Systems, methods, and devices for migraine treatment and myofascial release

Abstract

A device for migraine treatment through myofascial release is disclosed. The device includes a pin chassis and a motor to move the pin chassis in a first direction and a second direction. The device includes a pin coupled to the pin chassis with an end effector disposed at the distal end thereof. The device includes an actuator configured to selectively facilitate movement of the end effector between an extended and a retracted configuration. The device includes a controller in electrical communication with each of the motor and the actuator, the controller configured to (i) activate the motor to move the pin chassis in the first direction or the second direction, and (ii) activate the actuator to extend or retract the end effector.

Description

SYSTEMS, METHODS, AND DEVICES FOR MIGRAINE TREATMENT AND MYOFASCIAL RELEASECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 636,231, filed April 19, 2024, the entire contents of which are incorporated herein by reference.BACKGROUND

[0002] The present disclosure relates generally to the treatment of migraines. Generally, migraines negatively affect one’s physical, mental, and financial well-being. Over three million Americans are diagnosed with migraines per year, and migraines are the fifth leading cause of visits to the Emergency Department (ED). These hospital visits are costly and generally ineffective, and finding well-suited treatments is challenging. People suffering from migraines are constantly on the lookout for new forms of treatment as there are many forms of pain relief but much fewer methods of preventative medicine.

[0003] Patients with migraines usually experience severe headaches having a variety of different types of triggers. One common area where this occurs is located at the neck and back of the head. For example, see the map of trigger points on the back of a human in FIG. 1. The trigger points are often the result of tense muscles located within the deep fascial tissue, and the tension therein prompts a migraine. Relaxing these trigger points is shown to be effective, alongside medications, as a form of migraine relief. An up-and-coming and effective way to relax these muscles is through fascial manipulation performed by a physical therapist. This treatment, called myofascial release (or deep fascial manipulation), shows promise in its ability to mitigate migraine onset. Currently, this treatment is performed by very few physical therapists, and the demand is increasing as the technique reaches more patients. Additionally, being treated by a well-trained physical therapist is costly and timely.

[0004] Therefore, a need exists for a device and / or method of providing myofascial release without the need to visit a physical therapist in person.SUMMARY

[0005] Described herein is an at-home device that replicates the fascial manipulation treatment of a physical therapist.

[0006] One implementation of the present disclosure is a device for providing myofascial release to a user. The device includes a body including an upper surface at least partially defining a main cavity. The device further includes a first pin chassis disposed within the main cavity and a first motor coupled to the first pin chassis to move the first pin chassis within a first plane in a first direction and a second direction. The device further includes a first pin including a proximal end and a distal end opposite and spaced apart from the proximal end along a first pin axis. The first pin is coupled to the first pin chassis. The device further includes a first end effector disposed at the distal end of the first pin and movable along the first pin axis between an extended configuration and a retracted configuration. The device further includes a first actuator configured to selectively move the first end effector between the extended and retracted configurations. The device further includes a controller in electrical communication with each of the first motor and the first actuator, the controller configured to (i) activate the first motor to move the first pin chassis in the first direction or the second direction, and (ii) activate the first actuator to extend or retract the first end effector relative to the upper surface of the body.

[0007] In some implementations, the device further includes a second pin including a proximal end and a distal end opposite and spaced apart from the proximal end along a second pin axis. A second end effector is disposed at the distal end of the second pin and movable along the second pin axis between an extended configuration and a retracted configuration. A second actuator is configured to selectively move the second end effector between the extended and retracted configurations, wherein the controller is in electrical communication with the first actuator and the second actuator to selectively extend one or both of the first and second end effectors relative to the upper surface of the body.

[0008] In some implementations, the second pin is coupled to the first pin chassis adjacent to the first pin.

[0009] In some implementations, the first and second pins are arranged in a linear pattern within the first pin chassis.

[0010] In some implementations, the second pin is coupled to a second pin chassis adjacent to the first pin chassis. The second pin chassis is movable within the first plane in the first direction and the second direction via a second motor, and the controller is configured to activate the second motor to move the second pin chassis in the first or the second direction.

[0011] In some implementations, a first set of pins including the first pin is supported by the first pin chassis, and a second set of pins including the second pin is supported by the second pin chassis.

[0012] In some implementations, at least two pins of the first and second sets of pins are simultaneously movable between the retracted configuration and the extended configuration.

[0013] In some implementations, the first end effector includes a flexible rubber material and a tapered shape.

[0014] In some implementations, the first end effector includes a plurality of protrusions extending therefrom.

[0015] In some implementations, the device further includes a remote control in communication with the controller of the device, the remote control including a user interface configured to cause one or more of: (i) movement of the first pin chassis in the first or second directions; and (ii) movement of the first end effector of the first pin between the retracted configuration and the extended configuration.

[0016] In some implementations, the remote control is a mobile device or an application on a mobile device that is in wireless communication with the controller of the device.

[0017] In some implementations, the body includes a cushioned housing at least partially defining the main cavity, the cushioned housing including a foam material on the upper surface of the body contoured to support a region of a user's head and neck.

[0018] In some implementations, in the extended configuration, the first end effector applies a first static pressure on an upper surface of the body, wherein the upper surface of the body is contoured to support a region of a user's head and neck.

[0019] In some implementations, the first pin chassis is coupled to at least one gantry member extending in the first direction, wherein the first motor is coupled to an end of the at least one gantry member and includes a gear system configured to move the first pin chassis along the at least one gantry member.

[0020] In some implementations, the first pin is a first pneumatic pin and the first actuator is a first moveable valve configured to open or close to allow a pressurized fluid to extend the first end effector.

[0021] According to another implementation, a method for providing myofascial release to a user is disclosed. The method includes providing a device. The device includes a body includingan upper surface at least partially defining a main cavity. The device further includes a first pin chassis disposed within the main cavity that is movable within a first plane in a first direction and a second direction via at least one motor. The device further includes a first pin including a proximal end and a distal end opposite and spaced apart from the proximal end along a first pin axis, wherein the first pin is coupled to the first pin chassis. The device further includes a first end effector disposed at the distal end of the first pin and movable along the first pin axis between an extended configuration and a retracted configuration. The device further includes a first actuator coupled to the first pin to facilitate movement of the first end effector between the extended and retracted configurations. The device further includes a controller in electrical communication with each of the at least one motor and the first actuator. The method further includes activating, via the controller, the at least one motor to move the first pin chassis in the first direction or the second direction. The method further includes activating, via the controller, the first actuator to move the first end effector to the extended configuration. The method further includes holding the first end effector in the extended configuration with a first static pressure. The method further includes activating, via the controller, the first actuator to move the first end effector to the retracted configuration.

