 is positioned near the support track 2050, the mounting plates 2421 substantially limit movement of the second drive assembly 2400 in a lateral direction relative to a longitudinal centerline (not shown) of the support track 2050. In some embodiments, the mounting plates 2421 can include any suitable surface finish that can be sufficiently smooth to slide along a bottom surface of the horizontal portion 2051 of the support track 2050. In other embodiments, the mounting plate 2421 may be formed from a material, such as nylon or the like, that facilitates sliding of the mounting plate 2421 along the bottom surface of the support track 2050.

[0095]

[1147] The front end support member 2431, the rear end support member 2432, and the lateral support member 2433 may be arranged similarly to the front end support member 2350, the rear end support member 2354, and the lateral support member 2358 described above with reference to FIGS. 17-19. In this manner, the side member 2410 and the support members 2431, 2432, and 2433 may define a space configured to substantially surround at least a portion of the main wheel assembly 2440. Additionally, the lateral support member 2433 may define an opening configured to receive a bearing 2454 of the main wheel assembly 2350 in a manner similar to the lateral member 2333 described above. However, as shown in FIGS. 24-26, the front end support member 2431, the rear end support member 2432, and the lateral support member 2433 may be arranged similarly to the front end support member 2350, the rear end support member 2354, and the lateral support member 2358. The front end support member 2431, the rear end support member 2432, and the lateral support member 2433 may differ in that the front end support member 2431, the rear end support member 2432, and the lateral support member 2433 are not required to include one or more notches and / or recesses to accommodate any portion of the second drive assembly 2400.

[0096]

[1148] The second drive assembly 2400 includes four guide wheel assemblies 2440. Each guide wheel assembly 2440 includes a mounting bracket 2441 and a guide wheel 2443. More specifically, each guide wheel 2443 is rotatably coupled to one of the mounting brackets 2441 such that the guide wheel 2443 can rotate relative to the mounting bracket 2441. Each guide wheel assembly 2440 is configured to be coupled to a portion of the support structure 2405. More specifically, as shown in FIGS. 24-26, the mounting bracket 2441 of each guide wheel assembly 2440 is coupled to one of the front end support members 2431 or one of the rear end support members 2432. Stated similarly, both of the front end support members 2431 are coupled to the mounting bracket 2441 included in one of the guide wheel assemblies 2440, and both of the rear end support members 2432 are coupled to the mounting bracket 2441 included in one of the guide wheel assemblies 2440. The guide wheel assembly 2440 is coupled to the support structure 2405 such that a portion of the guide wheel 2443 extends into the space defined between the cross members 2433. In this manner, the guide wheel 2443 can roll along a surface of the vertical portion 2052 of the support track 2050 when the second drive assembly 2400 is coupled to the support track 2050 (see, e.g., FIG. 26 ). As described above with reference to the first drive assembly 2310, the guide wheel assembly 2440 may be arranged in any suitable configuration to limit rotational movement of the second drive assembly 2400 about the longitudinal centerline of the support track 2050.

[0097]

[1149] The main wheel assembly 2450 includes main wheels 2451 each having a hub 2452, an axle 2453, and a bearing 2454. As described above, the axle 2453 may be disposed within the bearing 2354, which is coupled to the side member 2410 and the cross member 2433. In this manner, each main wheel 2451 can rotate about the corresponding axle 2453 relative to the support structure 2405. As shown in FIG. 26, the second drive assembly 2400 is disposed near the support track 2050 such that the main wheels 2451 roll along the top surface of the horizontal portion 2051. Similarly, the guide wheel 2443 rolls along the surface of the vertical portion 2052 of the support track 2050.

[0098]

[1150] As shown in FIG. 24 and FIG. 26, the axle 2453 is configured to extend through a bearing 2454 disposed within the opening 2411 of the side member 2410. In this manner, the coupler 2460 can be coupled to the axle 2453 to couple the axle 2453 to the encoder 2470. The encoder 2470 can thus receive and / or determine information related to the rotation of the main wheels 2451. For example, the encoder 2470 can determine a position, a rotational speed, a rotational acceleration, or the like. Additionally, the encoder 2470 can be in electrical communication (e.g., via wired or wireless communication) with a portion of the electronic system 2700 and can send information related to the second drive assembly 2400 to the portion of the electronic system 2700. Upon receiving information from the encoder 2470, the portion of the electronic system 2700 can send a signal related to the performance of an action (e.g., an increase or decrease in the power of one or more motors, or the like) to any other suitable system, as described in further detail herein. In some examples, the electronic system 2700 can determine the position of the trolley 2100 relative to the support track 2050 based at least in part on information sent from an encoder 2470 associated with the second drive assembly 2400. In such examples, a user (e.g., a doctor, physician, nurse, technician, or the like) can input a set of parameters associated with the portion of the support track 2050 along which the trolley 2100 will move. In this manner, the user can determine the desired position along the support track 2050 for a treatment session. A route can be defined.

[0099]

[1151] 27-33 show a support mechanism 2500 included within the trolley 2100. As shown in FIG. 27, the support mechanism 2500 includes a tether 2505, a winch assembly 2510, a guide mechanism 2540, a first pulley 2563, a second pulley 2565, and a cam mechanism 2570. The tether 2505 may be a rope or other long flexible member that may be formed from any suitable material, such as, for example, nylon or other suitable polymer. The tether 2505 includes a first end 2506 that is coupled to a portion of the winch assembly 2510 and a second end 2507 that may be coupled to any suitable patient connection mechanism, such as, for example, the patient connection mechanism 2800 shown in FIG. 34. The tether 2505 is configured to engage a portion of the winch assembly 2510, the guide mechanism 2540, the cam mechanism 2570, the first pulley 2563, and the second pulley 2565 such that the support mechanism 2500 actively supports at least a portion of the patient's body weight, as described in further detail herein.

[0100]

[1152] 29 and 30, the winch assembly 2510 includes a motor 2511, a mounting flange 2515, a coupler 2520, a drum 2525, and an encoder assembly 5230. The motor 2511 is coupled to the coupler 2520 and is in electrical communication with a portion of the electronic system 2700. The motor 2511 includes an output shaft 2512 that engages an input portion (not shown) of the coupler 2520 such that rotation of the output shaft 2512 of the motor 2511 rotates an output member 2521 of the coupler 2520. More specifically, the motor 2511 receives an activation signal (e.g., a flow of current) from the electronic system 2700 that causes the motor 2511 to rotate the output shaft 2512 in a first rotational direction or a second rotational direction opposite the first rotational direction. The output shaft 2512 rotates the output member 2521 of the coupler 2520 in the first rotational direction or the second rotational direction, respectively.

[0101]

[1153] The mounting flange 2515 is disposed over a portion of the coupler 2520 and includes a portion that may be coupled to the third side member 2250 of the housing 2200. In this manner, the motor 2511 is supported by the mounting flange 2515 and the housing 2200. The output member 2521 of the coupler 2520 is coupled to a mounting plate 2522 of the drum 2525 such that when the output shaft 2512 of the motor 2511 is rotated in a first direction or a second direction, the drum 2525 is rotated in a first direction or a second direction, respectively. Although not shown, in some embodiments, the coupler 2520 may include one or more gears that may be arranged in any suitable manner that defines a desired gear ratio. In this manner, the rotation of the output shaft 2512 may have a first rotational speed in the first direction or the second direction, and the rotation of the drum 2525 may have a second rotational speed that is different (e.g., higher or lower) than the first rotational speed of the output shaft 2525 in the first direction or the second direction, respectively. In some embodiments, the coupler 2520 may include one or more clutches that may be configured to reduce and / or dampen shocks (i.e., forces) that may result from the electronic system 2700 sending a signal to the motor 2511 related to a change in the direction of rotation of the output shaft 2512.

[0102]

[1154] The drum 2525 is disposed between the mounting plate 2522 and the end plate 2529. As described in further detail herein, an encoder drum 2531 of the encoder assembly 2530 is coupled to the end flange 2529 such that at least a portion of the encoder assembly 2530 is disposed within an interior volume 2528 defined by the drum 2525. The drum 2525 has an outer surface 2526 that defines a set of helical grooves 2527. The helical grooves 2527 receive a portion of the tether 2505 and define a path along which the tether 2505 may be wound to wind and / or unwind about the drum 2525. For example, the motor 2511 may receive a signal from the electronic system 2700 to rotate the output shaft 2512 in a first direction. In this manner, the drum 2525 is rotated in a first direction, causing the tether 2505 to rotate in a first direction. The tether 2505 can be, for example, wound around the drum 2525. Conversely, the motor 2511 can receive a signal from the electronic system 2700 to rotate the output shaft 2512 in a second direction, such that the drum is rotated in the second direction and the tether 2505 can be, for example, unwound from the drum 2525.

[0103]

[1155] The encoder assembly 2530 includes an encoder drum 2531, a mounting flange 2532, a bearing bracket 2533, a bearing 2535, a coupler 2536, an encoder 2537, and an encoder housing 2538. As described above, a first end of the encoder drum 2531 is coupled to an end flange 2529 of the drum 2525 such that a portion of the encoder assembly 2530 is disposed within an interior volume 2528 of the drum 2525. The mounting flange 2532 is coupled to a second end of the encoder drum 2531 and is further coupled to a bearing bracket 2533. The bearing bracket 2533 includes an axle 2534 about which a bearing 2535 is disposed. The coupler 2536 is coupled to the axle 2534 of the bearing bracket 2533 and is configured to couple the encoder 2537 to the bearing bracket 2533. As shown in FIG. 28 , the coupler 2536 and the encoder 2537 are disposed within the encoder housing 2538. More specifically, the coupler 2536 is movably disposed within the encoder housing 2538, and the encoder 2537 is fixedly coupled to the encoder housing 2538. Further, a first end of the encoder housing 2538 is disposed about the bearing 2535, and a second end of the encoder housing 2538 contacts and is fixedly coupled to the recessed portion 2244 of the second side member 2240 of the housing 2240. In this manner, the encoder drum 2531, the mounting flange 2532, the bearing bracket 2533, and the coupler 2536 are configured to rotate simultaneously with the drum 2525 relative to the encoder 2537 and the encoder housing 2538. Thus, the encoder 2537 can receive and / or determine information related to the rotation of the drum 2525. For example, the encoder 2537 can determine a position, rotational speed, rotational acceleration, feed rate, or the like of the tether 2505. Further, the encoder 2537 can be in electrical communication (e.g., via wired or wireless communication) with a portion of the electronic system 2700 and can send information related to the winch assembly 2510 to the portion of the electronic system 2700.Upon receiving information from the encoder 2537, a portion of the electronic system 2700 may send a signal related to the performance of an action (e.g., increasing or decreasing the output of one or more motors, or the like) to any other suitable system, as described in further detail herein.

[0104]

[1156] 27, the guide mechanism 2540 of the support mechanism 2500 is at least partially disposed within the guide mechanism opening 2215 of the base 2210 contained within the housing 2200. More specifically, the guide mechanism 2540 includes a set of mounting brackets 2541 that are coupled to the mounting tabs 2216 of the base 2210. In this manner, at least a portion of the guide mechanism 2540 is suspended within the guide mechanism opening 2215. As shown in FIG. 31, the guide mechanism 2540 includes the mounting brackets 2541, the guide drum assembly 2545, the stop bracket 2550, the stopper 2551, the roller assembly 2554, the coupler 2559, the support bracket 2560, and the encoder 2561. As described above, the mounting brackets 2541 are coupled to the mounting tabs 2216 of the base 2210. The mounting bracket 2541 includes a first mounting portion 2542 that is movably coupled to a portion of the guide drum assembly 2545, a second mounting portion 2543 that is fixedly coupled to a stop bracket 2550, and a pivot portion 2544 that is movably coupled to a portion of the roller assembly 2554. The stop bracket 2550 is further coupled to a stop 2551 and configured to limit movement of the guide drum assembly 2545 relative to the mounting bracket 2541.

[0105]

[1157] The guide drum assembly 2545 includes a guide drum 2546, a set of pivot plates 2547, and a stop plate 2549. The guide drum 2546 is movably coupled to the pivot plate 2547. For example, although not shown in FIG. 31 , the pivot plates 2547 can each include an opening configured to receive an axle about which the guide drum 2546 can rotate. The pivot plates 2547 each include a pivot axle 2548 that can be positioned within an opening (not shown) defined by the first mounting portion 2542 of the mounting bracket 2541. In this manner, the guide drum assembly 2545 can pivot relative to the mounting bracket 2541 about the pivot axle 2548. The stop plate 2549 is configured to engage a portion of the stopper 2551 to limit the pivotal movement of the guide drum assembly 2545 relative to the mounting bracket 2541. More specifically, with the stop bracket 2550 fixedly coupled to the mounting bracket 2541 and the stopper 2551, the guide drum assembly 2545 can pivot toward the stop bracket 2550 (e.g., in response to a force exerted on the tether 2505, as described in further detail herein) such that the stopper plate 2549 is disposed in contact with the stopper 2551. The stopper 2551 can be of any suitable shape, size, or configuration. For example, in some embodiments, the stopper 2551 can be an elastomeric member configured to absorb a portion of the force exerted by the guide drum assembly 2545 when the stopper plate 2549 is disposed in contact with the stopper 2551.

[0106]

[1158] The roller assembly 2554 includes a set of swing arms 2555 and a set of rollers 2558. The swing arms 2555 include a first end 2556 and a second end 2557. The first end 2556 of the swing arms 2555 is movably coupled to the rollers 2558. More specifically, the rollers 2558 can be positioned such that a space defined between the rollers 2558 can receive a portion of the tether 2505. Thus, when the tether 2505 is moved relative to the rollers 2558, the rollers 2558 can rotate relative to the swing arms 2555. The second end 2557 of the swing arms 2555 is coupled to a pivot portion 2543 of the mounting bracket 2541. For example, as shown in FIG. 31, the pivot portion 2543 can include a set of axles disposed in bearings. In this manner, the second end 2557 of the swing arm 2555 can be coupled to the axle such that the roller assembly 2554 and the axle can pivot relative to the mounting bracket 2541 (e.g., in response to forces acting on the tether 2505, as described in more detail herein).

[0107]

[1159] A coupler 2559 included within the guiding mechanism 2540 is coupled to an axle of the pivot portion 2543 of one of the mounting brackets 2541. The coupler 2559 is further coupled to an input shaft of an encoder 2561. More specifically, the support bracket 2560 is coupled to the base 2210 of the housing 2200 and is also coupled to a portion of the encoder 2561 to limit movement of the portion of the encoder 2561 relative to the base 2210. Thus, the encoder 2561 can receive and / or determine information related to the pivotal movement of the roller assembly 2554 relative to the mounting bracket 2541. For example, the encoder 2561 can determine a position, rotational speed, rotational acceleration, feed rate, or the like of the tether 2505. Additionally, the encoder 2561 can be in electrical communication (e.g., via wired or wireless communication) with a portion of the electronic system 2700 and can send information related to the guiding mechanism 2540 to the portion of the electronic system 2700. Upon receiving information from the encoder 2561, a portion of the electronic system 2700 may perform an action (e.g., increasing or decreasing the power of one or more of the motors 2311 and 2511, changing the direction of one or more of the motors 2311 and 2511, or or the like) can be sent to any other suitable system.

[0108]

[1160] 32, the first pulley 2563 and the second pulley 2565 are rotatably coupled to a first pulley bracket 2564 and a second pulley bracket 2565, respectively. The first pulley bracket 2564 and the second pulley bracket 2565 are further coupled to the base 2210 of the housing 2200. In this manner, the first pulley 2563, the second pulley 2565, and at least a portion of the cam mechanism 2570 can engage the tether 2505 to provide a mechanical advantage to the winch assembly 2510, as described in further detail herein.

[0109]

[1161] 32 and 33, the cam mechanism 2570 includes a cam pulley assembly 2571, a cam 2580, a coupler 2585, a coupler housing 2586, an encoder 2587, and a biasing mechanism 2588. The cam pulley assembly 2571 includes a cam pulley 2572, a cam arm 2574, a cam axle 2575, and a spacer 2576. The cam arm 2574 includes a first end rotatably coupled to the cam pulley 2572 and a second end rotatably coupled to the cam axle 2575. The cam axle 2575 extends through the cam pivot opening 2220 (defined by the base 2210), the spacer 2576, and the cam 2580 to be coupled to the coupler 2585. The spacer 2576 is coupled to the base 2210 and disposed between the second side 2212 of the base 2210 and a surface of the cam 2580. The spacer 2576 may be formed from a material having a relatively low coefficient of friction, such as, for example, polyethylene, nylon, or the like, to allow the cam 2580 to move relatively easily along the surface of the spacer 2576. In this manner, the cam 2580 is spaced a sufficient distance from the second side 2212 of the base 2210 to allow a portion of the biasing mechanism 2588 to be disposed between the cam 2580 and the second side 2212, as described in further detail herein.

[0110]

[1162] The cam 2580 of the cam assembly 2570 defines an opening 2581 and includes a mounting portion 2582 and an engagement surface 2583. The engagement surface 2583 of the cam 2580 contacts a portion of the biasing mechanism 2588, as described in further detail herein. The opening 2581 defined by the cam 2580 receives a bearing 2584. When disposed within the opening 2581, the bearing 2584 allows the cam 2580 to rotate about the cam axle 2575. The mounting portion 2582 of the cam 2580 is disposed at least partially within the cam pulley opening 2219 and is coupled to the cam pulley 2572. For example, as shown in FIG. 33, the mounting portion 2582 is a threaded rod extending from a surface of the cam 2580 that may be received by a threaded opening (not shown) defined by the cam pulley 2572. In this manner, movement of the cam pulley assembly 2571 in response to a change in force acting on the tether 2505 (eg, an increase or decrease in force) causes the cam 2580 to rotate about the cam axle 2575 (as described above).

