Device and method for determining an incorrect positioning in the alignment of prostheses

Abstract

The invention relates to a method and a device for determining an incorrect positioning in the alignment of prostheses for the lower extremities, said method comprising the following steps: determining inertial measurement data and/or variables derived therefrom by means of at least one inertial sensor, over at least one walking cycle, for an extremity provided with a prosthesis; and comparing the inertial measurement data that has been determined and/or the variables derived therefrom with desired values and/or with measurement data that has been determined or variables derived therefrom for the corresponding extremity that is not provided with the prosthesis.

1 - 10 . (canceled) 
     
     
         11 . A method for determining positions for alignment of a lower extremity device or selection of components of the lower extremity device, the method comprising:
 providing at least one first inertial sensor for use on a treated extremity of a user, and at least one second inertial sensor for use on an untreated extremity of the user;   determining inertial measurement data and variables for the treated extremity using the at least one first inertial sensor over at least one gait cycle;   determining intended inertial measurement data and intended variables for the untreated extremity using the at least one second inertial sensor over at least one gait cycle;   comparing the inertial measurement data and the variables with the intended inertial measurement data and intended variables;   selecting, based on the comparing to establish a harmonic gait pattern, different components of the lower extremity device or determining positions for alignment of the lower extremity device based on the comparing to establish a harmonic gait pattern and to determine modifications to be made in the alignment to achieve the harmonic gait pattern.   
     
     
         12 . The method of  claim 11 , wherein the inertial measurement data includes absolute angles, the absolute angles being used to determine alignment of the lower extremity device. 
     
     
         13 . The method of  claim 11 , wherein the lower extremity device includes a lower leg part and a thigh part, the lower leg part and the thigh part each having absolute angles determined by the at least one first inertial sensor, the method further comprising:
 determining the knee angle from the absolute angles of the lower leg part and of the thigh part;   comparing the knee angle to intended knee angle values determined from the at least one second inertial sensor.   
     
     
         14 . The method of  claim 11 , further comprising:
 determining an angle of a component of the lower extremity device using the at least one first inertial sensor;   outputting, with an output device, a deviation message when the angle of the component deviates from an intended value determined using the at least one second inertial angle sensor, or outputting a confirmation message when the angle of the component matches the intended value.   
     
     
         15 . The method of  claim 11 , further comprising:
 establishing, with the at least one first inertial angle sensor, a pelvic angle in a frontal plane;   outputting, with an output device, an error message if the pelvic angle exceeds a limit value.   
     
     
         16 . The method of  claim 11 , wherein the inertial measurement data and the intended inertial measurement data is established over a plurality of gait cycles. 
     
     
         17 . The method of  claim 11 , further comprising:
 providing, with an output device, a recommendation for adjustment of the lower extremity device based on the comparison.   
     
     
         18 . The method of  claim 11 , wherein the inertial measurement data comprises at least one of linear accelerations of the lower extremity device and angular rates or angular velocities of the lower extremity device. 
     
     
         19 . The method of  claim 11 , further comprising establishing the inertial measurement data over a plurality of gait cycles. 
     
     
         20 . A method to determine positions for alignment of a lower extremity device or selection of components of the lower extremity device, comprising:
 establishing, using sensor data measured by at least one first inertial sensor associated with a treated extremity of a user, over at least one gait cycle, inertial measurement data;   establishing, using sensor data measured by at least one second inertial sensor associated with an untreated extremity of a user, over at least one gait cycle, intended inertial measurement data;   comparing the inertial measurement data with the intended inertial measurement data;   selecting, based on the comparing to establish a harmonic gait pattern, different components of the lower extremity device or determining positions for alignment of the lower extremity device based on the comparing to establish a harmonic gait pattern and to determine modifications to be made in the alignment to achieve the harmonic gait pattern.   
     
     
         21 . The method of  claim 20 , further comprising:
 establishing variables derived from the inertial measurement data for the treated extremity;   establishing intended variables derived from the intended inertial measurement data for the untreated extremity.   
     
     
         22 . The method of  claim 20 , further comprising outputting, with an output device, a deviation message when the inertial measurement data deviates from the intended inertial measurement data, or outputting, with the output device, a confirmation message when the inertial measurement data matches the intended inertial measurement data. 
     
     
         23 . The method of  claim 20 , further comprising determining, with the at least one first inertial sensor, a pelvic angle in a frontal plane, and outputting an error message if the pelvic angle exceeds a limit value. 
     
     
         24 . The method of  claim 20 , wherein the inertial measurement data and the intended inertial measurement data is established over a plurality of gait cycles. 
     
     
         25 . The method of  claim 20 , further comprising:
 providing, with an output device, a recommendation for adjustment of the lower extremity device based on the comparison.   
     
     
         26 . The method of  claim 20 , wherein the inertial measurement data comprises at least one of linear accelerations of the lower extremity device and angular rates or angular velocities of the lower extremity device. 
     
     
         27 . A lower extremity device, comprising:
 at least one first inertial sensor connected to a treated extremity of a user and configured to generate treated extremity sensor data during a gait cycle;   at least one second inertial sensor connected to an untreated extremity of the user and configured to generate untreated extremity sensor data during the gait cycle;   a comparator to compare the treated extremity sensor data to the untreated extremity sensor data, the comparison used to determine whether a harmonic gait pattern exists or to select different components of the lower extremity device.   
     
     
         28 . The lower extremity device of  claim 27 , wherein components of the device are adjustable or replaceable to alter an alignment of the device, and the lower extremity device includes a lower extremity prosthetic device configured to mount to the treated extremity. 
     
     
         29 . The lower extremity device of  claim 27 , wherein the device establishes, using the treated extremity sensor data, at least one of inertial measurement data and variables derived from the inertial measurement data, and establishes, using the untreated extremity sensor data, at least one of intended inertial measurement data and intended variables derived from the intended inertial measurement data, the comparator to compare the inertial measurement data or variables to intended inertial measurement data or the intended variables. 
     
     
         30 . The lower extremity device of  claim 29 , wherein the lower extremity device determines positions for alignment of the lower extremity prosthesis based on the comparing to establish the harmonic gait pattern and to determine modifications to be made in the alignment to achieve the harmonic gait pattern.