[0022] In some implementations, activating the at least one motor to move the first pin chassis in the first direction or the second direction further includes moving the first end effector to a first location adjacent to a target area of the user. The method further includes moving the first end effector to a second location adjacent to the target area of the user, and identifying, via the controller, which of the first and second location is a desired location for myofascial release.

[0023] In some implementations, the method further includes storing a data set including location and pressure data of the device based on the desired location; and executing, via the controller, a set of instructions based on the data set.

[0024] In some implementations, the device includes a plurality of pins with a corresponding plurality of end effectors, the method further including executing, via the controller, a set of instructions to extend and retract a first set of the plurality of end effectors in a pre-defined pattern.

[0025] In some implementations, the method further includes placing the device under a region of user's head or neck as the user lays in a supine position such that the weight of the user's head or neck is supported by the upper surface of the device, wherein the region is one ormore of (i) a suboccipital region, (ii) a cervical spine region, (iii) or an upper thoracic spine region of the user.

[0026] Additional advantages will be set forth in part in the description that follows or may be learned by practice. The advantages will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive, as claimed.BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG. 1 is an anatomical diagram of myofascial trigger points on the back of a human, according to one implementation.

[0028] FIGS. 2A-2H show photos of a prototypical device for providing myofascial release to a user, according to one implementation.

[0029] FIGS. 3 A-3E show different views of a myofascial release device, according to one implementation.

[0030] FIGS. 4A shows an isometric view of a pin chassis. FIG. 4B is a side view of the pin chassis of FIG. 4A. FIG. 4C is a cross-sectional view of FIG. 4A. FIG. 4D is a cross-sectional view of FIG. 4B.

[0031] FIGS. 5A-5C show various views of the end effector, according to one implementation.

[0032] FIGS. 6A-6C show various views of the pneumatic pin or pneumatic actuator, according to one implementation.

[0033] FIG. 7 shows an assembly including the pin chassis, the pneumatic pin, and the end effector, according to one implementation.

[0034] FIGS. 8 A and 8B show an example remote control with buttons, according to one implementation.

[0035] FIGS. 9A-9L show a prototypical device for providing myofascial release to a user, including different views of the body and chassis thereof, according to various implementations.

[0036] Various objects, aspects, features, and advantages of the disclosure will become more apparent and better understood by referring to the detailed description taken in conjunction with the accompanying drawings, in which like reference characters identify corresponding elementsthroughout. In the drawings, like reference numbers generally indicate identical, functionally similar, and / or structurally similar elements.DETAILED DESCRIPTIONClinical Background

[0037] A migraine is a type of headache characterized by recurrent attacks of moderate to severe throbbing and pulsating pain on one side of the head. Migraines are one of the most common neurological disorders, affecting more than a billion individuals every year, and account for the second largest contribution to “disability-adjusted life-years (DALYs) lost due to neurological disorders in 2016. Common symptoms that lead to its high DALY total include sensitivity to light, noise, and odors, as well as nausea, vomiting, and blurred vision, making typical everyday tasks much more difficult. Patients heavily rely on treatment to reduce the intensity of these effects. Medications exist as the mainstream treatment method to accomplish this goal but can prove ineffective due to the complex nature of migraine onset. Therefore, utilizing a multimodal approach helps to mitigate migraine severity and recurrence.

[0038] A migraine patient typically presents with both postural faults and muscle tension associated with myofascial trigger points, as shown in FIG. 1. Research indicates that targeting these trigger points can contribute to global pain burden and facilitate migraine pain expression. Fascial manipulation, or myofascial release, through physical therapy, is a common method used to target these trigger points to reduce symptoms such as pain and lack of mobility. With many forms of muscle relaxation, dynamic movements are employed to massage and relax the targeted muscles. Dynamic motion devices often provide muscle relaxation via vibration, rotation, and electric stimulation. These methods are less effective at treating chronic migraines. In contrast, fascial manipulation is a deep tissue-targeted therapy that utilizes static pressures to restore “gliding” between endofascial fibers and interfascial planes to restore components of the muscle and reduce inflammation.

[0039] Myofascial release provides a form of muscle desensitization and mobilization. While typically used on patient limbs, the back of the neck has recently been targeted as an area of high muscle tension and found to be able to provide relief for chronic migraine patients. Through implementing static pressure to a variety of different key suboccipital muscles, a patient can decrease neuron agitation and spasticity within their upper neck muscles, a vital proponent of migraines. This process is not a rapid form of treatment and can be difficult to begin, especially without experience with a physical therapist first, as patients can trigger migraines during theirfirst sessions of myofascial release simply due to how sensitive this region can be. However, as with many forms of physical therapy, the long-term disease state is what this device improves.

[0040] Normally, to receive myofascial release therapy, migraine patients need to schedule appointments with physical therapists. However, this leads to issues such as cost and availability of appointments. When a migraine occurs for a patient, it can be unpredictable and sudden, making it impossible to have an appointment whenever needed. A more accessible, at-home device would allow patients to receive the manual therapy they typically undergo at moments that fit their schedule and their budget. Existing devices that suit these needs do not exist.Example Device and System #1

[0041] Referring generally to the figures, an at-home device that replicates the fascial manipulation treatment of a physical therapist is shown, according to various implementations. The disclosed devices, systems, and methods, provide myofascial release to patients within the comfort of their homes without the need for costly physical therapy sessions. In some implementations, the devices, systems, and methods of this disclosure provide a tool for increased treatment frequency in addition to treatment by a physical therapist. The disclosed devices, systems, and methods allow for self-administration of myofascial release to a patient’s tension points.

[0042] To best fit migraine patients, this device may be controllable without visual input, may be noise-reduced, and may fit for horizontal use such as a bed. The device is designed to provide therapy for patients suffering from chronic migraines as these patients have often tried countless forms of treatment that may provide temporary relief but do not leave the problem solved. The example device may replace or supplement current forms of treatment by providing an at-home solution. The device mimics the techniques of myofascial release, which a physical therapist applies, but can be used anytime, anywhere. This is especially pertinent from the standpoint of a patient with low time availability and low insurance coverage as PT appointments are often hard to come by and expensive.

[0043] FIGS. 2A-2H show photos of a prototypical device for providing myofascial release to a user, according to one implementation. The device shown in FIGS. 2A-2H is provided as one example implementation of the disclosed device. In some cases, the devices shown and described in this disclosure are exemplary, proof-of-concept prototypes, and they are not meant to limit the scope of the disclosure or of the claims.