[0111]

[1163] A coupler housing 2586 is coupled to a surface of the cam 2580 opposite the side adjacent the spacer 2576. In other words, the coupler housing 2586 extends away from the base 2210 when coupled to the cam 2580. The coupler housing 2586 is further coupled to an encoder 2587. Thus, when the cam 2580 is rotated about the cam axle 2575, the coupler housing 2586 and the encoder 2587 are also rotated about the cam axle 2575. A coupler 2585 is disposed within the coupler housing 2586 and is coupled to both the cam axle 2575 and an input portion (not shown) of the encoder 2575. Thus, with the coupler 2585 coupled to the cam axle 2575 and an input portion of the encoder 2587, rotation of the cam 2580 and the coupler housing 2586 causes the encoder 2587 to rotate about its input portion. In this manner, the encoder 2587 may be used to determine the relative position of the cam 2580 and / or the cam pulley assembly relative to the cam axle 2575. The encoder 2587 may receive and / or determine information related to the pivotal movement of the cam mechanism 2571. For example, the encoder 2587 may determine the position, rotational speed, rotational acceleration, feed rate, or the like of the tether 2505. Additionally, the encoder 2587 may be in electrical communication (e.g., via wired or wireless communication) with a portion of the electronic system 2700 and may send information related to the cam mechanism 2570 to the portion of the electronic system 2700. Upon receiving information from the encoder 2587, the portion of the electronic system 2700 may send a signal to any other suitable system related to the performance of an action (e.g., increasing or decreasing the power of one or more of the motors 2311 and 2511, changing the direction of one or more of the motors 2311 and 2511, or the like).

[0112]

[1164] The biasing mechanism 2588 includes an axle 2589, a mounting flange 2590, a first pivot arm 2591, a second pivot arm 2595, a guide member 2596, a biasing member 2597, and a mounting post 2598. The axle 2589 is movably disposed within the mounting flange 2588 and extends through a biasing mechanism opening 2217 defined by the base 2210 to be fixedly disposed within an axle opening 2592 defined by the second pivot arm 2591. More specifically, a portion of the mounting flange 2589 extends through the biasing mechanism opening 2217 and beyond the second side 2212 of the base 2210 to contact a surface of the second pivot arm 2591. In this manner, the surface of the second pivot arm 2591 is offset from the second side 2212 of the base 2210. Additionally, the spacer 2576 (described above) is positioned such that when the axle 2589 is positioned within the axle opening 2592, the second surface of the first pivot arm 2591 is offset from the surface of the cam 2580. Thus, the first pivot arm 2591 can pivot relative to the base 2210 with a relatively low amount of friction. In some embodiments, at least the portion of the mounting flange 2590 that extends through the biasing mechanism opening 2217 can be made from a material having a relatively low coefficient of friction, such as, for example, polyethylene, nylon, or the like.

[0113]

[1165] The first pivot arm 2591 defines an axle opening 2592 and a guide member opening 2593, and includes an engagement member 2594. The guide member opening 2593 is configured to receive a portion of the guide member 2596 to couple the guide member 2596 to the first pivot arm 2591. The guide member 2596 extends from a surface of the first pivot arm 2591 toward the base 2210 such that a portion of the guide member 2596 extends through a guide member opening 2218 defined by the base 2210. In some embodiments, the guide member 2596 can include a sleeve or the like configured to engage with the base 2210. In such embodiments, the sleeve can be formed from a material having a relatively low coefficient of friction, such as, for example, polyethylene, nylon, or the like. Thus, the guide member 2596 can move within the guide member track 2218 when the first pivot arm 2591 is moved relative to the base 2210.

[0114]

[1166] The engagement member 2594 of the first pivot arm 2591 extends from a surface of the first pivot arm 2591 toward the cam 2580. In this manner, the engagement member 2594 may be moved along the engagement surface 2583 of the cam 2580 when the cam 2580 is moved relative to the base 2210, as described in further detail herein. In some embodiments, the engagement member 2594 may be rotatably coupled to the first pivot arm 2591 and configured to roll along the engagement surface 2583. In other embodiments, the engagement member 2594 and / or the engagement surface 2583 may be formed from a material having a relatively low coefficient of friction. In such embodiments, the engagement member 2594 may be slid along the engagement surface 2583.

[0115]

[1167] A second pivot arm 2595 of the biasing mechanism 2588 is fixed to the axle 2589. The mounting post 2598 is fixedly coupled to the base 2210 and has a first end coupled to the first end of the bias member 2597. The mounting post 2598 is fixedly coupled to the base 2210 and is further coupled to the second end of the bias member 2597. The second pivot arm 2595 can thus pivot relative to the mounting flange 2590 between a first position in which the bias member 2597 is in a first configuration (undeformed configuration) and a second position in which the bias member 2597 is in a second configuration (deformed configuration). For example, in some embodiments, the bias member 2597 can be a spring that can be moved between an uncompressed configuration (e.g., first configuration) and a compressed configuration (e.g., second configuration). In other embodiments, the bias member 2597 can be a spring that can be moved between an unextended configuration and an extended configuration. In other words, the bias member 2597 can be either a compression spring or an extension spring, respectively. In still other embodiments, the biasing member 2597 may be any other suitable biasing mechanism and / or energy storage device, such as, for example, a gas strut or the like.

[0116]

[1168] When the cam 2580 is rotated from the first position to the second position in response to a force acting on the tether 2505 (as described above), the biasing member 2597 can exert a reaction force that resists rotation of the cam 2580. More specifically, with the engagement member 2594 in contact with the engagement surface 2583 of the cam 2580, the biasing member 2597 can exert a reaction force that resists movement of the engagement member 2594 along the engagement surface 2583. Thus, in some instances, a relatively small change in the force acting on the tether 2505 may not be large enough to rotate the cam 2580 and cam pulley assembly 2571. This arrangement can reduce undesirable changes in the amount of weight supported by the support system 2000 in response to minor perturbations in the force acting on the tether 2505.

[0117]

[1169] 34 shows a patient connection mechanism 2800. The patient connection mechanism 2800 may be mated to the second end 2507 of the tether 2505 to connect the patient connection mechanism 2800 to the trolley 2100. Additionally, the patient connection mechanism 2800 may be coupled to a harness or the like worn by the patient to connect the patient to the support system 2000, as described below.

[0118]

[1170] The patient connection mechanism 2800 has a first coupling portion 2810 and a second coupling portion 2812. The first coupling portion 2810 includes a coupling mechanism 2811 configured to couple to the second end 2507 of the tether, as described above. For example, the coupling mechanism 2811 can be a loop or hook configured to couple to a connection device (not shown in FIGS. 2-34) of the tether 2505. The second coupling portion 2821 is movably coupled to the first arm 2820 and the second arm 2840. As described in more detail herein, the first arm 2820 and the second arm 2840 can pivot relative to one another to absorb at least a portion of the forces exerted by the weight of a patient coupled to the patient connection mechanism 2800.

[0119]

[1171] The first arm 2820 of the patient connection mechanism 2800 includes a pivot portion 2821 and a mounting portion 2822. The pivot portion 2821 is movably coupled to the second coupling portion 2812. The mounting portion 2822 receives a guide rod 2830, as described in further detail herein. The first arm 2820 defines a slot 2824 that receives a portion of the second arm 2840 and an opening 2826 that receives a portion of a harness worn by the patient.

[0120]

[1172] The second arm 2840 has a pivot portion 2841 and a coupling portion 2842. The pivot portion 2841 is movably coupled to the second coupling portion 2812. In this manner, both the first arm 2820 and the second arm 2840 can pivot relative to the coupling portion 2812 and relative to each other, as described in more detail herein. The coupling portion 2842 defines an opening 2843 that receives a portion of a harness worn by the patient. The coupling portion 2842 is also movably coupled to a first end of a first energy storage member 2844 and a first end of a second energy storage member 2851 (collectively referred to as energy storage member 2850). The energy storage member 2850 can be, for example, a gas strut or the like.

[0121]

[1173] 34, the energy storage member 2850 is configured to extend toward the first arm 2820. More specifically, the second energy storage member 2851 includes a coupling portion 2852 that is movably coupled to the guide rod 2830 of the first arm 2820. The first energy storage member 2844 also includes a coupling portion (not shown in FIG. 34) that is movably coupled to the engagement member 2845 and is further coupled to the coupling portion 2852 of the second energy storage member 2851. Similarly stated, the coupling portion of the first energy storage member 2844 extends in a direction substantially perpendicular relative to a longitudinal centerline (not shown) of the first energy storage member 2844.

[0122]

[1174] The engagement member 2845 is movably coupled to the coupling portion of the first energy storage member 2844 and the coupling portion 2852 of the second coupling portion 2851. The engagement member 2845 is configured to be disposed in contact with an engagement surface 2825 of the first arm 2820 that at least partially defines the slot 2825. Similarly stated, the engagement member 2845 is disposed in contact with the engagement surface 2825 within the slot 2824 defined by the first arm 2820. Furthermore, the arrangement of the engagement member 2845 and the energy storage member 2850 allows the engagement member 2845 to roll along the engagement surface 2825.

[0123]

[1175] When a force is exerted on the first arm 2820 / second arm 2840 by the patient, the first arm 2820 and the second arm 2840 pivot toward each other about the second coupling portion 2812. The pivoting of the first arm 2820 and the second arm 2840 moves the engagement member 2845 toward the engagement surface 2825 and further moves the energy storage member 2850 from a lower potential energy configuration to a higher potential energy configuration (e.g., compressing the gas struts). Thus, the energy storage member 2850 can absorb at least a portion of the force exerted on the patient connection mechanism 2800. Furthermore, when the force exerted on the patient connection mechanism 2800 is less than the potential energy of the energy storage member 2850 in the second configuration, the energy storage member 2850 can move toward its first position to pivot the first arm 2820 and the second arm 2840 away from each other.

[0124]

[1176] During use, the patient support system 2000 can be used to actively support at least a portion of the weight of a patient coupled thereto. For example, as described above, in some examples, a patient is coupled to the patient connection mechanism 2800, which is coupled to the second end 2507 of the tether 2505. In this manner, the support system 2000 (e.g., the tether 2505, the trolley 2100, and the support rail 2050) can support at least a portion of the patient's weight.

[0125]

[1177] In some examples, a user (technician, therapist, doctor, physician, or the like) can input a set of system parameters related to the patient and the support system 2000. For example, in some embodiments, the user can input a set of system parameters via a remote control device, such as a personal computer, mobile device, smart phone, or the like. In other embodiments, the user can input the system parameters, for example, on a control panel included in or on the trolley 2100. The system parameters can include, for example, the patient's weight, the patient's height, the desired amount of weight to be supported by the support system 2000, the desired speed of the patient walking during ambulatory therapy, the desired distance along the length of the support track 2050, and the like. The information may include a desired route or distance, or the like.

[0126]

[1178] With the system parameters entered, the patient may begin, for example, an ambulatory therapy session. In some examples, the trolley 2100 may move along the support structure 2050 in response to the patient's movement (as described above with reference to FIGS. 23 and 26). Similarly stated, the trolley 2100 may move along the support structure 2050 as the patient walks. In some examples, the trolley 2100 may be configured to remain substantially above the patient's head. In such examples, the electronic system 2700 may execute a set of instructions associated with controlling the motor 2311 of the drive train 2300 based on information received, for example, from the encoder 2470 of the drive train 2300, the encoder 2561 of the guide mechanism 2540, and / or the encoder 2587 of the cam assembly 2570. For example, the electronic system 2700 may send a signal to the motor 2311 of the drive train 2300 to act in altering the rotational speed of the drive wheel 2385 based at least in part on information associated with the encoder 2561 of the guide mechanism 2540. More specifically, in some instances, the patient may walk faster than the trolley 2100, thereby changing the angle of the tether 2505 and the guide mechanism 2540 relative to the base 2210. Thus, the encoder 2561 of the guide mechanism 2540 may send a signal related to the angle of the guide mechanism 2540 relative to the base 2210, and upon receipt of this signal, the electronic system 2700 may send a signal to the motor 2311 of the drive train 2300 to increase the rotational speed of the drive wheel 2385. In this manner, the position of the trolley 2100 relative to the patient may be actively controlled based at least in part on user-defined parameters and further based at least in part on information received from the encoder 2470 of the drive train 2300, the encoder 2561 of the guide mechanism 2540, and / or the encoder 2587 of the cam assembly 2570. Although described as being actively controlled to be above the patient, other examples may allow the user to define parameters relating to the trolley 2100 following the patient at a desired distance or leading the patient at a desired distance.

[0127]

[1179] In some examples, the amount of force exerted by the patient on the tether 2505 may increase or decrease. For example, the patient may stumble, thereby increasing the amount of force exerted on the tether 2505. In such examples, the increase in force on the tether 2505 may cause the guide mechanism 2540 to pivot, which may move the cam pivot arm 2571 in response to the increase in force. The movement of the cam pivot arm 2571 moves the cam assembly 2570 (as described above with reference to FIG. 33 ). In this manner, the encoder 2561 of the guide mechanism 2540 and the encoder 2587 of the cam assembly 2570 may send signals to the electronic system 2700 related to the change in state of the guide mechanism 2540 and the cam assembly 2570, respectively.

[0128]

[1180] Upon receiving signals from the encoders 2561 and 2587, the processor can execute a set of instructions contained in the memory associated with the cam assembly 2570. For example, the processor can determine a position of the cam 2580 or the guide mechanism 2540, a velocity and acceleration of the cam 2580 or the guide mechanism 2540, or the like. Based on the determination of a change in the configuration of the guide mechanism 2540 and the cam assembly 2570, the processor can send a signal to the motor 2311 of the first drive assembly 2310 and / or the motor 2511 of the winch assembly 2510 to change a current state of the drive system 2300 and / or the patient support mechanism 2500. In some examples, the magnitude of the change in state of the drive system and / or the patient support mechanism 2500 is based at least in part on proportional-integral-derivative (PID) control. In such an example, the electronic system 2700 (e.g., a processor or any other electronic device in communication with the processor) determines changes in the patient support mechanism 2500 and models the changes based on PID control. Based on the results of the modeling, the processor adjusts the drivetrain 2300 and / or the patient support mechanism 2500 to adjust the patient support mechanism 2500 based on PID control. An appropriate amount of change in the person support mechanism 2500 can be determined.

[0129]

[1181] After a relatively short period of time (e.g., much less than a second, e.g., after one or a few clock cycles of the processor), the processor may receive signals from encoder 2470 of drive train 2300, encoder 2537 of winch assembly 2510, encoder 2561 of guide mechanism 2540, and / or encoder 2587 of cam assembly 2570 associated with a change in configuration of drive train 2300, winch assembly 2510, guide mechanism 2540, and / or cam assembly 2570, respectively. In this manner, one or more of the electronic devices included within electronic system 2700, including but not limited to a processor, execute a set of instructions stored in memory associated with feedback associated with encoders 2470, 2537, 2561, and 2587. Thus, the drive train 2300 and patient support mechanism 2500 of the trolley 2100 may be actively controlled in response to changes in the forces acting on the tether 2505 and based at least in part on the current and / or previous states of the drive train 2300 and patient support mechanism 2500. Similarly stated, the support system 2000 may actively reduce the amount of collapse of the patient after tripping or otherwise falling.

[0130]

[1182] Although the patient support system 2000 is described above with reference to Figures 2-34 as actively supporting a portion of the patient's body weight, in some embodiments, the patient support system may passively (i.e., not actively) support a portion of the patient's body weight. Figures 35 and 36 show a partial unloading system 3900 according to one embodiment. The partial unloading system 3900 (also referred to herein as a "support system") may be used to support a portion of the patient's body weight, for example, during gait therapy, gait training, or the like. The support system 3900 may be movably coupled to a support track (not shown) configured to support the weight of the support system 3900 and the weight of a patient utilizing the support system 3900. The support track may be, for example, similar to or identical to the support track 2050 described above.

[0131]

[1183] The support system 3900 includes a first coupling portion 3910 and a second coupling portion 3940. The first coupling portion 3910 is configured to movably couple to a support track, as described above. The first coupling portion 3910 includes a first side assembly 3911, a second side assembly 3921, and a base 3930. The first side assembly 3911 includes a set of drive wheels 3912, a set of guide wheels 3913, an outer wall 3914, an inner wall 3915, and a coupler 3916. The coupler 3916 is configured to extend between the outer wall 3914 and the inner wall 3915 to couple the outer wall 3914 and the inner wall 3915 together. The outer wall 3914 is further coupled to the base 3930. The drive wheels 3912 are disposed in an upper set of drive wheels 3912 configured to be disposed on an upper surface of the support track and a lower set of drive wheels 3912 configured to be disposed on a lower surface of the support track. In this manner, the drive wheels 3912 roll along a horizontal portion of the support track (not shown in FIGS. 35 and 36). The guide wheels 3913 are disposed in a vertical orientation relative to the drive wheels 3912 and are configured to roll along a vertical portion of the support track (e.g., as similarly described above with reference to FIG. 32).

[0132]

[1184] The second side assembly 3921 includes a set of drive wheels 3922, a set of guide wheels 3923, an outer wall 3924, an inner wall 3925, and a set of couplers 3916. The first side assembly 3911 and the second side assembly 3921 are substantially identical and are arranged in a mirror image configuration. Thus, the second side assembly 3921 will not be described in further detail herein and should be considered identical to the first side assembly 3921 unless explicitly stated otherwise.

