detailed embodiments of the instant invention are disclosed herein , however , it is to be understood that the disclosed embodiments are merely exemplary of the invention , which may be embodied in various forms . therefore , specific functional and structural details disclosed herein are not to be interpreted as limiting , but merely as a basis for the claims and as representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure . referring now fig1 and 2 which shows a version illustrating the major components of the instant modular therapy frame device , or assembly , generally referred to as 10 . fig1 is right side view of a basic modular therapy device in the flexed position , wherein the modular frame assembly the can be either folded up or disassembled for easy transport and storage . the device 10 includes a proximal sling module 30 , a distal sling module 40 , a heel plate module 50 with wheel assembly comprising left and right wheels 53 , 54 and an operating system 63 with a motor 64 ( fig3 ) mounted to the distal sling module 40 , the motor 64 in communication with a controller 67 . fig2 is right side view of the same basic therapy device 10 shown in fig1 . fig2 illustrates a patient &# 39 ; s limb 73 within the device 10 , in the extended position . preferably , the modular components 30 , 40 of the frame are constructed of , albeit not limited to , a hollow rectangular box beams of lightweight materials , such as aluminum or thin gauge steel or plastic , which make it easy for the user to transport . in addition , other materials and shapes , having the requisite strength , rigidity and weight , may be utilized . one example of a means for connecting the modules 30 , 40 are illustrated in the exploded view in fig1 , which illustrates apertures formed along at least one of the ends the frame members which are constructed and arranged to cooperate with at least one pin 62 to form pivoting connections between modules 30 , 40 . however , the means for connecting the may be attached by bolts and nuts , bolt and coddle pins or any other similar means of removable connection known in the art . referring now to fig3 - 4 , which illustrate the various components of the preferred embodiment of the present invention . the embodiment shown in fig3 - 9 , is preferred as it is lighter and less cumbersome and may be used with the patient in the sitting position . the device 10 of this embodiment weights about 14 pounds and folds into a transportable package of about 12 inches by about 14 inches . at the distal sling module 40 , a cross member 47 is attached at each end to two elongated rods 41 , 42 which extend parallel along the distal portion of the patient &# 39 ; s limb during flexing of the joint . at least one adjustable or permanent lower support means 43 extends between the two elongated rods 41 , 42 to cradle the lower portion of the patient &# 39 ; s limb as the two elongated rods 41 , 42 pivot through a preselected range of motion . the opposite ends of the elongated rods 41 , 42 of the distal sling module 40 can be either pivotally connected to the lower end of elongated beams 31 , 32 of the proximal sling module 30 , using removable any removable connection means 62 , shown here as , albeit not limited to , a removable pin ( fig5 ). otherwise , the elongated rods 41 , 42 of the distal sling module 40 are pivotally connected to distal module extensions 75 , which telescope into the ends of the elongated beams 31 , 32 of the proximal sling module 30 . if the elongated rods 41 , 42 of the distal sling module 40 are pivotally connected to distal module extensions 75 , then distal ends of the elongated beams 31 , 32 of the proximal module 30 have at least one of aperture or detent 44 a for cooperating with spring loaded buttons located on two extensions 75 connected to the distal sling module 40 . the two extensions 75 telescope into the ends of the elongated beams 31 , 32 of the proximal sling module 30 . these cooperating fasteners permit the precise adjustment in length to virtually any limb , such as , knee to hip length . similarly , the distal ends of the elongated rods 41 , 42 of the distal module 40 have a series of apertures or detents 44 b for cooperating with spring loaded buttons on the heel plate module 50 . the heel plate module 50 has two extensions 51 which telescope into the ends of the rods 41 , 42 of the distal sling module 40 . these cooperating fasteners permit the adjustment in length to fit limbs of different height , for example , the length from knee to foot . the proximal sling module 30 and / or a distal sling module 40 can each include at least one adjustable upper support means . although not limited to , the embodiments of fig3 - 9 , illustrate two separate support means 36 , 37 , 48 , 49 to provide pressure to the upper portions of the patient &# 39 ; s limb to achieve the maximum possible extension , similar to the manual techniques employed by most physical therapists . the adjustable upper support means 36 , 37 , 48 , 49 can be removably or permanently attached to the proximal sling module 30 and / or distal sling module 40 by any means of attachment ( not shown ) known in the art , i . e ., adhesives , rivets , or the like . moreover , the removable , adjustable upper support members 36 , 37 , 48 , 49 can be any made into any length along the longitudinal axis of the elongated beams 31 , 32 and / or elongated rods 41 , 42 . this is advantageous since after most post - operative situations , more pressure along the upper portion of proximal and / or distal portion of the patient &# 39 ; s limb is desired . thus , a longer upper support member 36 , 37 , 48 , 49 is needed , as shown in fig7 . however , during the physician prescribed period of use of the instant cpm device , the longer upper support member 36 , 37 , 48 , 49 can be removed and replaced with thinner upper support members , that will provide less pressure along the upper portion of the patient &# 39 ; s limb . the upper support means 36 , 37 , 45 , 46 , 48 , 49 can be constructed of a rigid , semi - rigid material or a composite , for example , aluminum , thin gauge steel or plastic . in addition , other materials and shapes , having the requisite strength , rigidity and