[0044] The device 10 of FIGS. 2A-2H includes a frame 20, a first pin chassis 100, a second pin chassis 101, a plurality of motors, a plurality of pneumatic pins having a plurality of end effectors, and a plurality of controllable valves. The device 10 includes three sets of guide rods or gantry members coupled to and disposed within the frame 20. Generally, the frame 20 of the device 10 defines an X-direction, a Y-direction, and a Z-direction corresponding to a standard Cartesian coordinate system, as shown in the axis on FIG. 2B. Each direction (e.g., the “x- direction”) refers to both positive and negative movement along or parallel to the x-axis. Throughout this disclosure, reference is made to these axes and directions; however, other implementations of the device may include different relative directions and operations.

[0045] A first set of guide rods 30 extend in the y-direction along a bottom side of the frame 20. A second set of guide rods 32 extend in the y-direction along a top side of the frame 20 closer to the middle of the device 10. A third set of guide rods 34 extend in the x-direction along the bottom side of the frame, crossing over the first set of guide rods 30.

[0046] The first pin chassis 100 and the second pin chassis 101 are each disposed on the second set of guide rods 32 adjacent to each other. Each of the first pin chassis 100 and the second pin chassis 101 are independently movable in the y-direction along the second set of guide rods 32, as further described below. The first pin chassis 100 and the second pin chassis 101 are nearly identical in the device 10. Therefore, because the associated structure and function of each pin chassis is similar to each other, reference is made to the first pin chassis 100.

[0047] The first pin chassis 100 includes a first set of pneumatic pins 102 including a first pneumatic pin 102a, a second pneumatic pin 102b, and a third pneumatic pin 102c. Each pneumatic pin 102a-c of the first set of pneumatic pins 102 is independently movable with respect to the others. Therefore, because the associated structure and function of each pneumatic pin is similar to each other, reference is made to the first pneumatic pin 102a. In other implementations, only one pneumatic pin is included in the device. In other implementations, two separate pneumatic pins are included in the device, each on a separate chassis. In other implementations, both the first and second pin chassis include a different number of pneumatic pins (e.g., 4, 5, 6, 7, 8, 9, or 10). In other implementations, the first and second pin chassis include a different number of pneumatic pins from the other (e.g., 2 and 3, 2 and 4, 3 and 4, 4 and 5, or other combinations of 1-10 pins per chassis).

[0048] The first pneumatic pin 102a includes a proximal end 104 and a distal end 106 opposite and spaced apart from the proximal end 104 along a first pin axis 108 (e.g., as shown in FIG. 6C). The first pneumatic pin 102a is disposed within a pin opening 110 of the first pin chassis 100 such that the proximal end 104 is closer to a base 112 of the first pin chassis 100 and the distal end 106 extends beyond the first pin chassis 100 in the z-direction.

[0049] The pin opening 110 of the first pin chassis 100 (e.g., as shown in FIG. 4A) and the corresponding first pneumatic pin 102a are disposed at a 60-degree angle from the x-y plane. Such an angle is selected for positioning the first set of pneumatic pins 102 in an appropriate location and angle for myofascial release. However, in other implementations, the angle of the pneumatic pins is anywhere in the range of 10 to 90 degrees with respect to the x-y plane (e.g., 45-75 degrees). In other implementations, the pin chassis is configured to tilt to adjust the angle of the pneumatic pins (e.g., via an additional motor coupled to the pin chassis). In other implementations, a user may adjust the angle of the pneumatic pins and the end effectors via a remote control.

[0050] The first pneumatic pin 102a is movable along the first pin axis 108 between an extended configuration and a retracted configuration. In the retracted configuration, the distal end 106 of the first pneumatic pin 102a is closer to the first pin chassis 100. In the extended configuration, the distal end of the first pneumatic pin 102a is further from the first pin chassis 100 along with first pin axis 108.

[0051] An end effector 114 is disposed at the distal end 106 of the first pneumatic pin 102a. The end effector 114 is generally movable along the first pin axis 108 corresponding to the movement of the distal end 106 of the first pneumatic pin 102a. The end effector 114 includes a flexible material (e.g., silicone or other plastic materials) firm enough to apply pressure to the fascial tissue of a user but flexible enough to deform under pressure. The end effector 114 is generally mushroom-shaped having a shaft 116 and a tapered tip 118. However, in other implementations, other shapes of the end effector are possible (e.g., spherical, cylindrical, multipronged, conical, frustoconical, or other rounded shapes capable of providing adequate pressure). The end effectors 114 may be easily swapped and replaced for differently shaped end effectors.

[0052] To move the end effector 114 coupled to the distal end 106 of the first pneumatic pin 102a between the extended and retracted configurations, a pneumatic system 140 is included in the device 10. As shown in FIG. 2A, the pneumatic system includes a series of actuators in theform of several controllable valves 142 and conduit extending between each pneumatic pin of the device and an air source (e.g., a compressed air source). The pneumatic system of FIG. 2A includes three controllable valves 142a, 142b, and 142c. Each controllable valve 142a-c includes two conduit lines (e.g., air hoses) extended to opposing pin chassis. For example, the controllable valve 142a includes a first conduit 144a extending to the first pin chassis 100 to couple to first pneumatic pin 102a and a second conduit 144b extending to the second pin chassis 101 to couple to a separate pneumatic pin. The conduit 144a extends through an opening in the base 112 of the first pin chassis 100 before coupling to the first pneumatic pin 102a.

[0053] The controllable valves 142 are configured to selectively provide a fluid (e.g., compressed air) to the pneumatic pin to facilitate movement of the end effector 114 between the extended and retracted configurations. Thus, the controllable valve 142a provides for two separate pneumatic pins on different pin chassis to activate and extend / retract simultaneously. In some implementations, the same number of controllable valves and pneumatic pins are included such that each pneumatic pin is independently controlled. In other implementations, all of the pneumatic pins operate simultaneously. In other implementations, various combinations and permutations of pin actuation and valve couplings are contemplated by this disclosure.

[0054] In other implementations, a different actuation structure and operation for extending and holding the end effectors may be used. For example, a hydraulic system or electromechanical actuators may be implemented to extend and retract pins having end effectors.

[0055] While the end effector 114 coupled to the first pneumatic pin 102a is movable generally in the z-direction (albeit, at an angle), the first pin chassis 100 is movable in each of the x-direction and the y-direction. The first pin chassis 100 is movable along the second set of guide rods 32 in the y-direction via a motor 120a, 120b (e.g., a stepper motor) disposed on the side of the device 10 within the frame 20.

[0056] The device 10 includes two y-direction motors 120a and 120b on opposite ends of the frame 20 in the y-direction. Specifically, the motors 120a and 120b are disposed within a motor mount 130a, 130b specifically configured to fit on the corresponding guide rods and engage the corresponding gear attached thereto. The motor mounts 130a, 130b are coupled to the second set of guide rods 32 on either end of the second set of guide rods 32 such that the first pin chassis 100 and the second pin chassis 101 are each slidable along the second set of guide rods 32 in between the motor mounts 130a, 130b. For example, FIG. 2F shows a partial assembly includingthe motor mount 130a coupled to the second set of guide rods 32 with the first pin chassis 100 disposed on the second set of guide rods 32.