[0133]

[1185] As shown in FIG. 36, the second coupling portion 3940 includes a cylinder 3941, a connecting member 3945, a piston 3950, and an energy storage member 3960. The cylinder 3941 is coupled to the base 3930 and configured to accommodate at least a portion of the spring 3960 and the piston 3950. More specifically, the cylinder 3941 defines an opening 3942 at an end opposite the base 3930 through which at least a first end 3951 of the piston 3950 can move. The piston 3950 further has a second end 3952 in contact with a portion of the energy storage member 3960. The energy storage member 3960 can be any suitable device configured to move between a first configuration having a lower potential energy and a second configuration having a higher potential energy. For example, as shown in FIG. 36, the energy storage member 3960 can be a spring that is compressed when moved to the second configuration.

[0134]

[1186] The connecting member 3945 includes a first coupling portion 3946 that is coupled to a first end 3951 of the piston 3950, and a second coupling portion 3947 that may be coupled, for example, to a harness worn by the patient. As shown in Figures 35 and 36, the second end 3952 may be an annular protrusion. In this manner, a portion of the harness, such as a hook or the like, may be at least partially disposed within an opening defined by the second coupling portion 3947 to couple the patient to the support system 3900.

[0135]

[1187] In use, a patient may be coupled to the support system 3900 (as described above) such that the support system 3900 supports at least a portion of the patient's body weight. In this manner, the patient may walk along a path associated with a support track (not shown). With the support system 3900 coupled to the patient, the patient's movement moves the support system 3900 along the support track. Stated similarly, the patient pulls the support system 3900 along the support track. In some instances, the patient may stumble while walking, which increases the amount of force acting on the support system 3900. In such instances, the increase in force acting on the support system 3900 may be sufficient to cause the energy storage member 3960 to move from its first configuration toward its second configuration (e.g., compressed). In this manner, the piston 3950 may move relative to the cylinder 3941, and the energy storage member 3960 may absorb at least a portion of the increase in force acting on the support structure 3900. Thus, if the patient trips, the support system 3900 can attenuate the shock experienced by the patient that would otherwise occur in known passive support systems 3900 .

[0136]

[1188] Although the support system 3900 is described as including an energy storage member, in other embodiments, the support system 3900 need not include an energy storage member. For example, in some embodiments, the support system 3900 may be coupled to the connection mechanism 2800, such as described above with reference to FIG. 34. In this manner, the connection mechanism 2800 may be used to dampen at least a portion of the change in force acting on the support system 3900. For example, in some instances, a patient coupled to the support system 3900 may stumble, thereby increasing the force acting on the support system 3900. In such instances, the increase in force may move the first arm 2820 toward the second arm 2840 (see, e.g., FIG. 34), thereby moving the energy storage member 2850 toward its second configuration. Thus, at least a portion of the increase in force may be absorbed by the connection mechanism 2800.

[0137]

[1189] Although not shown in Figures 2-36, one or more active support systems (e.g., support system 2000) and / or one or more passive support systems (e.g., support system 3900) may be positioned near a similar support track and utilized simultaneously. For example, Figure 37 is a schematic diagram of a support system 4000 according to one embodiment. Support system 4000 includes a support track 4050, a first support member 4100, and a second support member 4900. The support system 4000 may be used to support at least a portion of the body weight of one or more patients, for example, during gait therapy (e.g., after an injury), gait training (e.g., low gravity simulation), and / or the like. The support track 4050 is configured to support the weight of the first support member 4100 and the second support member 4900 and the weight of a patient utilizing the first support member 4100 and / or the second support member 4900.

[0138]

[1190] As shown in Figure 37, the support track 4050 can form a closed loop track. The support track 4050 can be similar to or the same as the support track 2050 described above with reference to Figures 2 and 3, the first support member 4100 can be similar to or the same as the trolley 2100 described above with reference to Figures 2-33, and the second support member 4900 can be similar to or the same as the support system 3900 described above with reference to Figures 35 and 36. In this manner, the first support member 4100 and the second support member 4900 can be suspended from the support track 4050 as described in detail above.

[0139]

[1191] In some embodiments, a first patient (not shown in FIG. 37) may be coupled to a first support member 4100 and a second patient (not shown in FIG. 37) may be coupled to a second support member 4900, both support members suspended from a support track 4050. As shown in FIG. 37, the first support member 4100 may move in the direction of arrow A in response to movement of a first patient coupled thereto. Similarly, the second support member 4900 may move in the direction of arrow B in response to movement of a second patient coupled thereto. More specifically, the first support member 4100 may be an active support member and may be configured to move in accordance with movement of the first patient as described in detail above. Conversely, the second support member 4900 may be a passive support member and may be moved by a second patient coupled thereto as described in detail above.

[0140]

[1192] Although support system 4000 is illustrated and described as including a first support member 4100 and a second support member 4900, in other embodiments, support system 4000 may include any suitable number of support members movably coupled to support track 4050. Additionally, any combination of active and passive support members may be included within support system 4000. For example, while illustrated as including an active support member (e.g., first support member 4100) and a passive support member (e.g., second support member 4900), in other embodiments, support system 4000 may include two active support members, two passive support members, two active support members and two passive support members, or any other suitable combination thereof.

[0141]

[1193] Although not shown in FIG. 37, the support system 4000 (i.e., the first support member 4100 and / or the second support member 4900) may include a collision management system configured to prevent and / or mitigate the impact, force, or effect of a collision between the first support member 4100 and the second support member 4900. For example, in some embodiments, the first support member 4100 may include a sensor (e.g., an ultrasonic proximity sensor or the like) configured to sense the position of the first support member 4100 relative to the second support member 4900. Thus, when the distance between the first support member 4100 and the second support member 4900 approaches a predetermined threshold (e.g., a minimum distance), an electronic system (e.g., similar to or the same as the electronic system 2700 described above) included within the first support member 4100 may send a signal to a driveline (not shown) to increase or decrease the rotational speed of one or more drive wheels. Thus, a collision between the first support member 4100 and the second support member 4900 may be avoided. In other embodiments, the collision management system can increase or decrease the speed of one or more drive wheels to substantially reduce the forces associated with a collision between the first support member 4100 and the second support member 4900.

[0142]

[1194] Although the first support member 4100 is described above as including sensors and / or the like configured to sense the position of the first support member 4100 relative to the second support member 4900, in other embodiments, the support system may include any suitable members, devices, mechanisms, assemblies, and / or the like configured to substantially maintain a distance between the first and second support members contained therein and / or otherwise reduce the force associated with or likelihood of a collision. In other embodiments, the support system may include and / or be coupled to any suitable members, devices, mechanisms, assemblies, and / or the like configured to prevent direct contact between the first and second support members (e.g., disposed therebetween and / or coupled). For example, FIGS. 38-40 show a support system 5000 according to one embodiment. The support system 5000 includes a first support member 5100, a second support member 5100′, a collision management assembly 5080, and a support track 5050. The support track 5050 may be similar to or identical to the support track 2050 (described above with reference to FIGS. 2 and 3) and / or the support track 4050 (described above with reference to FIG. 37). The first support member 5100 and the second support member 5100' may be substantially similar to each other and may each be substantially similar to or identical to the trolley 2100 described above with reference to FIGS. 2-33. Thus, the first support member 5100 (e.g., the first trolley) and the second support member 5100' (e.g., the second trolley) may each be an active support system that depends from the support track 5050. 38, the support track 5050 includes a horizontal portion 5051 and a vertical portion 5052 about which the drive mechanisms of the support members 5100 and 5100' may be disposed, thereby enabling the support members 5100 and 5100' to move along the length of the support track 5050 in response to movements of the supported patient, as described in detail above. Accordingly, the form and function of the support members 5100 and 5100' will not be described further herein.

[0143]

[1195] The collision management assembly 5080 of the support system 5000 may be coupled and / or otherwise disposed between the first support member 5100 and the second support member 5100'. In some embodiments, the collision management assembly 5080 may be coupled to the first support member 5100 or the second support member 5100'. For example, as shown in FIG. 38, the collision management assembly 5080 includes a coupling portion 5090 coupled to the first support member 5100 and a trolley portion 5085 movably disposed about the support track 5050. The trolley portion 5085 may be substantially similar in form and / or function to the first coupling portion 3910 of the support system 3900 described above with reference to FIG. 35. Thus, the trolley portion 5085 includes a set of wheels 5086 configured to roll along the horizontal portion 5051 or the vertical portion 5082 of the support track 5050, as described in detail above.

[0144]

[1196] The trolley portion 5085 also includes a set of bumpers 5087 extending from a surface of the trolley portion 5085. In some embodiments, the bumpers 5087 may be formed from a relatively resilient material (e.g., rubber, silicone, polyethylene, polypropylene, polyurethane, and / or the like, including copolymers, and combinations thereof) that may be configured to absorb at least a portion of a force when placed in contact with an object. More specifically, in some instances, a force may be exerted that may move the trolley portion 5085 along the support track 5050 to place the bumpers 5087 in contact with an object (e.g., the second support member 5100'). The arrangement of the bumpers 5087 may be such that at least a portion of a force exerted to move the trolley portion 5085 along the support track 5050 is absorbed by the bumpers 5087, resulting in a deformation (e.g., elastic or non-permanent deformation) thereof when the bumpers are placed in contact with an object. In such an example, the deformation of the bumper 5087 may be such that a portion of the force transmitted through the bumper 5087 to the object (e.g., the second support member 5100′) is reduced, which may reduce damage to and / or fatigue of a portion of the object. It may be formed from and / or may otherwise include a material capable of absorbing at least a portion of the impact force between it and (eg, a wall, a support member, and / or the like).

[0145]

[1197] As described above, the coupling portion 5090 is coupled to a portion of the first support member 5100. More specifically, a first end 5092 of the coupling portion 5090 is rotatably coupled to a portion of the first support member 5100. For example, the first end 5092 may include a rotatable eyelet or the like that may be coupled to a portion of the first support member 5100 via, for example, a bolt, pin, post, and / or the like, thereby defining an axis about which the first eyelet may rotate. Similarly, a second end 5094 of the coupling portion 5090 may be rotatably coupled to a portion of the trolley portion 5085. Thus, the coupling portion 5090 may couple or otherwise form a linkage between the first support member 5100 and the trolley portion 5085 such that movement of the first support member 5100 along the support track 5050 moves the trolley portion 5085 along the support track 5050. For example, the coupling portion 5090 can be configured to transmit, transfer, and / or otherwise exert at least a portion of the force associated with movement of the first support member 5100 along the support track 5050 to the trolley portion 5085. Further, the rotatable coupling of the coupling portion 5090 to the first support member 5100 and the trolley portion 5085 can be such that the first support member 5100 can push the trolley portion 5085 along a substantially non-linear support track, as shown in FIG.

[0146]

[1198] The coupling portion 5090 may be any suitable member, device, and / or mechanism. For example, in some embodiments, the coupling portion 5090 may be a substantially rigid bar or the like configured to maintain a substantially fixed distance between the trolley portion 5085 and the first support member 5100. In other embodiments, the coupling portion 5090 may be substantially non-rigid, where the distance between the first support member 5100 and the trolley portion 5085 may be varied (i.e., may be non-fixed). For example, in some embodiments, the first portion 5091 of the coupling portion 5090 may be configured to move relative to the second portion 5092 of the coupling portion 5090. Additionally, in some embodiments, the coupling portion 5090 may be configured to absorb at least a portion of the forces (associated with the movement of the first support member 5100 along the support track 5050) that would otherwise act on the trolley portion 5085. For example, as shown in FIGS. 38-40, the coupling portion 5090 can be a piston-cylinder configuration, where a region of the first portion 5091 (e.g., a piston) is movably disposed within the second portion 5093 (e.g., a cylinder). Additionally, an energy storage member 5095 (e.g., a spring or the like) can be disposed within the second portion 5093 of the coupling portion 5090, as shown in FIG. 40. In this manner, movement of the first portion 5091 relative to the second portion 5093 can increase the potential energy of the energy storage member 5095. For example, in some embodiments, the energy storage member 5095 can be a spring that can be transitioned from a substantially uncompressed configuration (i.e., a relatively lower potential energy) to a substantially compressed configuration (i.e., a relatively higher potential energy) when the first portion 5091 is moved relative to the second portion 5093. The energy storage member 5095 can be configured to allow the first portion 5091 to move relative to the second portion 5093, for example, up to about 0.5 inch (0.5"), about 1", about 1.5", about 2", about 2.5", about 3", about 4", about 5", about 7", about 10", or any suitable distance or fraction therebetween.Thus, the coupling portion 5090 can be configured to absorb at least a portion of the energy and / or forces that would otherwise be transferred and / or transmitted between the first support member 5100 and the trolley portion 5085. Although the energy storage member 5095 is illustrated and described as being a spring, in other embodiments, the energy storage member 5095 can be any suitable device, member, and / or volume, such as, for example, a volume of compressible gas and / or the like.

[0147]

[1199] During use, the collision management assembly 5080 may be included within the support system 5000 to substantially prevent collision between the first support member 5100 and the second support member 5100' (see, for example, FIG. 38). Similarly stated, the collision management assembly 5080 may be included within the support system to substantially prevent direct contact between the first support member 5100 and the second support member 5100'. For example, in some instances it may be desirable to maintain a distance between the first support member 5100 and the second support member 5100' that is greater than a predetermined minimum distance and / or distance threshold. In this manner, the collision management assembly 5080 may be coupled to the first support member 5100 such that a distance therebetween that is greater than a predetermined minimum distance and / or distance threshold is maintained as the first support member 5100 and the second support member 5100' move along the support track 5050 substantially independently of one another. For example, in some instances, the first support member 5100 can move relative to the second support member 5100' such that the distance between them is reduced to an extent that places the bumper 5087 of the trolley portion 5085 in contact with a portion of the second support member 5100'. Thus, the collision management assembly 5080 can maintain the first support member 5100 and the second support member 5100' at a distance greater than a minimum distance, thereby preventing direct contact (i.e., a direct collision) therebetween. Furthermore, the arrangement of the bumper 5087 and the coupling portion 5090 is such that when the collision management assembly 5080 is brought into contact with a portion of the second support member 5100', at least a portion of the force associated with the impact is absorbed (e.g., the bumper 5087 can be transitioned from an undeformed configuration to a deformed configuration and / or the energy storage member 5095 can be transitioned from a lower potential energy configuration to a higher potential energy configuration). In this manner, the acceleration and / or jerk (e.g., rate of change of acceleration) of the first support member 5100 and / or the second support member 5100' is not quickly changed when the collision management assembly 5080 is brought into contact with the second support member 5100'.In some examples, after the collision management assembly 5080 is placed in contact with the second support member 5100', the first support member 5100 and the second support member 5100' can move substantially in unison along the support track 5050. In other words, when the collision management assembly 5080 is placed in contact with the second support member 5100', the collision management assembly 5080 can push the second support member 5100' such that the first support member 5100, the second support member 5100', and the collision management assembly 5080 collectively move at substantially the same speed along the support track 5050.

[0148]

[1200] In some embodiments, the collision management assembly 5080 and / or a portion of the support member 5100 and / or 5100' may include one or more sensors or the like that may sense and / or detect one or more parameters associated with the collision management assembly 5080. For example, in some embodiments, the trolley portion 5085 of the collision management assembly 5080 may include a sensor, such as an accelerometer or the like that may sense and / or otherwise detect the acceleration of the trolley portion 5085 when the bumper 5087 is placed in contact with the second support member 5100'. In some examples, the sensor may send a signal related to the acceleration of the trolley portion 5085, for example, to an electronic system of the first support member 5100. The electronic system may then be configured to control one or more systems (e.g., a drive train or the like) of the first support member 5100 based at least in part on the signal received from the sensor. For example, in some instances, the electronic system may reduce the speed of the first support member 5100 based at least in part on information received from a sensor of the collision management assembly 5080.

[0149]

[1201] Although the collision management assembly 5080 is shown and described as being coupled to the first support member 5100 and disposed in contact with the second support member 5100' (see, e.g., FIG. 38), in other embodiments, the collision management assembly 5080 is rotatably coupled to the second support member 5100' and disposed in contact with the first support member 5100 in a manner similar to that described above. Additionally, although the second support member 5100' is shown and described as being substantially similar to the first support member 5100 (i.e., an active support member), in other embodiments, the second support member 5100 can be a passive support member, such as, for example, the support system 3900 described above with reference to Figures 35 and 36.

[0150]

[1202] Although the support system 5000 is described above as including a collision management assembly 5080 that substantially maintains a distance between the first support member 5100 and the second support member 5100, in other embodiments, the support system may include any suitable member, device, mechanism, assembly, and / or the like configured to absorb at least a portion of the energy associated with a collision between a support member and another object (e.g., the second support member, a wall, and / or any other obstacle). For example, FIGS. 41-42 show a support system 6000 according to one embodiment. The support system 6000 includes a support member 6900 movably disposed about a support track 6050. The support track 6050 may be similar to or identical to the support track 2050 (described above with reference to FIGS. 2 and 3) and / or the support track 4050 (described above with reference to FIG. 37). The support member 6900 may be substantially similar to the support system 3900 described above with reference to FIGS. 35-36. The support member 6900 may thus be, for example, a passive support system that hangs from a support track 6050. More specifically, as shown in Figures 41 and 42, the support track 6050 includes a horizontal portion 6051 and a vertical portion 6052 about which a drive mechanism 6910 of the support member 6900 (e.g., similar to or identical to the first coupling portion 3910 of the support system 3900 described above) may be disposed, thereby enabling the support member 6900 to move along the length of the support track 6050 in response to movement of the supported patient, as described in detail above. Thus, the form and function of the support member 6900 will not be described in further detail herein.

