Parallel Linkage Physiotherapy Apparatus with Magnetic Ball Joints
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing dynamic physiotherapy apparatus for treating the head, neck, and shoulders face challenges due to complexity, accuracy issues, and patient discomfort, primarily because of their reliance on serial linkage systems and biofeedback, which result in reduced accuracy and increased size and cost.
Innovation Solution
The apparatus employs a parallel linkage device, such as a Stewart platform with magnetic ball joints and tendon joints, providing improved accuracy, reduced mass, and increased freedom of movement, along with a signal-emitting and detecting system for precise positioning and orientation, and incorporates resilient tendon joints for smoother motion and comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If serial linkage devices are used to maneuver the body part, then the apparatus can achieve movement along a predetermined trajectory, but the accuracy of position and orientation determination deteriorates due to accumulation of errors from one motor to the next
Solution Approach 1:
The patent inverts the conventional serial linkage approach by using a parallel linkage device where multiple actuators work simultaneously to position the support. This inversion eliminates error accumulation because each actuator independently controls a specific degree of freedom, and the parallel structure allows direct measurement of position and orientation without chaining multiple motors together.
Solution Approach 2:
The patent replaces the mechanical serial linkage system with a parallel linkage mechanism supported by magnetic ball joints and tendon joints. This substitution reduces mechanical error accumulation and is further enhanced by incorporating optical or electromagnetic measurement systems to directly determine position and orientation, replacing reliance on mechanical chain calculations.
2Adaptability or versatility
If serial linkage devices with multiple motors are used to achieve complex motions, then the range of motion is increased, but the mass of the apparatus increases resulting in higher power consumption
Solution Approach 1:
The patent inverts the conventional approach by using a parallel linkage structure where the support is maneuvered by multiple actuators working in parallel rather than in series. This inversion allows the system to achieve complex six-degree-of-freedom motions with individual actuators that can be optimized for lower power consumption, as each actuator only needs to provide force for its specific degree of freedom rather than cumulative force through a chain.
Solution Approach 2:
The patent segments the motion control into six independent degrees of freedom, each controlled by dedicated actuators (magnetic ball joints for rotational DOFs, tendon joints for translational DOFs). This segmentation allows each actuator to be sized and powered independently, reducing total power consumption compared to a serial system where each motor must overcome the cumulative inertia and friction of all subsequent components.
3Adaptability or versatility
If serial linkage devices are used to accommodate varying centers of rotation in neck movement, then the adaptability to patient anatomy is improved, but the device size and complexity increase making patients intimidated and reducing relaxation
Solution Approach 1:
The patent employs a parallel linkage manipulator with six degrees of freedom that can universally accommodate any varying center of rotation and trajectory required for different patient anatomies. The magnetic ball joints and tendon joints provide inherent adaptability through their mechanical properties, allowing the system to handle complex neck movements without requiring additional complex mechanisms or biofeedback systems, thus maintaining a more compact and patient-friendly design.
4Measurement precision
If parallel linkage device with magnetic ball joints and tendon joints is used, then the accuracy and freedom of movement are improved, but the manufacturing complexity increases
Solution Approach 1:
The patent replaces traditional mechanical joints with magnetic ball joints that use magnetic fields instead of physical contact for achieving rotational degrees of freedom. This substitution simplifies manufacturing by eliminating complex mechanical bearings and contact surfaces, while maintaining high accuracy. The tendon joints similarly replace complex mechanical actuators with flexible tendon-driven mechanisms that are easier to manufacture and adjust.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances the accuracy and comfort of dynamic physiotherapy treatments by allowing complex motions with reduced power consumption, minimizing the risk of singularities, and accommodating varying centers of rotation, thereby improving treatment effectiveness and patient experience.
Implementation Method 1
The manipulator comprises a parallel linkage device, such as a double tripod, a pentapod or a Stewart platform or a hexapod
Implementation Method 2
incorporates resilient tendon joints for smoother motion and comfort
Data Source
AI summary
An apparatus for treating a body part of a patient is provided. The apparatus comprises a support for at least partially supporting and holding the body part and a manipulator connected to the support for supporting and maneuvering the support. The manipulator includes a parallel linkage device including a plurality of hingedly interconnected linear actuators. The parallel linkage device includes at least one hinge including a, preferably resilient, tendon joint. Further, a method, a storage medium and a piece of headgear are provided.