[0057] The two motor mounts 130a, 130b each include a belt 124a, 124b wrapped around a gear of the corresponding motor 120a, 120b. As shown in FIG. 2G, the belt 124a of the motor 120a is coupled to and engaged with the first pin chassis 100, but it extends through the second pin chassis 101 without contact. The corresponding belt 124b of the second motor 120b extends through the first pin chassis 100 without contact but is coupled to and engaged with the second pin chassis 101.

[0058] In use, the motor 120a is controllable to rotate the gear, move the belt 124a, and cause the first pin chassis 100 to move in the y-direction along the second set of guide rods 32. Independently, the motor 120b is controllable to rotate its own gear, move the belt 124b, and cause the second pin chassis 101 to move in the y-direction along the second set of guide rods 32.

[0059] The motor mounts 130a, 130b are also coupled to the third set of guide rods 34 such that the two motor mounts 130a, 130b and associated y-direction motors 120a, 120b are slidable along the third set of guide rods 34 in the x-direction. The device 10 further includes two x- direction motors 122a and 122b disposed outside of the frame 20 on opposite ends of the frame 20 in the y-direction. Similar to the other motor setups, the two x-direction motors 122a, 122b include a gear coupled to a belt 126a, 126b. The belt 126a is coupled to and engaged with the motor mount 130a, and the belt 126b is coupled to and engaged with the motor mount 130b.

[0060] In use, two x-direction motors 122a, 122b are controllable to rotate the gear, move the belts 126a, 126b, and cause the motor mounts 130a, 130b to move in the x-direction along the third set of guide rods 34. Therefore, as the motor mounts 130a, 130b move in the x-direction, the entire second set of guide rods 32 with the first pin chassis 100 and second pin chassis 101 coupled thereto also move in the x-direction. Thus, the two x-direction motors 122a, 122b operate simultaneously to move the first pin chassis 100 and the second pin chassis 101, along with associated structures, in the x-direction. In other implementations, the second set of guide rods does not extend through both the first and second pin chassis, and instead, each pin chassis is independently movable in the x-direction.

[0061] In other implementations, the device implements a different planar movement mechanism than the gantry and motor assembly. For example, in some implementations, the device includes a roller-based system on a biaxial grid. In some implementations, the chassis aremounted to lead screws movable in the planar directions. In some implementations, a smaller number of motors is used (e.g., with a gearbox to switch speeds and / or switch which element is being moved).

[0062] The device 10 further includes a controller 150 in electrical communication with each of the two y-direction motors 120a, 120b, each of the two x-direction motors 122a, 122b, and each of the controllable valves 142 of the pneumatic system 140. In other implementations, the controller is configured to operate / activate other electronic elements of the device (e.g., a pump to refill a compressed air source, buttons of a user interface, or a speaker).

[0063] The controller 150 is configured to activate each of the two y-direction motors 120a, 120b and each of the two x-direction motors 122a, 122b. For example, the controller 150 may activate one or more motors based on a preconfigured set of instructions stored in a memory coupled to the controller. In another example, the controller 150 may activate one or more of the motors in response to an input from a user (e.g., via a user interface).

[0064] The controller 150 is further configured to activate each of the controllable valves 142 of the pneumatic system 140 to selectively extend or retract the pneumatic pins (e.g., the first set of pneumatic pins 102 on the first pin chassis 100). For example, the controller 150 may activate one or more of the controllable valves 142 to open or close based on a preconfigured set of instructions stored in a memory coupled to the controller. In another example, the controller 150 may activate one or more of the motors in response to an input from a user (e.g., via a user interface).

[0065] The controller 150 may be a printed circuit board (PCB) disposed within the frame 20 or other associated housing of the device 10. In other implementations, a remote controller is in communication with the controller 150 of the device 10. In some implementations, the device includes one or more ports (e.g., a USB port) provided to communicate with the controller (e.g., to upload instructions or treatment settings to a memory associated with the controller). In some implementations, the device includes a kill switch (e.g., on a remote control) in communication with the controller to stop all device movement. The device 10 may further include a rechargeable battery to power the controller 150 and other elements of the device 10, or it may include a wall plug.

[0066] In some implementations, the device 10 includes a remote control (e.g., the remote control shown in FIGS. 8A-8B) in communication with the controller (e.g., wired or wireless connection). The remote control may include a user interface (e.g., directional buttons)configured to communicate with the controller to cause one or more of: (i) movement of the first pin chassis in the first or second directions; and (ii) movement of the first end effector of the first pneumatic pin between the retracted configuration and the extended configuration.

[0067] The device 10 may further include a cushioned housing 160, as shown in FIG. 2H. As shown, the cushioned housing encloses a front and back portion of the device 10 wherein the first set of pneumatic pins 102 and the end effectors 114 remain visible. However, in other implementations, an upper surface encloses the central cavity of the device 10 and the cushioned housing 160 may enclose the first and second pin chassis and the associated pneumatic pins and end effectors. The cushioned housing may also enclose a compressor and / or compressed air source within a main cavity of the device. In other implementations, the cushioned housing may include one or more ports (e.g., for a fluid conduit to an external pressurized air source). The cushioned housing may include an upper surface which the end effector(s) abut and extend towards in the extended configuration. The cushioned housing may include a fabric cover (e.g., an elastic fabric) with a foam or other cushioning material inside (e.g., memory foam). The foam material may be thicker in some areas of the device (e.g., above and below the inner mechanical structures, or a perimeter of the device) and thinner in other areas (e.g., a side portion).

[0068] The cushioned housing may be generally shaped to fit the back of a user’s head and / or neck area and support the user’s head and neck (e.g., supporting the occiput and lower neck when the user lays in a supine position). The cushioned housing maintains comfort and support while allowing the end effectors to effectively contact the trigger points of the user through the fabric cover. This disclosure contemplates a more compact and ergonomic-shaped device than that shown in FIGS. 2A-2H such that the device is compact, portable, and simple to operate.

[0069] FIGS. 3A-7 provide various other models, images, and implementations of the devices and systems of this disclosure, according to various examples and implementations. Each of the FIGS. 3A-7 are also provided to show details and alternative views of the devices and systems of this disclosure.

[0070] FIGS. 3 A-3E show different views of a myofascial release device, similar to the device 10 of FIG. 2A. The device of FIGS. 3A-3E is shown without the pneumatic pins nor the end effectors - instead the pin chassis are shown with empty openings. The openings for the pneumatic pins are arranged in two sets of thee openings, each set arranged linearly. However, in other implementations, the openings and associated pneumatic pins are arranged in a different pattern (e.g., offset, diagonal, curved, or circular arrangements).