[0151]

[1203] 41 and 42, the support member 6900 may be coupled to and / or otherwise include an impingement plate 6020. The impingement plate 6020 (e.g., collision management assembly or collision management member) may be of any suitable shape, size, or configuration. For example, while the impingement plate 6020 is illustrated as having a substantially circular perimeter, in other embodiments, the impingement plate may be of any suitable shape, such as a square, a rectangle, an ellipse, an oval, and / or the like. As shown in FIG. 42, the impingement plate 6020 may be coupled to a portion of the support member 6900 such that a surface of the impingement plate 6020 that contacts the support member 6900 is substantially parallel to a horizontal portion 6051 of the support track 6050. Further, although not shown in Figures 41 and 42, the support member 6900 may be arranged such that the collision plate 6020 is disposed between the drive mechanism 6910 and a coupling portion (such as the second coupling portion 3940 included within the support system 3900, described above with reference to Figure 36).

[0152]

[1204] As shown, the impact plate 6020 is configured to extend beyond the perimeter of the support member 6900. The impact plate 6020 may be formed from and / or include any suitable material that can be substantially rigid, such as, for example, wood, medium density fiber (MDF), plywood, and / or metal or alloys thereof (e.g., aluminum, aluminum alloys, steel, steel alloys, etc.). In other embodiments, the impact plate 6020 may be formed from and / or include any suitable material that can be substantially resilient, such as, for example, rubber, silicone, polyethylene, polypropylene, polyurethane, nylon, and / or the like including copolymers, and / or combinations thereof. The impact plate 6020 includes a bumper 6021 that is coupled to and / or otherwise configured to extend from the peripheral surface, as shown in FIGS. 41 and 42. The bumper 6021 may be of any suitable shape, size, and / or configuration. For example, in some embodiments, the bumper 6021 may be formed from, for example, foam. The bumper 6021 may be formed from and / or include rubber neoprene, ethylene propylene diene monomer (EPDM) rubber, ethylene vinyl acetate (EVA) foam, polypropylene (PP) foam, high density polyethylene (HDPE) foam, low density polyethylene (LDPE) foam, linear low density polyethylene (LLPDE) foam, and / or any other suitable thermoplastic elastomer (TPE) foam, and / or the like. In this manner, the bumper 6021 may be configured to absorb at least a portion of the energy associated with an impact, for example. For example, in some instances, the support member 6900 may move relative to another support member and / or other object along the support track 6050 until the bumper 6021 of the impact plate 6020 is placed against the other support member and / or other object. More specifically, the support member 6900 may move along the support track 6050 in response to a force resulting from a patient coupled thereto dragging or pulling the support member 6900 (as described above). In some examples, the support member 6900 may be moved relative to another object supported on or by the support track 6050 such that the support member 6900 and the other object (e.g., a second support member or the like) collide. Thus, with the collision plate 6020 coupled to the support member 6900 and the bumper 6021 extending beyond the support member 6900, the bumper 6021 is placed in contact with the other object, resulting in elastic deformation of the bumper 6021 in response to at least a portion of the force associated with the collision. Thus, the bumper 6021 may absorb at least a portion of the energy associated with the collision, for example, to protect against and / or otherwise minimize damage to the support member 6900 and / or other object that might otherwise result from the collision.

[0153]

[1205] Although the support track 4050 is illustrated and described above as being a substantially closed loop track, in other embodiments, the support track can be an open loop track. For example, in some embodiments, the support track can have a first end that is substantially separate from a second end (i.e., an open loop configuration). In some embodiments, such a support track can include an end stop or the like that can be configured to substantially limit the movement of a support member, support system, trolley, etc., before reaching an end of the support track. For example, FIGS. 43 and 44 show a support track 7050 including a track stop 7060, according to one embodiment. The support track 7050 can be substantially similar to the support track 2050 described above. Thus, the support track 7050 can include a horizontal portion 7051 and a vertical portion 7052, and can be configured to support a support system, such as, for example, the trolley 2100 and / or the support system 3900.

[0154]

[1206] The track stop 7060 includes a trolley portion 7065 and a coupling portion 7070. The trolley portion 7065 may be substantially similar in form and / or function to the trolley portion 5085 included in the collision management assembly 5080 described above with reference to FIGS. 38-40. Accordingly, the trolley portion 7065 includes a set of wheels 7066 configured to roll along the horizontal portion 7051 or the vertical portion 7052 of the support track 7050, as described in detail above. The trolley portion 7065 also includes at least one bumper 7067 extending from a surface of the trolley portion 7065 (e.g., away from an end surface of the support track 7050). In some embodiments, the bumper 7067 may be formed from a relatively resilient material (e.g., rubber, silicone, polyethylene, polypropylene, polyurethane, and / or the like, including copolymers, and combinations thereof) that may be configured to absorb at least a portion of a force when placed in contact with an object, as described in detail above. The bumper 7067 may be positioned such that, for example, when placed in contact with a support member, at least a portion of the force exerted to move the support member along the support track 7050 is absorbed by the bumper 7067, resulting in deformation (e.g., elastic or non-permanent deformation) thereof, which deformation may reduce damage to and / or fatigue of portions of the support member, as described in detail above.

[0155]

[1207] The coupling portion 7070 is coupled to an end of the support truck 750 and a portion of the trolley portion 7065, as shown in FIG. 43. More specifically, a mounting bracket 7075 is coupled to an end of the support truck 7050 and configured to couple to and / or otherwise attach the coupling portion 7070 of the support truck 7050. The coupling portion 7070 can be any suitable member, device, and / or mechanism. For example, in some embodiments, the coupling portion 7070 can be a piston-cylinder device, a strut, and / or the like. Thus, the coupling portion 7070 includes a first member 7071 (e.g., a piston) that can be moved relative to a second member 7073 (e.g., a cylinder). For example, at least a portion of the first member 7071 can be movably disposed within the second member 7073. More specifically, the connecting member 7072 of the first member 7071 is rotatably coupled to the trolley portion 7065 (as described above), and the first member 7071 is configured to move substantially simultaneously with the trolley portion 7065. Similarly stated, the connecting member 7072 rotatably couples the first member 7071 to the trolley portion 7065 such that the first member 7071 is moved axially when the trolley portion 7065 is moved along the support track 7050. The second member 7073 of the coupling portion 7070 is fixedly coupled to the mounting bracket 7075, and the mounting bracket 7075 is configured to maintain the second member 7073 in a substantially fixed position relative to the support track 7050. Thus, movement of the trolley portion 7065 along the support track 7050 moves the first member 7071 of the coupling portion 7070 relative to the second member 7073, as described in further detail herein.

[0156]

[1208] 44, an energy storage member 7074 (e.g., a spring or the like) is disposed within the second portion 7093 of the coupling portion 7070 and is configured to engage and / or contact at least a surface of the first member 7071. In this manner, movement of the first member 7071 relative to the second member 7073 can increase the potential energy of the energy storage member 7074. For example, in some embodiments, the energy storage member 7074 can be a spring that can be transitioned from a substantially uncompressed configuration (i.e., a relatively lower potential energy) to a substantially compressed configuration (i.e., a relatively higher potential energy) when the first member 7071 is moved relative to the second member 7073 (as shown in FIG. 44). The energy storage member 7074 can be configured to allow the first member 7071 to move relative to the second member 7073, for example, up to about half an inch (0.5"), about 1", about 1.5", about 2", about 2.5", about 3", about 4", about 5", about 7", about 10", or any suitable distance or fraction therebetween. Thus, the coupling portion 7070 can be configured to absorb at least a portion of the energy and / or force, as described in more detail herein. Although the energy storage member 7074 is illustrated and described as being a spring, in other embodiments, the energy storage member 7074 can be any suitable device, member, and / or volume, such as, for example, a volume of compressible gas and / or the like.

[0157]

[1209] In use, the track stop 7060 may be included in the support system 7000 to substantially prevent the support member and / or trolley (not shown in FIGS. 43 and 44 ) from reaching the end of the support track 7050 as it moves along the length of the support track 7050. For example, the support member may move along the support track 7050 toward the end to a position where a portion of the support member is disposed in contact with the bumper 7067 of the trolley portion 7065. Thus, the support member exerts a force on the bumper 7067 that may transition the bumper 7067 from an undeformed configuration to a deformed configuration, thereby absorbing at least a portion of the force and / or kinetic energy. Additionally, the force exerted by the support member may move the trolley portion 7065 along the support track 7050, which moves the first member 7071 of the coupling portion 7070 relative to the second member 7073 of the coupling portion 7070. Thus, With the first member 7071 in contact with the energy storage member 7074, movement of the first member 7071 relative to the second portion 7072 can transition the energy storage member 7074 from a lower potential energy configuration to a higher potential energy configuration. In this manner, the acceleration and / or jerk (e.g., rate of change of acceleration) of the support member does not change as quickly because the track stop 7060 limits further movement of the support member along the support track 7050. Additionally, by absorbing at least a portion of the kinetic energy and / or force exerted by the support member, damage to the support member that may otherwise result from the support member hitting a "hard stop" (e.g., a stopping mechanism with little or no energy absorption) is reduced.

[0158]

[1210] Although the trolley 2100 is described above as including the encoder 2470 of the drive train 2300, the encoder 2561 of the guide mechanism 2540, and the encoder 2587 of the cam assembly 2570, which are collectively used to determine one or more system parameters (e.g., position, velocity, acceleration, etc.), in other embodiments, the trolley and / or the like can include any suitable device, mechanism, and / or system configured to determine one or more system parameters. For example, FIGS. 45-47 are schematic diagrams of a trolley 8100 including an optical tracking system 8720 according to one embodiment. The trolley 8100 (e.g., support member) can be substantially similar to or identical to the trolley 2100 described above with reference to FIGS. 2-33. Thus, the trolley 8100 is an active support system that hangs from a support track (not shown in FIGS. 45-47). However, unlike the trolley 2100, the trolley 8100 may include an optical tracking system 8720, as described in more detail herein.

[0159]

[1211] The optical tracking system 8720 includes at least an imaging device 8725 and a tracking member 8860. As shown in FIG. 45, the tracking member 8860 may be coupled to and / or included within a patient connection mechanism 8800, which may otherwise be substantially similar to the patient connection mechanism 2800 described above with reference to FIG. 34. The patient connection mechanism 8800 is operatively coupled to the trolley 8100 by a tether 8505. The tether 8505 may be substantially similar or identical to the tether 2505 included within the support system 2500 described above with reference to FIGS. 27-33. The tracking member 8860 may be of any suitable shape, size, and / or configuration. For example, in some embodiments, the tracking member 8860 may be a substantially spherical or elliptical sphere. Although not shown in FIGS. 45-47, the tracking member 8860 may include a surface finish that may facilitate optical tracking. For example, in some embodiments, the tracking member 8860 may include a surface having a color and / or pattern that may be used to identify position information such as, for example, a relative linear position, a relative angular position, an absolute position, etc. Additionally, information related to the color, pattern, size, shape, and / or the like of the tracking member 8860 may be stored, for example, in a memory included within an electronic system of the trolley 8100 (e.g., substantially similar to electronic system 2700 of trolley 2100 (not shown in FIGS. 45-47)).

[0160]

[1212] The imaging device 8725 of the optical tracking system 8720 may be any suitable imaging device. For example, in some embodiments, the imaging device 8725 may be a camera and / or the like capable of taking separate photographs and / or continuously recording a video stream. The imaging device 8725 is coupled to the trolley 8100 and maintained in a fixed positional relationship relative thereto. Although not shown in FIGS. 45-47, the imaging device 8725 is operatively coupled to an electronic system of the trolley 8100. Thus, the imaging device 8725 may be configured to transmit a signal representative of data associated with the captured image and / or video stream, and upon receipt, the electronic system may store the data, for example, in a memory and / or the like. Additionally, the memory of the electronic system may store data relating to the position of the imaging device 8725 or a portion of the imaging device 8725 (e.g., a lens, an aperture, a focal position, a charge-coupled device (CCD) sensor, a complementary metal oxide semiconductor (CMOS) sensor, and / or the like) relative to the position of the trolley 8100. Thus, the electronic system of the trolley 8100 and more specifically the processor and / or modules may determine a reference coordinate system relative to the imaging device 8725 and / or a portion of the trolley 8100, for example.

[0161]

[1213] In some examples, the imaging device 8725 can be used to capture one or more images and / or video streams of the tracking member 8860 while it is being used, for example, during gait training and / or the like. For example, as shown in FIGS. 46 and 47, the optical tracking system 8720 can be used to determine a first position P and a second position P' of the tracking member 8860, and thus of the patient connection mechanism 8800. More specifically, in some examples, a patient (not shown) can be coupled to the patient connection mechanism 8800 (e.g., via a harness or the like as described above) and perform a gait training therapy session, thereby moving the patient connection mechanism 8800 relative to the trolley 8100 and moving the trolley 8100 along a support track (not shown in FIGS. 45-47). During use, the imaging device 8725 can capture one or more images and / or video streams of the tracking member 8860, for example, to determine a first position P and a second position P' of the tracking member 8860. More specifically, as shown in FIG. 46, the imaging device 8725 can capture one or more images and / or video streams and can send signals representing data associated with the one or more images and / or video streams to a processor and / or module (e.g., a processing module) included within the electronic system. The processor and / or module can, for example, analyze the images and calculate a distance D of the image of the tracking member 8860 from a reference plane R and a size S of the image of the tracking member 8860. Based at least in part on the calculated distance D and the calculated size S, the processor and / or module can determine and / or calculate an angle A of the tether 8505, a length L of the tether 8505, and a distance H of the tracking member 8860 from the trolley 8100 (FIG. 47), thereby determining a first position P of the tracking member 8860 and the patient connection mechanism 8800. Similarly, as the patient moves from the first position P, the imaging device 8725 can capture one or more images and / or video streams and can send signals to the processor and / or module representing data associated with the new images and / or video streams.Thus, the processor and / or module can, for example, analyze the image and can calculate a second distance D' of the image of the tracking member 8860' from the reference plane R and a second size S' of the image of the tracking member 8860'. Based at least in part on the calculated second distance D' and the calculated second size S', the processor and / or module can determine and / or calculate a second angle A' of the tether 8505', a second length L' of the tether 8505', and a second distance H' of the tracking member 8860' from the trolley 8100 (FIG. 47), thereby determining a second position P' of the tracking member 8860' and the patient connection mechanism 8800'.

[0162]

[1214] Although the trolley 2100 is described above as including an encoder 2470 in the drive train 2300, an encoder 2561 in the guide mechanism 2540, and an encoder 2587 in the cam assembly 2570, which are collectively used to determine one or more system parameters (e.g., position, velocity, acceleration, etc.), and the trolley 8100 is described above as including an optical tracking system 8720 to determine one or more system parameters, in other embodiments, the trolley and / or support system may use any suitable combination of encoder systems and optical tracking systems. For example, in some embodiments, the trolley may use data from any number of encoders (e.g., in the drive train, guide mechanism, and / or cam assembly) and optical tracking systems. can be done.

[0163]

[1215] While the trolleys 2100 and 8100 are described above as including an electronic system (e.g., electronic system 2700) that actively controls the operating conditions of the trolleys 2100 and 8100 to support at least a portion of the weight of a patient, in some embodiments, the trolley can include an electronic system capable of determining one or more characteristics associated with a patient's gait in use in addition to controlling the operating conditions of the trolley. For example, a trolley such as the trolleys 2100 and / or 8100 can include a set of encoders, sensors, and / or the like that can determine a set of operating conditions associated with the position of the trolley. Specifically, in some embodiments, the trolley can include a drivetrain similar to the drivetrain 2300 of FIGS. 12-26, a patient support mechanism similar to the patient support mechanism 2500 of FIGS. 27-33, and an electronic system similar to the electronic system 2700 of FIGS. 10 and 11, which can be collectively used to determine a set of operating conditions associated with the trolley. The electronic system may determine one or more characteristics associated with the patient's gait during use based on a set of operating conditions.

[0164]

[1216] For example, in some embodiments, the patient support mechanism can include, among other things, a winch assembly, a guide mechanism, and a cam assembly coupled to the tether. The winch assembly can have an encoder (e.g., similar to encoder 2537), the guide mechanism can have an encoder (e.g., similar to encoder 2561), and the cam assembly can have an encoder (e.g., similar to encoder 2587). Similarly, the drive system can have an encoder (e.g., similar to encoder 2470). The electronic system can include at least a processor and memory configured to receive one or more signals from the encoders of the drive mechanism and the patient support mechanism. In some embodiments, the electronic system can also include an imaging device (e.g., similar to imaging device 8725 of FIGS. 46 and 47) configured to capture an image or video stream of the tracking member (e.g., similar to tracking member 8860).

[0165]

[1217] As described in detail above, when a patient using the patient support system begins to walk, the drive mechanism can move the trolley along the support track in response to his or her movement. The encoder of the drive mechanism can sense one or more characteristics related to the operation of the drive mechanism. For example, the encoder can sense the position of the drive mechanism relative to the support track, the translational speed of the drive mechanism along the support track, the translational acceleration of the drive mechanism along the support track, the rotational speed of one or more wheels, the rotational acceleration of one or more wheels, the angular orientation of one or more wheels, the speed and / or direction of a motor, the voltage associated with at least a portion of a motor, and / or the like. Then, as described in detail above with reference to the trolley 2100, the encoder can send a signal related to one or more characteristics of the drive mechanism to an electronic system, which in response can cause the processor to determine and / or update the operating condition of the drive mechanism based at least in part on a change in one or more characteristics of the drive mechanism relative to a previously defined operating condition of the drive mechanism (e.g., stored in a memory or the like).

