Hand-function therapy system with sensory isolation
The invention relates to rehabilitation systems and methods for providing therapy to individuals who have suffered a stroke or other neurological insult. A rehabilitation system may comprise a depth sensing camera positioned to view a workspace into which a patient's hands may be located, a display system viewable by the patient, and an electronic computer executing a stored program to display a representation of a virtual space holding at least one virtual object, display a representation of at least one hand of the patient, and monitor a virtual manipulation of the virtual object by the patient's hand. Other embodiments may include virtual reality goggles, head motion tracking, various exercises and of varying difficulty, tracking metrics and recording for subsequent playback.
1. A rehabilitation system for stroke victims comprising:
a depth sensing camera positioned to view a workspace into which a patient's hands may be located, the camera providing a. resolution allowing identification of actual hand and finger positions of the patient's hands;
a display system viewable by the patient;
an electronic computer executing a stored program in receiving information from the depth sensing camera to:
(a) display on the display system a representation of a virtual space holding at least one virtual object having predefined dimensions and spatial location in the virtual space;
(b) display a representation of at least one hand of the patient depicting a location of the hand and position of the hand and fingers in the virtual space according to a predefined mapping between actual space and virtual space;
(c) monitor a virtual manipulation of the virtual object by the patient's hand to provide a metric indicating a performance level by the patient in manipulation of the virtual object; and
(d) change a difficulty of a rehabilitation task requiring virtual manipulation of the virtual object by the patient's hand.
2. The rehabilitation system of claim 1 wherein the electronic computer further executes the stored program to change the difficulty of the task of virtual manipulation of the virtual object between completions of tasks.
3. The rehabilitation system of claim 2 wherein the electronic computer changes the difficulty of the task of virtual manipulation according to the metric indicating a performance level of a previous execution of the task.
4. The rehabilitation system of claim 3 wherein the computer changes the difficulty of the task of virtual manipulation to provide a substantially constant performance level by the patient.
5. The rehabilitation system of claim 3 wherein the difficulty of the task is changed by at least one of: changing dimensions of the at least one virtual object, and changing a virtual manipulation of the virtual object.
6. The rehabilitation system of claim 2 wherein the electronic computer further executes the stored program to change the difficulty of the task of virtual manipulation of the virtual object by an amount relating to a change in the patient's skill level.
7. The rehabilitation system of claim 1 , wherein the metric is the amount of time to complete an exercise with the virtual object.
8. The rehabilitation system of claim 1 , further comprising a shielding between the workspace and the patient adapted to shield the workspace from the patient's vision.
9. The rehabilitation system of claim 1 wherein the electronic computer further executes the stored program to permit virtual manipulation of the virtual object to emulate everyday tasks as decomposed into elemental motions that may be independently completed and monitored and wherein the monitoring provides a different metric for each of the elemental motions.
10. The rehabilitation system of claim 1 , wherein the electronic computer further executes to update the location of the hand and position of the hand and fingers with respect to the virtual object less than 33 ms after corresponding movement of the patient's hand.
11. The rehabilitation system of claim 1 , wherein the electronic computer farther executes to display a representation of both hands of the patient depicting a location of each hand and the position of the hands and fingers in the virtual space according to a predefined mapping between actual space and virtual space.
12. The rehabilitation system of claim 1 , further comprising a plurality of virtual objects wherein the electronic computer further executes to display the virtual objects with correct collisional physics preventing them from moving through each other.
13. The rehabilitation system of claim 12 , wherein the metric is selected from the group consisting of maximum spatial distance encountered from between the virtual objects and number of collisions encountered while attempting the exercise.
14. The rehabilitation system of claim 1 wherein the display system is a goggle-based display to provide a portable therapeutic device.
15. A method for providing rehabilitation for stroke victims comprising:
providing a workspace into which a patient's hands may be located;
displaying a virtual space representing the workspace, the virtual space holding at least one virtual object having predefined dimensions and spatial location in the virtual space;
displaying a representation of at least one hand of the patient depicting a location of the hand and position of the hand and :fingers in the virtual space according to a predefined mapping between actual space and virtual space;
monitoring an exercise comprising the virtual manipulation of the virtual object by the patient's hand to provide a metric indicating rehabilitative level;
changing the virtual object in response to the metric; and
change a difficulty of a rehabilitation task requiring virtual manipulation of the virtual object by the patient's hand.
16. The method of claim 15 , wherein the metric is the amount of time to complete an exercise with the virtual object.
17. The method of claim 15 , further comprising shielding the workspace from the patient's vision.
18. The method of claim 15 , further comprising a plurality of virtual objects including a ball and a hoop, wherein the exercise comprises grasping the ball and passing it through the opening in the hoop.
19. The method of claim 18 , wherein the size of the ball is decreased in a subsequent exercise in response to the metric.
20. The method of claim 18 , wherein the size of the opening in the hoop is decreased in a subsequent exercise in response to the metric.
21. The method of claim 16 , further comprising a plurality of virtual objects including a rectangular prism and a rectangular hoop, wherein the exercise comprises moving the rectangular prism through the opening in the rectangular hoop.
22. The method of claim 15 , further comprising tracking a plurality of metrics for a plurality of exercises over time.
23. The method of claim 15 , further comprising recording the virtual manipulation of the virtual object by the patient's hand for subsequent playback.
24. The method of claim 15 , further comprising identifying particular muscle sets relating to the task.