[0071] FIGS. 4A shows an isometric view of a pin chassis (e.g., the pin chassis 100 of the device 10). FIG. 4B is a side view, and FIGS. 4C-4D are corresponding cross-sectional views of the pin chassis of FIG. 4A. The cross sectional views of FIGS. 4C and 4D show the complete channel within which the pneumatic pin or actuator is disposed along with the channel for the fluid conduit from the fluid system.

[0072] FIGS. 5A-5C show various views of the end effector (e.g., the end effector 114 of the device 10), according to one implementation. The prototypical end effector in FIG. 5C includes a firm rubber material capable of deforming under pressure and returning to its original shape.

[0073] FIGS. 6A-6C show various views of the pneumatic pin or pneumatic actuator (e.g., the first pin chassis 100 of the device 10), according to one implementation. FIG. 7 shows the assembly including the pin chassis, the pneumatic pin, and the end effector (e.g., the pin chassis of FIG. 5 A, the end effector of FIG. 5C, and the pneumatic pin of FIG. 6C).

[0074] FIGS. 8A and 8B show an example remote 800 of this disclosure, usable with the device 10. The remote 800 allows users to interact with and operate the device 10. For this component, simplicity is key as migraine patients do not want to struggle with a remote during a flare-up. However, a balance needs to be reached between simplicity and functionality. To achieve a bridge between a one-handed Bluetooth remote control 800 is provided. However, in other implementations, a different remote (e.g., wired) may be used. The remote 800 allows the user to move the pistons (e.g., first pneumatic pin 102a on the first pin chassis 100) into the desired spot by selecting a piston chassis to move. The patient can make specific adjustments while still minimizing input through corresponding piston movements. Once the desired piston set is chosen, a patient can then adjust an individual piston and end effector’s height using the inputs outlined in Table 1 below and corresponding to the letters / labels in FIGS. 8A-8B.

[0075] In use, the device 10 provides myofascial release to a user, especially a user suffering from migraines. The device 10 is configured such that a user can lay in a supine position with the device 10 situated under a region of a user’s head or neck. The device 10 supports the full weight of the user’s head or neck while maintaining comfort and safety. The device 10 supports and contacts one or more regions of the user including, for example, (i) a suboccipital region, (ii) a cervical spine region, (iii) or an upper thoracic spine region of the user. Additionally, using the force of gravity to aid in device 10 use allows the setup to be safer in not requiring head straps to maintain surface contact.

[0076] Once the device 10 is in place, the controller 150 activates at least one motor (e.g., the two y-direction motors, or the two x-direction motors 122a, 122b) to move the first pin chassis 100 in x-direction and / or the y-direction. This movement may be an initialization step wherein a user manually moves the first pin chassis 100, second pin chassis 101, and the associated end effectors 114 to a desired location (e.g., a pressure point or trigger point). The movement may be an automatic process wherein the device 10 initializes the treatment based on stored data about the user or generic treatment operations.

[0077] The controllable valves 142 of the pneumatic system 140 are generally closed at device start-up such that the first set of pneumatic pins 102 and other pneumatic pins are in the retracted configuration. The controller 150 then activates at least one of the controllable valves 142 to open, allowing a fluid (e.g., compressed air) to flow into at least the first pneumatic pin 102a to move the first set of pneumatic pins 102 from the retracted to the extended configuration. Thus, the end effector 114 moves to the extended configuration, contacting and extending into the upper surface of the device cover. The end effector 114 provides pressure on the user’s neck or back of head at a desired location (e.g., a trigger point). More than one end effector 114 may extend at once (e.g., one end effector 114 on each of the first pin chassis 100 and the second pin chassis 101 in a symmetrical pattern).

[0078] The device 10 then holds the end effector 114 in the extended configuration for a holding time. The holding time of the end effector 114 provides a first static pressure on the desired location of the user. The static pressure initiated the myofascial release process, in contrast with existing devices which may involve constant motion or vibration. After a period of time, either predetermined or user-limited, the controller 150 causes the controllable valves 142 to close, preventing pressurized air from entering the first pneumatic pin 102a and causing the end effector 114 to retract. This releases the static pressure on the trigger point, providingmyofascial release. The first static pressure is also adjustable based on the amount and / or pressure of fluid entering the first pneumatic pin 102a.

[0079] The disclosed method provides for further myofascial release operations. The device 10 may repeat the same extension, hold, and release pattern for the same end effector 114 or a different end effector 114 or set of end effectors 114. Alternatively, the controller 150 may activate one or more motors to move the first pin chassis 100 or second pin chassis 101 in the x- direction and / or the y-direction. The end effector 114 is moved to a second location (e.g., a second trigger point) wherein another myofascial release operation may be performed. In some implementations, more than two myofascial release operations are performed in a single treatment (e.g., 3, 4, 5, 6, 7, 8, 10, 15, 20, 25, 30, 50, or 100 extension and retraction iterations may be performed by the device).

[0080] In some implementations, the device 10 is used to identify trigger points for myofascial release. For example, a user may move the end effectors 114 to various locations for extension and retraction. The user may indicate (e.g., via the controller) which locations provided the best relief and at which pressure the experienced the most relief. The controller 150 can store data (including pressure, location, and timing data) based on the user-identified treatment operation and trigger points. The controller 150 can then execute stored instructions based on that stored data (e.g., in a later treatment). In some implementations, the device is preconfigured with treatment operations (e.g., instructions for a short treatment, long treatment, treatments for specific body types, etc.). The pre-defined pattern of myofascial release operations and end effector movements provide a wide array of treatment patterns and operations that are customizable to fit each user. These treatment options may be developed with the assistance of a physical therapist. In some implementations, a touch panel or other user interface displays a map or anatomical guide wherein a user can select locations for treatment. The touch panel could have diagrams of popular / effective regions of pressure to help aid the patient in using this device at home. These features could also be encoded / interfaced via an app that connects through Bluetooth to allow for a smoother user interface.Example Device and System #2

[0081] FIGS. 9A-9L show a device 50 for providing myofascial release to a user, according to another implementation. The device 50 of FIGS. 9A-9K and its elements may be combined with, modified by, or otherwise used in conjunction with any other of the devices disclosed herein or elements thereof. To the extent that the device 50 includes similar structures and / or functions tothose elsewhere described, those descriptions are not repeated. In general, the device 50 of FIGS. 9A-9K provides a motor-driven system for myofascial release.