[0166]

[1218] Similarly, in response to the patient walking, the encoders of the winch assembly, the guide mechanism, and / or the cam assembly (as well as the encoders of the imaging device, if included therein) can sense and / or determine one or more characteristics related to the motion of the patient support mechanism. For example, in some instances, the patient may walk faster than the trolley, thereby changing the angle of the tether and guide mechanism relative to the trolley. The encoder of the guide mechanism can sense the angular deflection of the guide mechanism and send a signal related to the angle of the guide mechanism to the electronic system. Upon receipt, the electronic system can transmit a signal to the processor. The processor may be configured to determine and / or update the operating conditions of the guide mechanism.

[0167]

[1219] In some instances, patient movement may, for example, increase the length of a portion of the tether. Thus, a portion of the tether may unwind from a drum or the like contained within the winch assembly. More specifically, at least a portion of the force exerted by the patient on the tether may rotate the drum or the like, which may result in the tether being unwound (i.e., an increase in the length of the portion of the tether between the patient and the winch assembly). An encoder of the winch assembly may sense one or more characteristics associated with the operation of the winch assembly. For example, the encoder may sense an angular position of the drum, a rotational speed of the drum, an acceleration of the drum, a speed and / or direction of a motor contained within the winch assembly, a voltage associated with at least a portion of the motor of the winch assembly, and / or the like. Thereafter, as described in detail above with reference to the trolley 2100, the encoder can send a signal to the electronic system related to one or more characteristics of the winch assembly, and the electronic system can responsively cause the processor to determine and / or update an operating condition of the winch assembly based at least in part on a change in one or more characteristics of the winch assembly relative to a previously defined operating condition of the winch assembly (e.g., stored in a memory or the like). In some examples, based at least in part on the updated operating condition of the winch assembly, the processor can determine a length of a portion of a tether disposed between the patient and the winch assembly. In some embodiments, the tether can be coupled to a load cell or the like configured to sense a force exerted by the patient on the tether (e.g., by measuring stress, tension, strain, and / or the like along and / or in a portion of the tether). The load cell can be configured to send a signal to the electronic system related to a load (e.g., force) acting on the tether, and the electronic system can cause the processor to determine the force exerted by the patient.

[0168]

[1220] In some examples, the amount of force exerted by the patient on the tether may increase or decrease in a substantially abrupt manner. For example, if the patient stumbles, the amount of force exerted on the tether increases relatively abruptly. In such examples, an increase in force on the tether may cause the guide mechanism to pivot and / or increase the length of a portion of the tether (as described above) while simultaneously rotating a cam and / or cam arm included within the cam assembly (e.g., as described with reference to cam mechanism 2570 of FIGS. 32 and 33). In other words, at least a portion of the cam assembly may be configured to rotate in response to a relatively rapid movement and / or deflection of the tether. An encoder on the cam assembly may sense one or more characteristics associated with the movement of the cam and / or cam arm, such as, for example, position, velocity, acceleration, jerk, orientation, alignment, force, and / or the like. Thereafter, as described above with reference to trolley 2100, the encoder of the cam assembly can send a signal related to one or more characteristics of the cam assembly to the electronic system, which in response can cause the processor to determine and / or update an operating condition of the cam assembly based at least in part on a change in one or more characteristics of the cam assembly relative to a previously defined operating condition of the cam assembly (e.g., stored in memory).

[0169]

[1221] By defining, determining, and / or updating one or more operating conditions of the drive mechanism and / or the patient support mechanism, the electronic system (e.g., at least a processor of the electronic system) can actively control the trolley to support at least a portion of the weight of a patient using the patient support system. As described above, in some examples, the magnitude of the change in the operating condition of the drive mechanism and / or the patient support mechanism is based at least in part on proportional-integral-derivative (PID) control. In such examples, the electronic system (e.g., the processor or any controller in communication with the processor) can actively control the trolley to support at least a portion of the weight of a patient using the patient support system. As described above, in some examples, the magnitude of the change in the operating condition of the drive mechanism and / or the patient support mechanism is based at least in part on proportional-integral-derivative (PID) control. The processor (or other electronic system) can determine changes in the patient support mechanism and model the changes based on PID control. Based on the results of the modeling, the processor can determine an appropriate magnitude of change in the operating conditions of the driveline and / or the patient support mechanism.

[0170]

[1222] For example, Figure 48 is a schematic diagram illustrating a control diagram according to one embodiment. In this embodiment, the electronic system (described above) may be configured to control the drivetrain and / or patient support mechanism based at least in part on tension in and / or along a portion of the tether. In particular, a nurse, technician, therapist, doctor, physician, etc. may determine a target tether tension T * ( For example, a predetermined value associated with the commanded tether tension T can be defined. * is stored in a memory, the processor of the electronic system , the actual tension T in and / or along a portion of the tether is the commanded tether tension T * and In some examples, the processor can then perform a derivative control action 101 on the tension error, the output of which may be a motor speed command ω to control motor and drive dynamics 102 associated with, for example, a drive train and / or a motor included within the patient support mechanism. M * may be added to one or more proportional control action outputs (described in more detail below) to determine

[0171]

[1223] As shown in FIG. 48, the proportional control action 103 is proportional to the actual motor speed ω of the motor contained within the drive train and / or patient support mechanism. M can be performed on values ​​related to Furthermore, the actual motor speed ω M For example, related to the cam assembly of the patient support mechanism In order to control the spring mechanism dynamics 104, which is a function of the cam unloading rotational velocity ω, the processor may evaluate (1) an updated value of the actual tension T in and / or along a portion of the tether and (2) an updated value of the cam unloading rotational velocity ω. C The equivalent motor speed can be defined as the speed of the cam that is related to the part of the cam. The motor speed command ω can be determined by evaluating the rotational speed and, for example, the rotational speed associated with the drum of a winch assembly (represented in FIG. 48 by reference numeral 105). A proportional control action 106 can be performed on the equivalent motor speed, the output of which can then be added to the output of proportional control action 103. As explained above, the sum of proportional control actions 103 and 106 determines the motor speed command ω M * , may be added to the output of the derivative control action 101 to define: Thus, in this embodiment, the electronic system (e.g., or at least a processor included therein) may control the trolley in response to patient movement based at least in part on a PID control feedback loop and / or the like, as described above.

[0172]

[1224] In some cases, the electronic system can determine one or more characteristics associated with the patient's gait based at least in part on the operating conditions and / or changes in the operating conditions of the drive mechanism and / or the patient support mechanism. For example, FIG. 49 is a graph 200 illustrating the displacement of the patient's center of mass according to one embodiment. As shown, the patient's center of mass shifts (e.g., by up to about 5 centimeters (cm)) during the gait cycle, which results in a shift and / or change in the forces acting on the tether when the patient uses the patient support system. For example, the patient's center of mass may be at its lowest point (i.e., closest to the surface the patient is walking on) at about 5% and about 55% of the gait cycle, which corresponds to the end of the swing phase of the gait cycle. The patient's center of mass may be at its highest point (i.e., furthest from the surface the patient is walking on) at about 30% and about 80% of the gait cycle, which corresponds to the patient's center of mass passing through the leg that bears his or her weight. Similarly, the patient's center of mass may shift laterally during the gait cycle, as shown in FIG. 49. With at least a portion of the patient's weight supported by the patient support mechanism, a shift in the patient's center of mass results in a corresponding shift and / or change in the force that the patient's weight exerts on the tether. Thus, based on one or more operating conditions associated with the driveline and / or the patient support mechanism, the processor can determine a set of characteristics associated with the patient's gait.

[0173]

[1225] For example, Figures 50-53 are graphs illustrating operating conditions associated with the patient support mechanism in response to patient movement. In this example, the operating conditions associated with the patient support mechanism relate to a tether position and a cam angle of a cam contained within a cam assembly, which may be used to determine one or more characteristics associated with patient gait. More specifically, a processor of the electronic system may determine a tether position based on signals received from one or more encoders (e.g., an encoder of a winch assembly, a guide member, and / or any other suitable encoder), and may determine a cam angle, for example, based on an encoder of a cam assembly.

[0174]

[1226] As shown in FIG. 50, the tether position and cam angle are graphed in response to the relatively slow movements of a normal or healthy patient's gait. Specifically, graph 301 shows the position of a portion of the tether in response to the patient's gait with or without taking into account the position relative to the cam, graph 302 shows the cam angle of the cam in response to the patient's gait, graph 303 shows the change in tether position + cam angle in response to the patient's gait, and graph 304 shows the speed and acceleration associated with the tether in response to the patient's gait. In some examples, the position of the portion of the tether shown in graph 301 can change in response to relatively slow, gradual, and / or substantial changes in the patient's movement, while the cam angle of the cam shown in graph 302 can change in response to relatively fast, sudden, and / or unexpected movements of the tether. In some examples, the change in the cam angle in response to relatively fast movements of the tether can reduce noise or the like that may otherwise alter the determination of the tether position. As shown in graph 303, a change in tether position and a change in cam angle may be determined, which may be used to determine a velocity and acceleration associated with the tether position, as shown in graph 304. Additionally, by determining the tether position, velocity, and acceleration, the processor of the electronic system may determine one or more characteristics associated with the patient's gait. For example, in some instances, the gait of a healthy patient may have and / or define substantially symmetrical characteristics when comparing the movement of the patient's left leg with the movement of the patient's right leg. Thus, by determining the tether position, velocity, and acceleration, the processor may determine gait characteristics such as, for example, step count, distance traveled, step length, velocity, differences between gait characteristics associated with the left and right legs, and / or any other suitable characteristics.

[0175]

[1227] In a similar manner, FIG. 51 shows graphs illustrating tether position and cam angle in response to relatively fast movements of a normal or healthy patient's gait. Specifically, graph 401 shows the position of a portion of the tether in response to the patient's gait with or without taking into account the position relative to the cam, graph 402 shows the cam angle of the cam in response to the patient's gait, graph 403 shows the change in tether position + cam angle in response to the patient's gait, and graph 404 shows the velocity and acceleration associated with the tether in response to the patient's gait. As can be seen from FIG. 50 and FIG. 51, the velocity associated with the patient's movement may result in different responses of the tether position and cam angle. Thus, the processor of the electronic system may determine any suitable gait characteristic associated with a relatively fast gait of the patient, which may differ from a corresponding gait characteristic associated with a relatively slow gait of the patient.

[0176]

[1228] 50 and 51 show the relative tether position and cam angle for a normal or healthy patient's gait, while FIG. 52 and 53 show the relative tether position and cam angle for a patient with an impairment, specifically a patient with an impairment that results in a dragging leg. For example, in FIG. 52, graph 501 shows the position of a portion of the tether with and without taking into account the position associated with the cam relative to the patient with an impairment's gait, graph 502 shows the cam angle of the cam relative to the patient with an impairment's gait, and graph 503 shows the change in tether position relative to the patient with an impairment's gait. 53, graph 601 shows the position of a portion of the tether with and without taking into account the position of the cam relative to the circular movement of the patient with a disability, graph 602 shows the cam angle of the cam relative to the circular movement of the patient with a disability, graph 603 shows the change in tether position + change in cam angle relative to the circular movement of the patient with a disability, and graph 604 shows the velocity and acceleration associated with the tether relative to the circular movement of the patient with a disability.

[0177]

[1229] 52 and 53, an impairment that causes a patient to drag one leg while walking results in a relatively more inconsistent, abrupt, and / or otherwise more irregular tether position and cam angle response relative to the tether position and cam angle response resulting from the walking of a patient without the impairment. In some examples, the tether position position, velocity, and / or acceleration resulting from the walking of a patient with the impairment may be compared to the tether position position, velocity, and / or acceleration resulting from the walking of a patient without the impairment. Thus, the processor of the electronic system may determine, predict, and / or otherwise analyze characteristics of the gait of a patient with the impairment, which characteristics may be used to define a treatment prescription plan, a treatment progress report, a diagnostic method, and / or the like.

[0178]

[1230] In some examples, the patient support system (and / or any of the patient support systems described herein) may be used in conjunction with any other suitable device configured to determine, provide, and / or define characteristics associated with a patient's gait. In some examples, analysis of one or more operating conditions of the drive mechanism and / or the patient support mechanism may be used in conjunction with analysis of data associated with an electrical stimulation device configured to improve the gait of a patient with an impairment, for example. For example, the patient support system may be used to support a patient wearing an electrical stimulation device configured to facilitate gait for a patient experiencing foot drop or the like, such as that described in U.S. Patent Publication No. 2014 / 0303705, filed April 4, 2014, entitled "Orthosis for a Gait Modulation System," the disclosure of which is incorporated herein by reference in its entirety. As shown in FIG. 54, the electrical stimulation device may define one or more operating conditions associated with the electrical stimulation device and / or the gait of a patient with an impairment. For example, as shown in Fig. 54, the electrical stimulator can sense and / or determine pressure associated with forward or rearward motion, lateral motion, overall motion (e.g., a combination of lateral and forward or rearward motion), and / or heel on or heel off events. In this example, graph 701 shows acceleration associated with the electrical stimulator motion, graph 702 shows velocity associated with the electrical stimulator motion, graph 703 shows rotation associated with the electrical stimulator motion, and graph 704 shows angle associated with the electrical stimulator motion.

[0179]

[1231] In some embodiments, the electrical stimulator can send a signal to the electronics system of the patient support system related to one or more of its operating conditions. Thus, the processor can determine one or more gait characteristics of the patient with an impairment based on data received from the drivetrain and / or patient support mechanism and the electrical stimulator. For example, FIG. 55 shows a graphical representation of a set of patient gait characteristics (as described in detail above) determined based at least in part on data related to the patient support system and the electrical stimulator. In particular, graph 801 shows swing and contact duration during the patient's gait, graph 802 shows swing-to-contact ratio of the patient's gait, graph 803 shows cadence of the patient's gait, graph 804 shows forward range of motion (ROM) and lateral ROM associated with one or both of the patient's legs, graph 805 shows forward-to-lateral ratio associated with one or both of the patient's legs, and graph 806 shows stride length and height of the patient's gait. Thus, the patient support system and any other The operating conditions associated with a suitable device may be used to determine one or more characteristics of the patient's gait. Further, the electronic system may be configured to send a signal indicative of an instruction to output data associated with one or more characteristics of the patient's gait to any suitable output device (e.g., a monitor, a laptop, a personal computer, a handheld controller, a smartphone, and / or the like).

[0180]

[1232] As described above, any of the patient support systems and / or partial unloading systems described herein may be used to facilitate and / or otherwise facilitate analysis of a patient's gait while using the system. For example, in some embodiments, the patient support system may be used in conjunction with an electronic device (e.g., a personal computer, laptop, tablet, smartphone, controller, remote display, workstation, server, and / or the like) to determine data related to the patient's gait and represent the data graphically and / or alphanumeric on a display. The patient support system may include a trolley tracking and dynamic weight engine, module, processor, computing device, etc., to determine, for example, trolley speed, travel distance, tether length, cam angle, weight unloading, elapsed time, and / or any other suitable data set.

[0181]

[1233] Furthermore, when a patient support system such as that described herein is used with, for example, an electrical stimulator system or any other suitable electrical and / or electronic data acquisition system, the patient support system may be configured to receive and / or send signals from and to such electrical or electronic systems, for example, related to heel-strike or heel-off events and / or other gait phases. Thus, in some examples, the patient support system described herein may calculate and / or determine step duration, step length, walking speed, level of symmetry (left / right) of a gait pattern, and / or any other suitable gait characteristic. Furthermore, the patient support system described herein may send one or more signals (e.g., via wired or wireless communication) to, for example, an electronic device that causes a graphical, numerical, and / or alphanumeric representation of the calculated and / or determined gait characteristic to be presented on a display. In other examples, the patient support system may send data related to one or more operating conditions of the patient support system to the electronic device. In such examples, the electronic device may calculate and / or define the gait characteristic based at least in part on the data received from the patient support system. Additionally, the electrical stimulator can transmit data related to the patient's gait to the electronic device substantially simultaneously with the patient support system. In other examples, the electrical stimulator can transmit data related to the patient's gait to the patient support system, and the patient support system (e.g., a processor, module, or computing device included therein) can aggregate the data related to the patient support system and the data related to the electrical stimulator and transmit the aggregated data set to the electronic device.

[0182]

[1234] In some embodiments, the patient support system and / or electronic devices in communication therewith may include a memory and / or at least one module that stores data associated with one or more predefined exercises, routines, tests, and / or the like. For example, the memory and / or module may include data associated with a set of exercises to analyze a patient's current and / or previous gait tests or gait analyses to track and help improve the patient's walking ability. In some examples, the patient support system and / or electronic devices in communication therewith may graphically represent data associated with the exercises, routines, tests, and / or the like.

[0183]

[1235] For example, FIG. 56 is a screenshot 901 showing a graphical representation of data related to asymmetric motion. The asymmetric motion screenshot 901 shows a patient's vertical asymmetry ( The patient may visually indicate his or her horizontal asymmetry (leaning more to one side than the other) and his or her horizontal asymmetry (difference between step durations). As shown, the symmetry may be displayed in a position symmetry bar graph and radio dial, which may be supplemented by a real time graph showing, for example, a history of changing tether position and walking speed. During and after the asymmetry test, the patient support system and / or electronic device may send a signal or command such that data related to average walking speed, minimum walking speed, and / or maximum walking speed, vertical symmetry and / or horizontal symmetry, and / or the like, are graphically represented on the display.

[0184]

[1236] As another example, FIG. 57 is a screenshot 902 showing a graphical representation of data related to a timed-up-and-go (TUG) exercise. The screenshot 902 of the TUG exercise may graphically represent data defined by the patient support system and / or electronic device related to the time it takes a patient to rise from a seated position, walk a predetermined distance, and sit down. During and after the TUG exercise, the patient support system and / or electronic device may send a signal or command such that data related to average speed, minimum speed, and / or maximum speed during the TUG training exercise is graphically represented on the display. Additionally, the patient support system and / or electronic device may cause data to be graphically represented on the display, such as a history of the standing, walking, and sitting process, tether position (contained within the patient support mechanism of the patient support system, as described in detail above), and / or a real-time graph showing the time duration, and walking speed during the exercise. Based at least in part on the time duration, a fall risk (e.g., high or low) may be determined for the patient. Additionally, data related to the TUG exercise may be compared to historical data (e.g., stored in memory) from the patient's previous TUG exercises, thereby allowing a clinician or therapist to track improvements in the patient's gait.

[0185]

[1237] As another example, FIG. 58 is a screenshot 903 showing a graphical representation of data related to a timed-distance exercise. For example, a user (e.g., a clinician and / or a patient) can select either a fixed distance (e.g., 10 meters) or a fixed time (e.g., 2 minutes). The patient then walks that distance or time, and the patient support system and / or electronic device can determine and / or define the patient's performance. For a fixed distance, the timed-distance exercise can determine the walking speed and duration. For a fixed time, the timed-distance exercise can determine the total distance traveled and / or the walking speed. The patient support system and / or electronic device can cause the data to be graphically represented on a display, such as a real-time graph showing distance traveled and walking speed, average walking speed, minimum walking speed, and / or maximum walking speed, and / or the like.

[0186]

[1238] As described above, all data associated with exercise, routines, tests, etc. may be stored, for example, in memory, played back for post-exercise analysis, and / or otherwise presented. Additionally, data associated with any given exercise may be stored as a baseline and thus used for comparison against future exercises to indicate improvement in the patient's gait. In some examples, reports may be defined (e.g., by the patient support system and / or electronic device) and graphically represented on a display to provide details of a given exercise, including walking speed, distance, time, rise time, sit time, cadence, symmetry index, or the like, as well as Perry Ambulatory Category, Functional Ambulation Category, and / or fall risk.

[0187]

[1239] The patient support mechanism and / or electronic device (or processors, modules, computing devices, etc. included therein) may be configured to perform exercises, routines, tests, or the like based on data related to, for example, tether position, cam angle, walking speed, motor speed, heel strike or heel off events (and / or other gait phases), and / or the like. In some examples, the patient support mechanism and / or electronic device may determine the change in position of the tether (i.e., included within the patient support mechanism, as described in detail above) between two heel events, for example, to determine the vertical symmetry of the patient's gait. In some examples, the data may be based on both the linear tether position and / or cam angle (e.g., line graph) and its derivative (e.g., slope or rate of change) of the tether position and / or cam angle (converted to linear length) to determine gait pattern and / or gait characteristics.

[0188]

[1240] Based on the determined gait pattern, the patient support mechanism and / or electronic device can determine peaks and / or valleys associated with gait events, which may be graphically represented as a line graph or derivative graph. In some examples, the patient support mechanism and / or electronic device can use midpoint logic, for example, to normalize the line graph and / or derivative graph (e.g., remove graph offset, or the like). In some examples, the peaks and valleys of the graph (e.g., local minima and / or maxima of the data) can be used to determine heel contact events or heel off events. Based on different predetermined gait patterns (e.g., a first category for a normal walker and a second category for an ailing walker), the peaks and valleys can be defined and / or determined differently. For example, for a normal walker, the valley (locally shortest tether position) may be near mid-stance (double support) of the gait. Conversely, for an ailing walker, the valley may be during the step.

[0189]

[1241] After the peaks and valleys are associated with the respective heel-strike or heel-off events, the difference between the tether position of the previous step and the tether position of the current step can be determined to define the change in tether position (e.g., to determine the vertical symmetric difference between a right step and a left step or the difference between two subsequent steps). The elapsed time of the previous step and the elapsed time of the current step can also be determined to define the change in step duration (e.g., to determine the horizontal symmetry).

[0190]

[1242] Although the patient support system is described above as using one or more operating conditions to determine gait patterns and / or gait characteristics, in other examples, one or more operating conditions of the patient support system may be used to determine a current level or amount of partial support relative to a predetermined level or amount of partial support. In some embodiments, the patient support system ("support system") may be programmed and / or set to provide a predetermined amount of partial support (or provide partial support in a predetermined and / or preprogrammed manner) based on characteristics associated with the tether. For example, in some embodiments, the support system may be configured and / or programmed to provide support to the patient, for example, after a predetermined and / or predefined distraction of the tether (e.g., in response to a fall or partial fall of the patient). In other words, the support system may be configured and / or programmed to support at least a portion of the patient's body weight after the patient falls beyond a predetermined threshold.

[0191]

[1243] 59 and 60 are screenshots 904 and 904A, respectively, that show graphical representations of data related to the support system, and more specifically, "fall prevention" configurations, settings, interfaces, and / or the like. As described above, in some examples, the support system may be configured to provide support for at least a portion of the patient's body weight based on extension of the tether in response to the patient falling or beginning to fall. In some embodiments, for example, the support system and / or electronics assembly included therein can be configured to determine, define, and / or calculate an initial length of the tether (e.g., when the patient and / or user is stationary and / or not falling). When the patient and / or user begins walking, the electronics assembly can receive data related to the current tether length from one or more sensors, encoders, and / or the like. In some examples, the patient, user, therapist, and / or trainer can set a fall limit (e.g., a criterion or threshold) corresponding to a threshold amount that the tether length can be increased before the support system provides support to the patient. In other words, the user, therapist, trainer, etc. can set a fall tolerance and / or a maximum distance the user can fall before the support system provides support.

[0192]

[1244] As shown in FIGS. 59 and 60, in some embodiments, the default fall limit and / or default threshold amount of tether distraction can be, for example, about 4 inches. After the length of the tether is increased beyond the threshold (e.g., after the patient and / or user descends (falls) beyond the fall limit), the support system can transition to a support configuration (e.g., a support configuration or a fall prevention configuration) where the tether can be locked and / or the tracking system or drivetrain can be deactivated. In some examples, the patient, user, and / or clinician can adjust the fall limit and / or threshold (e.g., by pressing one or more on-screen buttons and / or by otherwise selecting a predetermined fall limit, threshold, and / or criteria) by interacting with a graphical interface, such as that shown in screenshot 904A of FIG. 60. As shown, the value, limit, and / or threshold to be adjusted can be presented on the graphical interface (e.g., in text or via one or more images).

[0193]

[1245] In some embodiments, for example, the tipping limit and / or threshold may be between about 1.0 inch and about 36.0 inches. In such embodiments, setting the tipping limit at 1.0 inch may be such that the support system provides the highest level of support (e.g., allows a minimum amount of tipping before beginning to support a patient), and setting the tipping limit at 36.0 inches may be such that the support system provides the lowest level of support (e.g., allows a maximum amount of tipping before beginning to support a patient). In some embodiments, the tipping limit and / or threshold may be adjusted in increments of about 1.0 inch. In other embodiments, the adjustment increments may be greater than or less than 1.0 inch. In some instances, the tipping limit and / or threshold may be adjusted and / or changed while the support system is in use or during use. Additionally, in some instances, the support system and / or electronics assembly may be configured to calculate and / or determine, for example, a height of the patient connection mechanism, and data related to the height may be represented graphically on a display. For example, as shown in FIGs. 59 and 60, the height of the tether, patient, and / or patient connection mechanism relative to the tipping limits and / or thresholds may be graphically represented on a bar graph or the like, which can allow for substantially real-time visualization of a user's performance or the like.

[0194]

[1246] In some embodiments, an administrator or user can program and / or set an initial tether length or the like that corresponds to a predetermined and / or desired height of the patient connection mechanism (e.g., the patient connection mechanism 2800 described above with reference to FIG. 34). More specifically, the user or administrator can input and / or provide patient information, such as height, weight, etc. Based on the height of the user, the support system can be configured to calculate a predetermined and / or desired height or position (e.g., in the y-direction) of the patient connection mechanism when connected to the tether and a harness worn by the user. In this manner, the predetermined and / or desired height or position of the patient connection mechanism can be calculated. The and / or desired position (e.g., a neutral position or "zero point") can be, for example, a reference point or analog to which the current position of the patient connection mechanism can be compared. For example, if the patient connection mechanism is higher than the zero point, the level or amount of support can be reduced (e.g., to reduce the amount of tension in the tether and / or otherwise allow more "slack" in the tether) and / or the patient support system can be reset to define a new zero point. Conversely, if the patient connection mechanism is lower than the zero point, the level or amount of support can be increased (e.g., to increase the amount of tension in the tether and / or otherwise reduce the amount of slack in the tether).

[0195]

[1247] In some examples, the support system may be configured to adjust and / or update the zero point during use. For example, in some examples, an assessment of the amount of change in tether length (or height of the patient connection mechanism), the rate of change in tether length, and / or the total duration of change relative to the zero point may enable the patient to walk along a surface or the like having elevation changes. For example, in some examples, the support system (or its electronic system) may adjust and / or update the zero point or reference point in response to a relatively slow rate of elevation change and / or when the change in elevation spans a relatively long duration of time. In such examples, for example, the support system may determine that the patient is walking along a surface having elevation changes and may dynamically or actively adjust and / or update the "zero point" or reference point accordingly. Under such conditions, the support system may be configured to adjust and / or update the zero point before the amount of change in tether length reaches and / or exceeds a tip-over limit, or may adjust and / or update the zero point after the amount of change reaches and / or exceeds a tip-over limit. In other examples, the support system may provide support and / or transition to the support configuration in response to the amount of change in tether length reaching and / or exceeding a tipping limit when the change in height is at a relatively high rate and / or over a relatively short period of time. In other words, the support system may provide support and / or transition to the support configuration when the support system determines that the patient is tipping rather than moving along a surface having an elevation change.

[0196]

[1248] Although the support system is described above as including and / or implementing a fall prevention system and / or method based on a distance or a length of a portion of the tether (e.g., a tipping limit or tipping tolerance), in other embodiments, the support system may include and / or implement a fall prevention system and / or method based on any suitable characteristic and / or parameter of the support system. For example, in some examples, the support system may be configured to receive input from a user and / or clinician operable to place the support system in an "active body control mode." In some examples, for example, the support system and / or electronics assembly may receive input operable to switch the support system from a "distance" or "tipping limit mode" (see, e.g., FIG. 60) to an "active body control mode" (see, e.g., FIG. 61). That is, in some embodiments, a processor of the electronics assembly may be configured to execute a set of instructions and / or code (e.g., stored in memory) to place the support system in a "tipping limit mode" or an "active body control mode."

[0197]

[1249] In some embodiments, the active body control mode may be configured to dynamically support a portion of the patient's body weight based on, for example, the rate of change of the tether length (e.g., the velocity of the tether). In some examples, determining the amount of body weight to support based on the rate of change of the tether length may allow for a greater range of motion than when basing the amount of support solely on the tether length. Additionally, as described above with reference to the "distance" mode, the support system may be configured to evaluate the duration of the change in velocity to improve and / or adjust the response of the support system.

[0198]

[1250] As shown in Figure 61, in some embodiments, the support system may be programmed and / or set to provide a "minimum" level of support (configured to provide the lowest level of fall prevention), a "medium" level of support (configured to provide a moderate amount or medium level of fall prevention above the minimum level), or a "maximum" level of support (configured to provide the highest level of fall prevention above the medium level). In other embodiments, the support system may be configured to provide more than three levels of support (e.g., four, five, six, seven, eight, nine, ten, or more levels of support).

[0199]

[1251] As described above, the level of support can be based on the rate of change of the tether length over a predetermined time period. That is, the level of support can be a function of the rate of change of the tether length (or height of the patient connection mechanism) and the overall duration (time) of the tether length change. In some examples, the patient support system can be configured to determine the rate of change of the tether length based on operating conditions associated with, for example, the cam assembly and / or the winch assembly. In some examples, a relatively high rate of change of the tether length (as determined by operating conditions of the cam assembly, the winch assembly, and / or any other suitable portion of the support system) may indicate a patient fall and, accordingly, can cause the support system to update one or more operating conditions of the support system (e.g., the trolley) to actively support a portion of the patient's body weight.

[0200]

[1252] In some examples, setting the fall prevention system and / or fall prevention method to a "maximum" amount of support can be such that the support system provides support in response to a relatively low rate of change in the tether length (e.g., a relatively low rate criterion and / or threshold). In some examples, setting the fall prevention system and / or fall prevention method to a "moderate" amount of support can be such that the support system provides support in response to a rate of change in the tether length that is higher than the rate of change when the system is set to a "maximum" amount of support. In other examples, setting the fall prevention system and / or fall prevention method to a "minimum" amount of support can be such that the support system provides support in response to a rate of change in the tether length that is higher than the rate of change when the system is set to a "moderate" amount of support. Additionally, by evaluating and / or determining the duration of the change in tether length, the support system can be configured to determine, for example, whether the rate of change in tether length is the result of a user changing their walking or running speed, a user rising from a sitting position to a standing position, a user falling, etc.

[0201]

[1253] In some examples, the level of fall prevention and / or support can be based at least in part on the duration of the rate of change. For example, in some examples, the support system can be configured to determine the duration of the tether length change when the rate of change of the tether length reaches and / or exceeds a predetermined threshold. In some examples, setting the fall prevention system at a "maximum" support level can be such that the tolerances and / or thresholds associated with the duration are less than the tolerances and / or thresholds associated with the duration when the fall prevention system is set at a "minimum" support level. Thus, the support system can be configured to provide support and / or transition to a support configuration in response to an increase in the rate of change of the tether length (or height of the patient connection mechanism) over a predetermined duration.

[0202]

[1254] In some embodiments, the support system may provide training for a predetermined program and / or metric (e.g., a timed-up-and-go test, a sit-to-stand test, a predetermined minimum walking speed, a predetermined number of falls in a given time, etc.). The level of support may be configured to update based on the patient's and / or user's performance during testing. The level of support may be updated manually by a therapist, administrator, and / or user. In other examples, a user or administrator may define a set of criteria or the like (e.g., number of falls, etc.) that, if met, causes the support system to automatically update the amount of support (e.g., increase or decrease the amount or level of support). Additionally, in some examples, the support system and / or fall prevention system may have a default mode or the like associated with each test. For example, in some examples, it may be desirable to automatically place the fall prevention system in an "active body control" mode such that support is based on the rate of change in the length of the tether rather than a "distance" mode.

[0203]

[1255] In some embodiments, the support system may be configured to "reset" the system after a fall or the like to place the patient connection mechanism at a zero point. For example, in some examples, the support system and / or fall prevention system may include and / or perform an "auto-recovery," as shown by screenshot 905 of FIG. 63. In such examples, the system may be configured to reset to default settings and / or previous settings (e.g., predetermined and / or default tether length) after a user falls. Additionally, in some examples, the support system may provide support as a user recovers (e.g., stands up) after a fall or the like.

[0204]

[1256] Although the fall prevention system is described above as being based on the amount of tether length change, the rate of tether length change, and the duration of tether length change, in other examples, the fall prevention system may be disabled, paused, switched off, etc. For example, referring back to FIG. 62, screenshot 904C illustrates a fall prevention system in a "disabled" mode. In such examples, it may be desirable to place the fall prevention system in a "disabled" mode, for example, when performing a pre-walking activity and / or a pre-use activity.

[0205]

[1257] As described in detail above, the support system and / or trolley may be configured to adjust one or more system parameters and / or operating conditions to maintain the trolley in a position substantially above the user or patient. In some examples, the drive system of the trolley may be configured to move the trolley along the support track to maintain the trolley substantially above the user or patient, for example, based on the angle of the tether or guide mechanism (e.g., guide mechanism 2540). In some embodiments, the support system may also take into account patient movement in a direction perpendicular to the axis of the support track. That is, the support system may be configured to take into account lateral patient movement and / or sway during ambulation.

[0206]

[1258] In some embodiments, the trolley and / or at least a portion thereof may be configured to move with side-to-side motion (lateral motion) in addition to moving along the length of the support track. For example, in some embodiments, the trolley and / or the guide mechanism may have one or more slides, suspension members, and / or the like configured to allow the trolley and / or the guide mechanism, respectively, to move laterally (when the trolley moves along the axis of the support track or when the trolley is in a stationary position along the axis of the support track). In this manner, the trolley or a portion thereof may move with two degrees of freedom (e.g., at a 90° angle or extending substantially perpendicular from the trolley) to maintain the tether in a position substantially overhead of the patient and / or the patient connection mechanism.

[0207]

[1259] In other embodiments, the trolley and / or portions thereof may include one or more sensors, encoders, gears, etc. configured to sense and / or determine the amount of side-to-side (lateral) movement. For example, in some examples, the guidance mechanism or the like may be configured to pivot about two axes and may include one or more sensors, gyroscopes, encoders, etc. configured to sense and / or determine the pivot position, velocity, and / or acceleration about each axis. In other words, the guidance mechanism may allow for forward / backward movement (pivot) as well as side-to-side movement (pivot) and may include and / or be operatively coupled to one or more sensors or the like (e.g., two degree of freedom sensors or the like) configured to sense and / or detect movement in each direction. Thus, the angular position, angular velocity, and / or angular acceleration of the tether and / or guidance mechanism in each direction may be determined and / or sensed, and data received from the sensors or the like may be used together with data from other sensors and / or encoders (described above) to determine and / or update one or more operating conditions of the patient support system.