[0082] The device 50 includes a body, which is shown optionally as body 200a in FIG. 9A and body 200b in FIG. 9B. Although the bodies 200a, 200b are different in shape and structure, they generally provide a similar function to the device 50 overall and its components. In particular, each body 200a, 200b defines a main cavity 202. The main cavity 202 provides a space for one or more of the actuators, motors, chassis, pins, electronics, or other components of the device 50.

[0083] The body 200a, 200b includes a bottom surface 208 which provides support for the device 50. For example, as shown in FIG. 9E, the bottom surface 208 may include one or more feet 210 (e.g., rubberized feet) configured to engage with a ground, table, or other supporting surface.

[0084] As elsewhere described herein, the device 50 may include an upper surface partially defining the main cavity 202. The upper surface extends over the main cavity 202 and the elements disposed therein (e.g., the chassis having one or more pins). Thus, a user’s neck may be disposed on the upper surface so that the pins can apply pressure to the user’s neck. Such an upper surface may include a cloth or foam material integrated into a cushioned body of the device 50, as elsewhere described herein.

[0085] The body 200a, 200b, includes a back portion 204 and a front portion 206. The body 200a, 200b is generally sloped or angled from the back portion 204 to the front portion 206. Thus, the back portion 204 extends upwards away from the bottom surface 208 a distance greater than the front portion 206. As shown in FIG. 9C, the body 202a, 202b provides an angled supporting surface for a user. For example, a user may lay their head on the device 50 wherein the front portion 206 sits adjacent to the user’s shoulders or bottom of the neck, while the back portion 204 is closer to the user’s head of top of the neck.

[0086] As shown in FIG. 9A, the back portion 204 further defines one or more motor housings 212a, 212b adjacent to the main cavity 202. The motor housings 212a, 212b may further house the wires and electronics associated with the motors. The motor housings 212a, 212b are sized and configured to retain a motor therein. For example, as shown in FIGS. 9E and 9F, the motor housings 212a, 212b each include a motor 214a, 214b therein. For example, the motors 214a, 214b may be a linear actuator motor, a servo motor, or a motor coupled to a gearbox.

[0087] As shown in FIGS. 9F and 9G, along with the cross-sectional view in FIG. 9H, the device 50 further includes a rod extending across the main cavity 202. Specifically, a first rod220a extends from the first motor 214a on the back portion 204 to the front portion 206 of the body 202a, 202b. A second rod 220b extends from the second motor 214b on the back portion 204 to the front portion 206. In other implementations, only a single motor and a single rod may be used. In other implementations, more than two rods and / or motors may be used. As shown in FIG. 91, in an alternative configuration, the motors may be placed adjacent the front portion 206 and the rods 220a, 220b may be coupled to the motors via one or more gears.

[0088] Each of the rods 220a, 220b are threaded rods configured to be rotated by their respective motors 214a, 214b. For example, FIG. 9L shows an image of two motors coupled to an associated threaded rod, according to one implementation.

[0089] As shown in FIG. 9G and 91, the rods 220a, 220b support a chassis 230 thereon. The chassis 230 is shown in FIGS. 9J and 9K, according to one implementation. The chassis 230 defines a first hole 232a configured to accept the first rod 220a and a second hole 232b configured to accept the second rod 220b. The chassis 230 includes a top surface 234 that is angled on either side towards the center of the chassis 230.

[0090] The top surface 234 of the chassis 230 further includes one or more pins 240 protruding therefrom. For example, the pins 240 are similar to the end effectors 114 of the first pin chassis 100 as elsewhere described. The pins 240 may be arranged with similar heights as shown, or the heights may be different from each other. The pins 240 may include a flexible material configured to apply pressure to a user’s neck while deforming enough to avoid discomfort. The angled top surface 234 of the chassis 230 provides a centralized channel within which a user’s neck may fit during use.

[0091] In use, the device 50 provides myofascial release to a user, especially a user suffering from migraines. The device 50 is configured such that a user can lay in a supine position with the device 50 situated under a region of a user’s head or neck. The device 50 supports the full weight of the user’s head or neck while maintaining comfort and safety. The device 50 supports and contacts one or more regions of the user including, for example, (i) a suboccipital region, (ii) a cervical spine region, (iii) or an upper thoracic spine region of the user. In particular, the angled top surface 234 of the chassis 230 provides a cradled shape to support a user’s neck. Additionally, using the force of gravity to aid in device 50 use allows the setup to be safer in not requiring head straps to maintain surface contact.

[0092] In use, the motors 214a, 214b rotate the respective rods 220a, 220b in unison to move the chassis 230 in a first direction (or an opposite second direction) in the main cavity 202. Forexample, a controller (e.g., remote controller or a controller operating based on pre-loaded instructions) may initiate the motors 214a, 214b to move the chassis 230 to a desired location in the main cavity 202. The desired location may correspond to a position of the pins 240 on a user’s neck. Similar to devices elsewhere described herein, a remote or local controller may be used to store location information and perform a myofascial release operation on a user (e.g., a specific operation for an identified user).

[0093] In some implementations, the chassis 230 is configured with an actuator coupled to and configured to extend one or more of the pins 240 (similar to the pneumatic system of the device 10). In some implementations, the chassis 230 is coupled to a linear actuator or other motor configured to extend one or more of the pins 240.

[0094] The device 50 may further include a cushioned housing (e.g., as shown in FIG. 2H) enclosing the first and second pin chassis and the associated pneumatic pins and end effectors. The cushioned housing may also enclose a compressor and / or compressed air source and / or other actuators. In other implementations, the cushioned housing may include one or more ports (e.g., for a fluid conduit to an external pressurized air source). The cushioned housing may include an upper surface which the end effector(s) abut and extend towards in the extended configuration. The cushioned housing may include a fabric cover (e.g., an elastic fabric) with a foam or other cushioning material inside (e.g., memory foam). The foam material may be thicker in some areas of the device (e.g., above and below the inner mechanical structures, or a perimeter of the device) and thinner in other areas (e.g., a side portion).

[0095] The cushioned housing may be generally shaped to fit the back of a user’s head and / or neck area and support the user’s head and neck (e.g., supporting the occiput and lower neck when the user lays in a supine position). The cushioned housing maintains comfort and support while allowing the end effectors to effectively contact the trigger points of the user through the fabric cover. This disclosure contemplates a more compact and ergonomic-shaped device than that shown in FIGS. 9A-9L such that the device is compact, portable, and simple to operate.Experimental Testing and Results

[0096] A study was conducted to build and test various elements and aspects of the systems, methods, and devices disclosed herein. For example, preliminary tests were performed with a clinical physician to determine a baseline force reading on how much force should be applied to a patient's neck. In some examples, a minimum amount of force would be about 17 lbs to accomplish adequate holding pressure and myofascial release. A regular range was discoveredbetween 21 - 331bs, and a maximum force was about 43.51bs. However, these readings may vary in future tests as this measurement recording technique involved the physician using a different grip when applying force to the sensor. In some examples of the disclosed device, the end effectors and associated pneumatic actuators should apply anywhere between 15 lbs and 43.5 lbs of force to the back of the neck. Preliminary talks with physicians, patients, and neurologists suggest that this device be placed under the neck / head area while the patient lies on their back for optimum performance and comfort.