[0208]

[1260] As described above, the support system may include any suitable number of sensors, encoders, gyroscopes, transducers (e.g., force transducers), and / or the like (collectively referred to herein as "sensors"). An electronic system of the support system may receive data from the sensors and may determine and / or update one or more operating conditions of the support system to provide a predetermined and / or desired level or amount of user or patient support. In some examples, data received from the sensors may be compared to predetermined and / or standard values ​​or levels, and the error therebetween may be used to determine an amount of dynamic and / or active partial unloading.

[0209]

[1261] Any of the patient support systems and / or partial unloading systems may be used in conjunction with and / or may include any other suitable device configured to be used during patient walking or walking training. In some embodiments, such devices may be secondary training devices, electronic devices or computers, orthopedic or walking assistance devices, moving platforms, surfaces, or walkways (e.g., treadmills or the like), and / or any other suitable devices. For example, the patient support system may include cameras, infrared emitters and receivers, visible light sources and sensors, magnetic sensors, force and / or pressure plates and force and / or pressure sensors, and / or the like. In some embodiments, the patient support system may include a projector configured to project a graphical representation of data related to, for example, a predetermined track or path along which the patient should walk. In some examples, such a projector may project images such as stop signs, directional signs, obstacles to walk around, etc.). Additionally, in some examples, a patient reaching a target location projected by a projector onto a surface may be associated with a value or the like (e.g., a relatively high value) that is used to determine a patient performance score, while failure to avoid obstacles and / or follow a predefined path projected by a projector onto a surface may be associated with a value, score, and / or the like (e.g., a relatively low value). In some examples, such a projector may project a hologram of a walking patient, such that the patient can view themselves walking from either the front or the back.

[0210]

[1262] In some embodiments, the patient support system and / or partial unloading system may be used while a user (or patient) walks along and / or otherwise moves relative to any suitable surface. In some examples, for example, a user may walk along and / or move relative to a surface that is stationary under the user's feet as the user stands, walks, runs, etc. Such a stationary surface may be, for example, a floor, the ground, a platform, and / or any other suitable surface. Additionally, the stationary surface may be substantially flat or may be elevated. The moving surface may be an incline or decline (e.g., a set of steps, a ramp, etc.). In other examples, a user may walk along and / or move relative to a surface that is not stationary under the user's feet as the user stands, walks, runs, etc. In other words, the patient support system and / or partial unloading system described herein may be used to support at least a portion of the user's weight as the user moves relative to and / or walks on a surface (that moves under the user's feet as the user moves, walks, runs, etc.). The moving surface may be any surface, such as, for example, the moving surface (belt) of a treadmill, a moving balance platform, and / or the like.

[0211]

[1263] In embodiments in which the support system supports a user as the user is on or moves relative to the moving surface of the treadmill, the electronic device of the patient support system may receive data related to one or more operating conditions of the treadmill and may use the data related to the treadmill and the data related to the operating conditions of the patient support system to provide gait training to the user utilizing the treadmill, define one or more gait characteristics of the user, provide analysis of the data and / or information related to the gait training or one or more training sessions, and / or the like. Additionally, the patient support system and / or any suitable electronic device may be configured to graphically represent data and / or information related to the treadmill, the patient support system, and / or one or more gait training sessions on a display of the device.

[0212]

[1264] For example, Figures 64-69 are screenshots 910-915, respectively, illustrating graphical representations of data related to a support system used in connection with a treadmill. As shown in Figures 64-66, the patient support system and / or electronic device may present data related to the trolley, such as, for example, mode of operation, amount or level of dynamic unloading, maximum change in tether length before providing support, any suitable session data or information (e.g., total running time, distance traveled, walking speed, number of falls or number of falls prevented, tether position, etc.), and / or any other suitable data. In some examples, for example, the patient support system and / or electronic device may graphically represent data similar to the data represented by screenshots 904 and 904A shown in Figures 59 and 60, respectively.

[0213]

[1265] In addition to data related to the trolley, the support system and / or electronic device may be configured to graphically represent data related to the treadmill. For example, as shown in screenshots 910 (FIG. 64), 911 (FIG. 65), 912 (FIG. 66), and 913 (FIG. 67), the support system and / or electronic device may graphically represent data and / or controls related to the treadmill. In some examples, the data graphically represented on the display may provide a user interface that allows the user to select and / or control one or more operating settings of the treadmill, such as, for example, belt speed, incline, and / or the like. In other examples, the user may, for example, initiate pairing or synchronization of the treadmill with the trolley, start, stop, or pause operation of the treadmill (including emergency stops), change the direction of the belt, change the incline or decline of the belt or treadmill, and / or the like. In some examples, the support system and / or electronic device may be configured to control one or more operating conditions of the trolley based on data associated with one or more operating conditions of the treadmill, and vice versa. For example, in some examples, the support system and / or electronic device may be configured to stop the treadmill (e.g., stop motion of the belt) in response to determining that a user has fallen based on data associated with one or more operating conditions of the trolley. In some examples, the trolley (and / or an electronic device in communication with the trolley) may determine that the user has fallen based, at least in part, on a sudden or abrupt change in the force the user exerts on the tether and / or a sudden or abrupt increase in the length of at least a portion of the tether. Thus, in some such examples, the support system, electronic device, and / or controller may be configured to stop or pause operation of the treadmill based on determining that the user has fallen. Additionally, the system may resume operation or motion of the trolley in response to determining that the user has recovered from the fall (e.g., is in a desired standing, walking, or neutral position).

[0214]

[1266] In some embodiments, the electronic device configured to graphically represent data related to the trolley and the treadmill can be the same electronic device that controls both the trolley and the treadmill. In such embodiments, the electronic device can receive signals from one or more sensors, motors, controllers, etc., and can perform one or more processes on data received via such signals. In other embodiments, the electronic device can be configured to graphically represent data and / or information related to the trolley and the treadmill based on one or more signals received from the electronic device or the controller of the trolley and / or based on one or more signals received from the electronic device or the controller of the treadmill. In other words, in some embodiments, the electronic device can be configured to receive and aggregate one or more analyzed or at least partially processed data sets from one or more components of the support system, and can graphically represent the aggregated data on the display. In other words, any of the support systems described herein can include a centralized electronic device and / or controller configured to control one or more components of the support system, or can include a decentralized or distributed network of electronic devices and / or controllers. Further, in embodiments in which the support system includes a decentralized or distributed network of electronic devices and / or controllers, the support system may include at least one electronic device and / or controller configured to aggregate and / or collect data received from one or more components of the support system and to graphically represent such aggregated or collected data on a display.

[0215]

[1267] As described above, the support system and / or electronic devices in communication therewith may be configured to determine and / or define one or more characteristics associated with a user's gait based on data associated with the support system (e.g., a trolley) and any suitable device (e.g., a treadmill) being used with the support system. For example, screenshot 914 shown in FIG. 68 is an example of a session summary that may provide data and / or information associated with a user session or the like. Such data and / or information may include, for example, date and time of the session, total workout time, minimum, maximum, and / or average walking speed, minimum, maximum, and / or average amount of unloading or support, total distance traveled, total number of falls or total number of falls prevented, and / or any other suitable data and / or information. Additionally, the user or clinician may provide notes, information, data, and / or inputs that may be associated with and / or stored with the session data. As shown by screenshot 915 of Figure 69, the support system and / or electronic device may also be configured to define and display one or more graphs, plots, charts, etc., representing data associated with one or more user sessions. For example, as shown in Figure 69, the support system and / or electronic device may define and display graphs showing a user fall profile, a graph of the user's speed and distance during one or more sessions, and / or any other suitable graphs, charts, and / or representations of data associated with one or more user sessions.

[0216]

[1268] Any of the patient support systems and / or partial unloading systems may be used with any suitable track and / or power rail, such as those described herein. In some embodiments, the patient support system may include a track and / or power rail configured to allow for switching, turning, and / or redirection of a trolley movably coupled thereto. For example, FIG. 70 shows a first track portion 9620A, a second track portion 9620B, a first power rail portion 9050A, and a second power rail portion 9050A. In this embodiment, the first track portion 9620A and the second track portion 9620B are disposed perpendicular to one another. Similarly, the first power rail portion 9050A and the second power rail portion 9050B are disposed perpendicular to one another.

[0217]

[1269] As shown in FIG. 70, the turntable 9625 includes a third track portion 9620C and a third power rail portion 9050C. The turntable 9625 is configured to be rotated relative to the track portions 9620A and 9620B and the power rail portions 9050A and 9050B, as shown by arrows AA. For example, in some embodiments, the turntable 9625 can be turned manually (e.g., a user exerts a force on a portion of the turntable 9625, such as a handle or the like (not shown in FIG. 70)). In other embodiments, the turntable 9625 can include a motor or the like (not shown in FIG. 70) that can receive a signal from a controller or the like and rotate the turntable 9625 based on the signal. Thus, during use, the turntable 9625 can be rotated to a position relative to the track portions 9620A and 9620B and the power rail portions 9050A and 9050B to place the third track portion 9620C in alignment with the first track portion 9620A and place the third power rail portion 9050C in alignment with the first power rail portion 9050A, as shown in FIG 70. More specifically, when the third track portion 9620C is placed in alignment with the first track portion 9620A, the first track portion 9620A and the third track portion 9620C collectively form a substantially continuous track along which the trolley may travel.

[0218]

[1270] Similarly, the first power rail portion 9050A and the third power rail portion 9050B can collectively form a substantially continuous power rail configured to supply power to a trolley suspended from a track collectively formed by the first track portion 9620A and the third track portion 9620C. Specifically, in this embodiment, the turntable 9625 can be positioned such that the first power rail portion 9050A and the third power rail portion 9050C are in electrical communication. Thus, electrical current can flow from a power source (not shown) along a first length of the first power rail portion 9050A, along the third power rail portion 9050C, and along a second length of the first power rail portion 9050A. Further, in some embodiments, both ends of the power rail portions 9050A, 9050B, and 9050C can include a transfer section or the like (e.g., a flared end or a flanged end) that can tolerate a given amount of misalignment between the first power rail portion 9050A or the second power rail portion 9050B and the third power rail portion 9050C.

[0219]

[1271] During use, a user (e.g., a patient, therapist, technician, physician, etc.) may desire to change the orientation of a trolley, for example, positioned along the length of the first track portion 9620A. Thus, the user can cause the trolley to move from a position along the first track portion 9620A to a position along the third track portion 9620C. With the trolley suspended from the third track portion 9620C and the trolley in electrical communication with the third power rail portion 9050C, the user can move the trolley such that the third track portion 9620C is substantially aligned with the second track portion 9620B, and the third power rail portion 9050C is substantially aligned with the second power rail portion 9050B. With the third track portion 9620C substantially aligned with the second track portion 9620B and the third power rail portion 9050C substantially aligned with the second power rail portion 9050B, a user can cause the trolley to move from a position along the third track portion 9620C to a position along the second track portion 9620B. In this manner, the trolley can be turned, switched, rotated, and / or otherwise redirected. Similarly stated, the turntable can be rotated from a first position to a second position to turn, switch, rotate, and / or otherwise redirect the trolley.

[0220]

[1272] Although the patient support system 2000 is described above as including a power rail 2620 configured to provide power to the trolley 2100, in other embodiments, the patient support system can include any suitable power system. For example, FIG. 71 is a schematic diagram of a partial unloading system 10000 according to one embodiment. The partial unloading system 10000 (also referred to herein as a "support system") can be substantially similar in form and / or function to any of the support systems described herein. For example, the support system 10000 includes a trolley 10100 movably suspended from a support truck 10050. The support truck 10050 and the trolley 10100 can be substantially similar to the support truck 2050 and the trolley 2100, respectively, described above with reference to FIGS. 2-34. Accordingly, the support truck 10050 and the trolley 10100 will not be described in further detail herein.

[0221]

[1273] However, the support system 10000 may differ from the support system 2000 in the arrangement of the power system 10600. For example, the support system 2000 includes a power rail 2620 that is substantially parallel to the support track 2050 and in electrical communication with the trolley 2100 to provide power to the trolley 2100, as described above. However, in the embodiment shown in FIG. 71, the power system 10600 includes a central power source and / or central power supply 10610 and a power rail 10620 configured to rotate relative to the power source 10610 in response to movement of the trolley 10100 along the support track 10050, as shown by arrow C in FIG. 71. For example, in some embodiments, the power rail 10620 may be a telescoping power rail or the like having a length configured to extend or retract (as shown by arrow D in FIG. 71) as the trolley 10100 moves along the support track 10050. In other embodiments, the power rail 10620 can be a flexible and / or extendable cable or the like. In this manner, the power rail 10620 can pivot about the power source 10610 to provide substantially continuous power as the trolley 10100 moves along the support track 10050. Although the support track 10050 is specifically shown in FIG. 71, it should be understood that the power system 10600 can be used with a support track 10050 having any suitable shape. For example, the power system 10600 can be used with a linear or straight support track, an oval or circular support track, and / or a support track having an irregular shape. That is, the rotatable and extendable arrangement of the power rail 10620 can enable the power system 10600 to be used with any suitable support track having any suitable shape.

[0222]

[1274] The power rail 10620 may include any suitable power conductor, surface, wire, and / or the like. For example, in some embodiments, the power rail 10620 may include one or more inner conductive surfaces similar to the power rail 2620. In other embodiments, the power rail 10620 may be a conduit or the like configured to accommodate a power cable or power line (and / or any suitable electronic communication cable or wire). In yet other embodiments, the power rail 10620 may be any suitable tether or the like configured to transfer and / or transmit power. 72 illustrates a power rail 11620 according to one embodiment. In such an embodiment, the power rail 11620 is a substantially hollow tube that includes and / or has at least one conductive inner surface 11621. Thus, the collector 11770 and / or any other suitable conductive portion of the trolley or support system may be at least partially disposed within the power rail 11620 to place the collector 11770 (or the conductor of the trolley) in electrical contact with the conductive inner surface 11621 of the power rail 11620, as described in detail above with reference to the support system 2000.

[0223]

[1275] Instead, FIG. 73 illustrates a power rail 12620 according to a different embodiment. As illustrated, the power rail 1620 is a substantially flat or otherwise unenclosed power rail 1620 having at least one conductive surface 12621 that is substantially open or exposed. In such an embodiment, the collector 12770 and / or any suitable conductive portion of the trolley or support system may be disposed adjacent and / or otherwise positioned such that the collector 12770 (or the conductor of the trolley) is in electrical contact with the exposed and / or otherwise available conductive surface 12621 of the power rail 12620. In some embodiments, such an arrangement may allow, for example, the power rail 12620 to be coupled to and / or integral with a support track (not shown in FIG. 73) along which the trolley moves. In other embodiments, the power rail 12620 may be offset from the support track, for example, as described with reference to the support system 2000.

[0224]

[1276] Although the power rails 2620, 10620, 11620, and / or 12620 are specifically described above as being independent of the corresponding support track, in other embodiments, the support track may include one or more conductive surfaces and / or members configured to provide power to a portion of the trolley suspended therefrom. Additionally, while the power rails 2620, 10620, 11620, and 12620 are specifically described above as providing power to the respective support systems, in some embodiments, the support systems may include one or more batteries, battery systems, capacitors, energy storage devices, uninterruptible power supplies (UPS), and / or the like configured to store power and / or provide power to one or more components or devices of the support system. For example, as described above, the support system may include a UPS electrically connected in any suitable location and / or configuration within the support system to provide a primary or backup flow of power to one or more components or devices (e.g., power supplies, trolleys, computing devices, controllers, secondary training devices such as treadmills, etc.). Such a UPS (or any other suitable form of energy storage or back-up device) may thus be configured to provide uninterrupted power to the support system and / or at least a portion thereof.

[0225]

[1277] While various embodiments have been described above, it should be understood that they are presented only by way of example and not limitation, and thus various changes in form and / or detail may be made. For example, while the trolley 2100 is described above with reference to Figures 2-33 as having a particular shape, size, and / or configuration, it should be understood that changes in size, shape, configuration, and / or arrangement of one or more components may be made without changing its functionality. For example, Figures 74-76 show the trolley 12100 according to one embodiment. The trolley 12100 may be substantially similar in form and / or function to the trolley 2100 described above with reference to Figures 2-33. For example, the trolley 2100 includes a drive system 12300 configured to movably suspend the trolley 12100 from a support track (not shown in FIGS. 74-76) and a support mechanism 12500 including a tether 12505 configured to connect to a harness or the like worn by a user to couple the user to the support mechanism 12500. In this embodiment, the drive system 12300 and the support mechanism 12500 are 500 may be substantially similar, at least in form and / or function, to the drive system 2300 and support mechanism 2500, respectively, of the trolley 2100.

[0226]

[1278] However, the trolley 12100 shown in FIGS. 74-76 can differ from the trolley 2100 shown in FIGS. 2-33 by including a cover 12260 having a different size, shape, and / or configuration than the cover 2260 of the trolley 2100. For example, the cover 12260 defines a notch 12267 configured to receive a portion of the support mechanism 12500 (e.g., a portion of a cam assembly or the like), as shown in FIGS. 74 and 75. Additionally, the cover 12260 defines an opening 12266 through which at least a portion of the tether 12505 can extend to allow an end of the tether 12505 to be coupled to a patient connection mechanism and / or a harness worn by a user and / or patient, as shown in FIG. Thus, although cover 12260 shown in Figures 74-76 varies in shape, size, and / or configuration from cover 2260 (see, e.g., Figures 4-9), covers 2260 and 12260 can function in a substantially similar manner to surround, cover, and / or house at least a portion of trolleys 2100 and 12100, respectively.

[0227]

[1279] As another example, although the connection mechanism 2800 is described above with reference to FIG. 34 as including an energy storage member 2850, in other embodiments, the connection mechanism need not include an energy storage member. In such embodiments, the connection mechanism may be coupled, for example, to the trolley 2100 and further coupled to a harness or the like worn by the patient. In such embodiments, the trolley 2100 may function in a manner substantially similar to that described above.

[0228]

[1280] Although the trolley 2100 is described above with reference to Figures 2-33 as including a motorized drivetrain 2300 and an active support mechanism 2500, in other embodiments, the trolley can include either a motorized drivetrain or an active support mechanism. Similarly stated, the drivetrain 2300 and the support mechanism 2500 can be mutually exclusive and can function independently in a manner similar to that described above.

[0229]

[1281] Any portion of the apparatus and / or methods described herein may be combined in any suitable combination unless expressly expressed otherwise. For example, in some embodiments, the patient support mechanism 2500 of the trolley 2100 included in the support system 2000 may be replaced with a system similar to the support system 3900. In such an embodiment, a cylinder, a piston, and an energy storage member may extend from, for example, the base 2210 of the housing 2200 of the trolley 2100. More specifically, the kinetic and potential energy of the energy storage member (e.g., the storage member 3960) may be actively controlled via a feedback system similar to the system described above with reference to the trolley 2100. For example, the energy storage member 3960 may be compressed air, the pressure of which may be controlled in response to a force acting on the piston.

[0230]

[1282] Any of the systems and / or methods described herein may be used in any suitable manner to provide support to a user, for example, during gait training and / or the like. For example, FIG. 77 is a flow diagram illustrating a method 10 of using a partial unloading system according to one embodiment. The partial unloading system may be similar to any of the support systems described herein. For example, in some embodiments, the support system may be substantially similar to the support system 2000 described in detail above with reference to FIGS. 2-33. Thus, the support system may include a trolley (e.g., similar to trolley 2100) or the like configured to be movably suspended from a support track. The support system may include a connecting device that is worn by or otherwise coupled to the user. The connecting device may include a patient support mechanism (e.g., similar to support mechanism 2500) having a tether configured to be coupled to the connecting device. Thus, coupling the tether to the connecting device may couple the user to the partial unloading system and / or at least the trolley contained therein.

[0231]

[1283] Method 10 includes, at 11, defining a reference length of the tether when the tether is coupled to a connection device and the connection device is in an initial position. For example, as described above with reference to Figures 59 and 60, a user, therapist, trainer, etc. can input, provide, and / or otherwise define a "zero point" or reference point associated with a neutral position of the connection device, which zero point is associated with and / or corresponds to a determined or predetermined length of the tether. Additionally, the user, therapist, trainer, etc. can provide an input, selection, command, etc., operable to cause the support system to define a threshold length of the tether at 12.

[0232]

[1284] As described in detail above, the partial support system is configured to support at least a portion of a user's weight during use (e.g., walking training). As shown in FIG. 77, the method 10 includes, at 13, providing a first amount of partial support during walking training when the user is moving relative to and / or on a surface (e.g., a floor or ground or along or on a device such as a treadmill) and the length of the tether is less than a threshold length of the tether. For example, as described above, the first amount of partial support can be an amount of support provided to the user when the user is standing, walking, running, and / or not otherwise actively falling. In some embodiments, the first amount of partial support can be, for example, zero support. That is, the tether can couple the user to the partial support system, but in some instances the partial support system can provide no support unless the user is falling and / or the system is otherwise engaged to do so. In other embodiments, the first amount of support can be a non-zero portion of the user's weight, including, for example, some or substantially all of the user's weight.

[0233]

[1285] At 14, during gait training, a second amount of partial support is provided when the user moves relative to and / or on the surface and the length of the tether is greater than a threshold length of the tether. For example, as described above, the partial support system may be configured to respond to, react to, and / or otherwise support the user in response to a change in force applied by the user to the tether, in response to the user moving relative to the partial support system, in response to the user falling, and / or the like. More specifically, in this example, the partial support system may be configured to provide the second amount of partial support in response to a change (e.g., an increase) in the length of the tether such that the length of the tether is greater than the threshold length. That is, the partial support system may be configured to provide the second amount of partial support in response to the user falling.

[0234]

[1286] The method 10 further includes, at 15, displaying data associated with the gait training on a display of an electronic device included within the partial support system. For example, as described above with reference to Figures 50-69, the partial support system may be configured to present the data in the form of graphs, charts, user interfaces, etc. that can provide a user and / or therapist or trainer with information regarding one or more training sessions (as described in detail above). Thus, a user, therapist, trainer, etc. may review the data to determine one or more characteristics associated with the user's gait during gait training and / or his or her performance, improvements, weaknesses, strengths, etc.

[0235]

[1287] FIG. 78 is a flow diagram illustrating a method 20 of using a partial relief system according to another embodiment. 3A-3C. The partial relief system can be similar to any of the support systems described herein (e.g., support system 2000 described in detail above with reference to FIGS. 2-33). Thus, the support system can include a trolley (e.g., similar to trolley 2100) or the like configured to be movably suspended from a support track. The support system can include a patient support mechanism (e.g., similar to patient support mechanism 2500) having a tether configured to be coupled to a connection device that is worn by or otherwise coupled to a user. Thus, coupling the tether to the connection device can couple the user to the partial relief system and / or at least the trolley included therein.

[0236]

[1288] The method 20 includes, at 21, defining a reference length of the tether when the tether is coupled to the connectivity device and the connectivity device is in an initial position. For example, as described above with reference to Figures 59 and 60, a user, therapist, trainer, etc. can input, provide, and / or otherwise define a "zero point" or reference point associated with a neutral position of the connectivity device, which zero point is associated with and / or corresponds to a determined or predetermined length of the tether. Additionally, the user, therapist, trainer, etc. can provide an input, selection, command, etc., operable to cause the support system to define a first criterion associated with a change in the length of the tether at 22, can provide an input, selection, command, etc., operable to cause the support system to define a second criterion associated with a change in the length of the tether at 23, and can provide an input, selection, command, etc., operable to cause the support system to define an amount of partial support to provide in response to the user falling during gait training at 24. For example, in some embodiments, the first criterion can be a rate of change in the length of the tether and the second criterion can be a duration of change in the length of the tether. In other embodiments, the first criterion and the second criterion can be one or more any suitable criteria. The amount of body weight to be supported can be any suitable portion of the user's body weight. In some examples, for example, the amount of partial relief can be expressed as a percentage of the user's body weight (e.g., 0%, 10%, 20%, 30%, etc.). In other examples, the amount of partial relief can be expressed as weight terms (e.g., in pounds or kilograms).

[0237]

[1289] The method 20 includes, at 25, determining whether a fall has occurred based on the first criterion and the second criterion being satisfied. For example, during walking training, a user may move relative to a surface and / or walk on a surface, which may result in a change in the force acting on the tether (as described in detail above). In some examples, a user falling during walking training may result in an increase in the force the user exerts on the tether, which may result in a relatively high rate of change in length of at least a portion of the tether, which may be sufficient to satisfy the first criterion. However, in some examples, a similar rate of change in length of the tether may result from movement of the user when not falling (e.g., when the user sits or stands up, bends, climbs or descends a ramp, stairs, or platform, and / or the like). Thus, to avoid falsely defining or falsely determining the occurrence of a fall, the support system may be configured such that a fall is defined and / or determined in response to satisfying both a first criterion (e.g., the rate of change in the tether length) and a second criterion (e.g., the duration of the change in the tether length or the amount of time it takes for the tether length to change). Further, at 26, an amount of partial relief may be provided when the first criterion and the second criterion are satisfied.

[0238]

[1290] 79 is a flow diagram illustrating a method 30 of using a partial relief system according to another embodiment. The partial relief system may be similar to any of the support systems described herein (e.g., support system 2000 described in detail above with reference to FIGS. 2-33). Thus, the support system may be configured to be movably suspended from a support truck. The support system can include a patient support mechanism (e.g., similar to support mechanism 2500) having a tether configured to be coupled to a connection device that is worn by or otherwise coupled to a user. Thus, coupling the tether to the connection device can couple the user to the partial unloading system and / or at least the trolley included therein.

[0239]

[1291] The method 30 includes, at 31, defining a reference length of the tether when the tether is coupled to the connectivity device and the connectivity device is in an initial position. For example, as described above with reference to Figures 59 and 60, a user, therapist, trainer, etc. can input, provide, and / or otherwise define a "zero point" or reference point associated with a neutral position of the connectivity device, which zero point is associated with and / or corresponds to a determined or predetermined length of the tether. Additionally, the user, therapist, trainer, etc. can provide input, selection, command, etc., operable to cause the support system to define a threshold length of the tether, at 32, associated with and / or otherwise indicative of a user falling during gait training, and can provide input, selection, command, etc., operable to cause the support system to define a threshold number of falls during gait therapy, at 33.

[0240]

[1292] The method 30 includes, at 34, providing a predetermined amount of partial support during gait training when the user is moving relative to and / or on a surface (e.g., a floor or ground, or relative to or on a training device such as a treadmill) and the number of falls is less than a threshold number of falls. For example, as described above, the predetermined amount of partial support can be an amount of support provided to the user when the user is standing, walking, running, and / or not otherwise actively falling. In some embodiments, the first amount of partial support can be, for example, zero support. That is, a tether can couple the user to the partial support system, but in some instances the partial support system can provide no support unless the user is falling and / or the system is otherwise engaged to do so. In other embodiments, the first amount of support can be a non-zero portion of the user's weight, including, for example, some or substantially all of the user's weight (e.g., expressed or represented as a percentage of the user's body weight or a weight value in pounds or kilograms).

[0241]

[1293] In some examples, at 35, in response to the threshold number of falls being satisfied, a predetermined amount of partial support to be provided to the user during gait training is increased. For example, in some examples, repeated falls by the user may indicate that the user would benefit from more partial support. Thus, the partial support system may increase the amount of support provided to the user. In some examples, the amount of increase may be a predetermined increase in the amount of support (e.g., a 1% increase, a 5% increase, a 10% increase, a 20% increase, etc.). In other examples, the amount of increase may be calculated based on characteristics associated with the user's performance during gait training. In yet other examples, the amount of increase may be input by the user, a therapist, a trainer, etc.

[0242]

[1294] Method 30 further includes, at 35, displaying data related to the gait training on a display of an electronic device included within the partial support system. For example, as described above with reference to FIGS. 50-69, the partial support system may be configured to present the data in the form of graphs, charts, user interfaces, etc. that can provide a user and / or therapist or trainer with information related to one or more training sessions (as described in detail above). Thus, a user, therapist, trainer, etc. may view the data to, for example, determine one or more characteristics related to the user's gait during gait training and / or his or her performance, improvement, weaknesses, strengths, etc. It can be reconsidered.

[0243]

[1295] Although the methods and / or techniques described above may depict certain events and / or flow patterns occurring in a certain order, the ordering of certain events and / or flow patterns may be altered. Further, certain events may be performed simultaneously in parallel processes when possible, as well as sequentially.

[0244]

[1296] Some embodiments described herein relate to computer storage products having non-transitory computer-readable media (which may also be referred to as non-transitory processor-readable media) having instructions or computer code thereon for performing various computer-implemented operations. The computer-readable media (or processor-readable media) is non-transitory in the sense that it does not include transient propagating signals (e.g., propagating electromagnetic waves that carry information over a transmission medium such as space or cable). The media and computer code (also referred to herein as code) can be media and computer code designed and configured for one or more specific purposes. Examples of non-transitory computer readable media include, but are not limited to, magnetic storage media such as hard disks, optical storage media such as compact disks / digital video disks (CD / DVDs), compact disk read only memory (CD-ROM), magneto-optical storage media such as optical disks, carrier wave signal processing modules, and hardware devices specifically configured to store and execute program code, such as application specific integrated circuits (ASICs), programmable logic devices (PLDs), read only memory (ROM) devices, and random access memory (RAM) devices. Other embodiments described herein relate to computer program products, which may include, for example, the instructions and / or computer code discussed herein.

[0245]

[1297] Examples of computer code include, but are not limited to, microcode or microinstructions, machine instructions such as those produced by a compiler, code used to create a web service, and files containing high-level instructions executed by a computer using an interpreter. For example, embodiments may be implemented using an imperative programming language (e.g., C, FORTRAN, etc.), a functional programming language (e.g., Haskell, Erlang, etc.), a logic programming language (e.g., Prolog), an object-oriented programming language (e.g., Java, C++, etc.), or other programming languages ​​and / or other development tools. Additional examples of computer code include, but are not limited to, control signals, encrypted code, and compressed code.

Claims

1. 1. A method of using a partial support system to provide partial support during gait training, the partial support system including a drive assembly configured to movably suspend the partial support system from a support track and a tether configured to be coupled to a connection device worn by a user to couple the user to the partial support system, the method comprising: defining a reference length of the tether when the connection device is in an initial position; Defining a threshold length of the tether; providing a first amount of partial relief during the walking training when the user moves relative to a surface and a length of the tether is less than the threshold length of the tether; providing a second amount of partial relief during the walking training when the user moves relative to the surface and the length of the tether is longer than the threshold length of the tether, the drive assembly being configured to move the partial relief system relative to the support track to maintain the partial relief system in a substantially overhead position relative to the user as the user moves relative to the surface; and displaying data relating to the gait training on a display of an electronic device included within the partial support system.

2. The method of claim 1 , wherein the length of the tether is increased in response to an increase in force exerted by the user on the tether.

3. The method of claim 2 , wherein the increase in force exerted by the user on the tether is associated with the user falling during the walking training.

4. The method of claim 1 , wherein the surface relative to which the user moves is a stationary surface.

5. The method of claim 1 , wherein the surface relative to which the user moves is a moving surface included in a treadmill.

6. The method of claim 5 , wherein displaying the data related to the gait training on the display includes displaying data related to operating conditions of the partial support system and operating conditions of the treadmill.

7. 1. A method of using a partial support system to provide partial support during gait training, the partial support system including a tether configured to be coupled to a connection device worn by a user to couple the user to the partial support system, the method comprising: defining a reference length of the tether when the connection device is in an initial position; defining a threshold length of the tether, the threshold length of the tether associated with the user falling during the walking training; Defining a threshold number of falls during the walking training; providing a predetermined amount of partial support during the walking training when the user moves relative to a surface and a number of falls is less than the threshold number of falls; increasing the predetermined amount of partial support to be provided to the user in response to the threshold number of falls being satisfied during the gait training; and displaying data relating to the gait training on a display of an electronic device included within the partial support system.

8. The method of claim 7 , wherein the surface relative to which the user moves is a stationary surface.

9. 9. The method of claim 8, wherein the partial relief system includes a drive assembly configured to movably suspend the partial relief system from a support track, the drive assembly configured to move the partial relief system relative to the support track in response to movement of the user relative to the surface such that the partial relief system is maintained in a substantially overhead position relative to the user.

10. The method of claim 7 , wherein the surface relative to which the user moves is a moving surface included in a treadmill.

11. The method of claim 10 , wherein displaying the data related to the gait training on the display includes displaying data related to operating conditions of the partial support system and operating conditions of the treadmill.

12. 8. The method of claim 7, wherein providing the predetermined amount of partial relief during the walking training is in response to a length of the tether exceeding the threshold length of the tether as the user moves relative to the surface.

13. the nominal length of the tether is a first nominal length of the tether, and the method further comprises:

8. The method of claim 7, further comprising: defining a second nominal length of the tether in response to the threshold number of falls being satisfied, the second nominal length of the tether being less than the first nominal length of the tether.

14. 1. A method of using a partial support system to provide partial support during gait training, the partial support system including a tether configured to be coupled to a connection device worn by a user to couple the user to the partial support system, the method comprising: defining a reference length of the tether when the connection device is in an initial position; providing a first amount of partial relief during the walking training when the user moves relative to a surface and a length of the tether is less than a threshold length of the tether; providing a second amount of partial relief when, during the walking training, the user moves relative to the surface and (i) a length of the tether relative to the reference length is greater than a threshold length of the tether, and (ii) a rate of change of the length of the tether for a predetermined duration exceeds a threshold rate of change. and displaying data relating to the gait training on a display of an electronic device included within the partial support system.

15. The method of claim 14 , wherein the length of the tether is increased in response to an increase in force exerted by the user on the tether.

16. The method of claim 15 , wherein the increase in force exerted by the user on the tether is associated with the user falling during the walking training.

17. The method of claim 14 , wherein the surface relative to which the user moves is a stationary surface.

18. 15. The method of claim 14, wherein the partial relief system includes a drive assembly configured to movably suspend the partial relief system from a support track, the drive assembly configured to move the partial relief system relative to the support track in response to movement of the user relative to the surface such that the partial relief system is maintained in a substantially overhead position relative to the user.

19. The method of claim 14 , wherein the surface relative to which the user moves is a moving surface included in a treadmill.

20. 20. The method of claim 19, wherein displaying the data related to the gait training on the display includes displaying data related to operating conditions of the partial support system and operating conditions of the treadmill.

Images