[0097] Gantry Movement Test:

[0098] A study was conducted to understand and test the gantry movement system on which the pistons rest (e.g., the guide rods of the device and movement of the piston chassis thereon). Movement of the actuators along the gantry provides quasi-static movement and access to the patient’s myofascial regions. Not only must this device be able to reach all positions of a patient's neck, but it must also accommodate varying neck sizes among patients. This movement mechanism achieves multiple requirements for the device to be fully functional and ensure the usability and strength of components.

[0099] To conduct this test, the gantry was set to its zero position, that is, to the starting edge of the mechanism or one side of the frame. The mechanism was commanded to move to the opposite end of the mechanism. Next, a similar test was performed with the mechanism at its starting edge but required the pistons to move back and forth. Then, both the previously mentioned tests were run in tandem to ensure proper control and functionality of the gantry test. The study also tested that the motors did not attempt to go past the limits of the frame. This was done by measuring the current through the motor - if the motor attempted to push past the frame of the device, it needed to work much harder, thereby increasing the current needed for its operation.

[0100] The gantry movement test measured the ability of the gantry system to move under an applied load. This test was performed using a 20 lb load (representing a typical head weight). After the weight was applied, the gantry system was tested by starting movement at one edge of the mechanism and moving fully to the other side. The device passed this test by demonstrating the full range of motion across the system with no strain observed. This result meets the desired specifications of the proposed final design by showing the ability to move fully under the applied load from a patient.

[0101] Piston Load:

[0102] The pistons on the device (e.g., the pneumatic pins / actuators with the end effectors) are the main component delivering force to the patient’s myofascial regions. The pistons were engineered in such a way that they could deliver enough force to the back of the patient’s neck. A study was conducted to determine the strength and control of the pistons.

[0103] Each piston was tested individually. To conduct this test, the pistons began in their lowest position (i.e. no air inlet). A weight of 7.5 lbs. was placed on the piston. To apply this weight to the pistons while they were at an angle, a holder was 3D printed which attached to the piston head and created a flat surface to hold the weights. Once the weight was loaded onto the piston, the pump was set to 10 psi and turned on. Air was pumped through the piston and the overall piston extension measured in inches. At the beginning of the trial, the piston’s intake valve was fully open and as time passed the valve was gradually closed. As this intake valve was closed, each piston could fully extend to 2” under the applied load. The test concluded that each piston can support the required 7.5 lbs of force. This indicates that the pistons can both support and move the weight applied by a patient during use.

[0104] Future testing in the clinical setting:

[0105] A variety of future tests in the clinical setting would provide valuable data on the device and methods of use. For example, a prototype could be tested on migraine-suffering patients to solicit feedback on comfort, effectiveness, and safety. For example, a study could include patients who have received myofascial release therapy before.

[0106] In one example experiment, 25 patients could be gathered to test the device. The test starts by going over the directions on how to use the device. Patients may fill out a standard questionnaire on how they feel, and what could be improved, or if they can reach that muscle release that they usually get. The test will go on for 6 months, and each time the range of motion of the neck will be measured as a data point. Range of motion is a standard method used by clinicians to measure treatment effectiveness. An increase in the range of motion for a long time is the point of this treatment and shows that the pressure in the neck causing the migraine was removed. The range of motion would be measured as an angle, and a t-test would be used to show if the range of motion had any improvements or not.

[0107] Safety Tests

[0108] As the disclosed device applies force to the muscles around the spinal cord, bones, and other important nerves, safety is a critical consideration. Two specific tests were performed. Insome implementations, the devices, systems, and methods of this disclosure comply with the Association for the Advancement of Medical Instrumentation (AAMI) standards, AAMI 4.3.2 to ensure safe use and AAMI 4.9.1 to make the device error tolerant.

[0109] The first test was a kill switch test, where the device should halt all movement based on a button pressed on the Bluetooth controller. This test and button on the controller will shut the device off immediately to stop any possible injury or discomfort or the patient. This kill switch ensures that movement of the pistons back to their “home” position is prevented.

[0110] The kill switch test was performed multiple times to ensure the test passed a significant number of times. The device was started in 10 different setups and the kill switch button was then pressed to determine if all the moving parts stopped where they were. To activate the kill switch the button must be pressed for three seconds, which is done to avoid unintentional activation of the feature (however, in other implementations, the kill switch could be immediate). The device passed this test as the button worked each time which shows the correct coding of the device and a proper interface between the remote control and the different physical parts. This test is considered a standard test as this test would ensure the safe use of the device. The kill switch would allow for everything to be stopped immediately in addition to the ability for the patient to move away from the device since they are not bounded to it.[OHl] The second safety test conducted ensured that the device could be laid on while it is powered off without the risk of the pistons taking in air or the device malfunctioning when it should be completely off. This test was a power-off test where the rods with the tips on the top slowly moved outwards from the midline of the patient and downward away from the patient. This occurred when the power off button was pressed on the Bluetooth controller, and the rods or modules remained at this “home” position while the device was powered off. For this test, the pistons were in different positions when the button was suddenly pressed, which made the pistons and modules return to the “home position” which was down and out from the midline where the patient’s head and neck are. Similarly to the previous test, this test was performed multiple times to ensure the test passed each time and the evidence of the test passing was significant.Configuration of Certain Implementations

[0112] The construction and arrangement of the systems and methods as shown in the various implementations are illustrative only. Although only a few implementations have been described in detail in this disclosure, many modifications are possible (e.g., variations in sizes,dimensions, structures, shapes, and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.). For example, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of the present disclosure. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative implementations. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the implementations without departing from the scope of the present disclosure.

[0113] The present disclosure contemplates methods, systems, and program products on any machine-readable media for accomplishing various operations. The implementations of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Implementations within the scope of the present disclosure include program products including machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures, and which can be accessed by a general purpose or special purpose computer or other machine with a processor.

[0114] When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or a combination of hardwired or wireless) to a machine, the machine properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general-purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

[0115] Although the figures show a specific order of method steps, the order of the steps may differ from what is depicted. Also, two or more steps may be performed concurrently or withpartial concurrence. Such variation will depend on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps and decision steps.

[0116] It is to be understood that the methods and systems are not limited to specific synthetic methods, specific components, or to particular compositions. It is also to be understood that the terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting.

[0117] As used in the specification and the appended claims, the singular forms “a,” “an” and “the” include plural referents unless the context clearly dictates otherwise. Ranges may be expressed herein as from “about” one particular value, and / or to “about” another particular value. When such a range is expressed, another implementation includes from the one particular value and / or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent “about,” it will be understood that the particular value forms another implementation. It will be further understood that the endpoints of each of the ranges are significant both in relation to the other endpoint, and independently of the other endpoint.

[0118] “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where said event or circumstance occurs and instances where it does not. Throughout the description and claims of this specification, the word “comprise” and variations of the word, such as “comprising” and “comprises,” means “including but not limited to,” and is not intended to exclude, for example, other additives, components, integers or steps. “Exemplary” means “an example of’ and is not intended to convey an indication of a preferred or ideal implementation. “Such as” is not used in a restrictive sense, but for explanatory purposes.

[0119] Disclosed are components that can be used to perform the disclosed methods and systems. These and other components are disclosed herein, and it is understood that when combinations, subsets, interactions, groups, etc. of these components are disclosed that while specific reference of each various individual and collective combinations and permutation of these may not be explicitly disclosed, each is specifically contemplated and described herein, for all methods and systems. This applies to all aspects of this application including, but not limitedto, steps in disclosed methods. Thus, if there are a variety of additional steps that can be performed it is understood that each of these additional steps can be performed with any specific implementation or combination of implementations of the disclosed methods.

Claims

WHAT IS CLAIMED IS:

1. A device for providing myofascial release to a user, the device comprising: a body comprising an upper surface at least partially defining a main cavity; a first pin chassis disposed within the main cavity; a first motor coupled to the first pin chassis to move the first pin chassis within a first plane in a first direction and a second direction; a first pin comprising a proximal end and a distal end opposite and spaced apart from the proximal end along a first pin axis, wherein the first pin is coupled to the first pin chassis; a first end effector disposed at the distal end of the first pin and movable along the first pin axis between an extended configuration and a retracted configuration; a first actuator configured to selectively move the first end effector between the extended and retracted configurations; and a controller in electrical communication with each of the first motor and the first actuator, the controller configured to (i) activate the first motor to move the first pin chassis in the first direction or the second direction, and (ii) activate the first actuator to extend or retract the first end effector relative to the upper surface of the body.

2. The device of claim 1, further comprising: a second pin comprising a proximal end and a distal end opposite and spaced apart from the proximal end along a second pin axis; a second end effector disposed at the distal end of the second pin and movable along the second pin axis between an extended configuration and a retracted configuration; and a second actuator configured to selectively move the second end effector between the extended and retracted configurations, wherein the controller is in electrical communication with the first actuator and the second actuator to selectively extend one or both of the first and second end effectors relative to the upper surface of the body.

3. The device of claim 2, wherein the second pin is coupled to the first pin chassis adjacent to the first pin.

4. The device of claim 2, wherein the first and second pins are arranged in a linear pattern within the first pin chassis.

5. The device of claim 2, wherein the second pin is coupled to a second pin chassis adjacent to the first pin chassis, wherein the second pin chassis is movable within the first plane in the first direction and the second direction via a second motor and the controller is configured to activate the second motor to move the second pin chassis in the first or the second direction.

6. The device of claim 5, wherein a first set of pins including the first pin is supported by the first pin chassis, and wherein a second set of pins including the second pin is supported by the second pin chassis.

7. The device of claim 6, wherein at least two pins of the first and second sets of pins are simultaneously movable between the retracted configuration and the extended configuration.

8. The device of claim 1, wherein the first end effector comprises a flexible rubber material and a tapered shape.

9. The device of claim 1, wherein the first end effector comprises a plurality of protrusions extending therefrom.

10. The device of claim 1, further comprising a remote control in communication with the controller of the device, the remote control comprising a user interface configured to cause one or more of: (i) movement of the first pin chassis in the first or second directions; and (ii) movement of the first end effector of the first pin between the retracted configuration and the extended configuration.

11. The device of claim 10, wherein the remote control is a mobile device or an application on a mobile device that is in wireless communication with the controller of the device.

12. The device of claim 1, wherein the body comprises a cushioned housing at least partially defining the main cavity, the cushioned housing comprising a foam material on the upper surface of the body contoured to support a region of a user’s head and neck.

13. The device of claim 1, wherein, in the extended configuration, the first end effector applies a first static pressure on an upper surface of the body, wherein the upper surface of the body is contoured to support a region of a user’s head and neck.

14. The device of claim 1, wherein the first pin chassis is coupled to at least one gantry member extending in the first direction, wherein the first motor is coupled to an end of the at least one gantry member and includes a gear system configured to move the first pin chassis along the at least one gantry member.

15. The device of claim 1, wherein the first pin is a first pneumatic pin and the first actuator is a first moveable valve configured to open or close to allow a pressurized fluid to extend the first end effector.

16. A method for providing myofascial release to a user, the method comprising: providing a device comprising: a body comprising an upper surface at least partially defining a main cavity; a first pin chassis disposed within the main cavity that is movable within a first plane in a first direction and a second direction via at least one motor; a first pin comprising a proximal end and a distal end opposite and spaced apart from the proximal end along a first pin axis, wherein the first pin is coupled to the first pin chassis; a first end effector disposed at the distal end of the first pin and movable along the first pin axis between an extended configuration and a retracted configuration; a first actuator coupled to the first pin to facilitate movement of the first end effector between the extended and retracted configurations; and a controller in electrical communication with each of the at least one motor and the first actuator; activating, via the controller, the at least one motor to move the first pin chassis in the first direction or the second direction; activating, via the controller, the first actuator to move the first end effector to the extended configuration; holding the first end effector in the extended configuration with a first static pressure; andactivating, via the controller, the first actuator to move the first end effector to the retracted configuration.

17. The method of claim 16, wherein activating the at least one motor to move the first pin chassis in the first direction or the second direction further comprises: moving the first end effector to a first location adjacent to a target area of the user; moving the first end effector to a second location adjacent to the target area of the user; and identifying, via the controller, which of the first and second location is a desired location for myofascial release.

18. The method of claim 17, further comprising: storing a data set including location and pressure data of the device based on the desired location; and executing, via the controller, a set of instructions based on the data set.

19. The method of claim 16, wherein the device comprises a plurality of pins with a corresponding plurality of end effectors, the method further comprising: executing, via the controller, a set of instructions to extend and retract a first set of the plurality of end effectors in a pre-defined pattern.

20. The method of claim 16, further comprising: placing the device under a region of user’s head or neck as the user lays in a supine position such that the weight of the user’s head or neck is supported by the upper surface of the device, wherein the region is one or more of (i) a suboccipital region, (ii) a cervical spine region, (iii) or an upper thoracic spine region of the user.

Images