weight , may be utilized , ( i . e . leather , nylon , or the like ). in cpm , the patient exerts no active resistance to the movement of the patient &# 39 ; s limb nor is there any positive muscular contractions . the lower support material 43 , 45 must be constructed from a material strong enough to carry the weight of the patient &# 39 ; s limb , for example , flexible cloth , film or relatively stiff sheet . additionally , the adjustable upper and / or lower support means 36 , 37 , 43 , 45 , 48 , 49 can include an inner lining , or padding , which is in direct contact with the patient and will provide additional comfort and protect the patient &# 39 ; s limb from irritation and / or chaffing during cpm movement . fig5 is left side view of the modular therapy device 10 of fig3 - 4 in the flexed position , wherein the modular frame assembly is in the process of being folded for easy transport and storage . fig6 is left side view of the same therapy device 10 shown in fig3 - 4 in the extended position . fig8 . is left side view of the modular therapy device 10 of fig3 - 4 in with the wheel assembly 53 , 54 in contact with the floor surface , for a patient in a sitting position . in the less preferred embodiment depicted in fig1 - 16 , wherein like elements are number consistently throughout , the device 10 includes a proximal sling module 30 , a distal sling module 40 , a base module 20 with an adjustable link 79 , a heel plate module 50 and an operating system , i . e . power assist system , comprising at least a motor 64 and controller 67 . the base module 20 serves to support the device 10 on a surface such as a floor , table , or bed . the base 20 has an elongated shape constructed and arranged for being placed horizontally on a surface . in one preferred embodiment of the base 20 , the proximal portion 82 of the base 20 includes arms 22 , 23 that are pivotally connected to the proximal sling module 30 via any connection means known in the art , i . e . pin 90 . like the previous embodiment , the proximal sling module 30 supports the patient &# 39 ; s thigh or upper arm during operation of the device 10 . the distal portion 24 of the base 20 can include lateral extensions 25 to increase stability . though not shown in fig1 , the extensions 25 may be completely removed from the distal portion 24 . moreover , the extensions 25 are laterally adjustable via retainers 26 to secure the extensions in a selected position . the retainers 26 may be spring biased protrusions in the distal portion 24 cooperating with apertures 26 in the extensions or a series of apertures in both the extensions and the bottom through which pins may be inserted ( not shown ). as illustrated in the exploded view of fig1 , the base 20 includes a shaft portion 80 which joins the proximal 82 and distal 24 ends of the base 20 . in one embodiment , the shaft 80 of the base 20 is bifurcated into legs 27 , 28 connecting the distal end 24 to the arms 22 , 23 . the legs 27 , 28 of the shaft 80 have a series of apertures 29 for selective pivoting connection of the adjustable link 79 . the distal sling module 40 is connected to the base 20 by via the adjustable link 79 which is variable in length by telescoping components 32 , 33 selectively positionable by retainers 34 similar to those on extensions 25 . preferably , the adjustable link 79 is centered between the legs 27 , 28 and pivotably connected to the base 20 by a pin 84 extending through both legs 27 , 28 and the end of the pin 84 . the other end of the link 79 is pivotably connected to the distal sling module 40 by another pin 35 extending through bracket 86 connected to cross member 47 , shown in fig1 - 13 . similar to the previous embodiment of fig3 - 8 , the cross member 47 of fig1 - 14 is attached at each end to two elongated rods 41 , 42 which extend parallel along the distal portion of a patient &# 39 ; s limb during flexing of the joint . a support material 43 extends between the two elongated rods 41 , 42 to carry the limb as the elongated rods pivot through a preselected range of motion . the material 43 may be flexible cloth , film , or a relatively stiff sheet . as illustrated in fig1 , the distal ends of the elongated rods 41 , 42 have a series of apertures or detents 44 b for cooperating with spring loaded buttons on the heel plate module 50 . the heel plate module 50 has two extensions 51 which telescope into the ends of the rods 41 , 42 of the distal sling module . these cooperating fasteners permit the adjustment in length to fit limbs of different height . the opposite ends of the elongated rods 41 , 42 of the distal sling module 40 are pivotally connected to the lower end of elongated beams 31 , 32 using removable any removable connection means 62 , shown here as , albeit not limited to , a removable pin ( fig1 ). otherwise , the elongated rods 41 , 42 of the distal sling module 40 are pivotally connected to distal module extensions 75 , which telescope into the ends of the elongated beams 31 , 32 of the proximal sling module 30 . the patient &# 39 ; s joint to be flexed will be situated adjacent this pivotal connection means 62 with the proximal portion of the limb supported by the proximal sling module 30 . elongated beams 31 , 32 extends along each side of the patient &# 39 ; s limb with a lower support material 45 between the elongated beams 31 , 32 supporting the proximal portion of the limb . if the elongated rods 41 , 42 of the distal sling module 40 are pivotally connected to distal module extensions 75 , then the distal ends of the elongated beams 31 , 32 have a series of apertures or detents 44 a for cooperating with spring loaded buttons on the distal module extensions 75 , as they telescope into the ends of the elongated beams 31 , 32 . these cooperating fasteners permit the precise adjustment in length to virtually any limb , such as , knee to hip length . similarly , the distal ends of the elongated rods 41 , 42 have a series of apertures or detents 44 b for cooperating with spring loaded buttons on the heel plate module 50 . the heel plate module 50 has two extensions 51 which telescope into the ends of the rods 41 , 42 of the distal sling module . these cooperating fasteners permit the adjustment in length to fit limbs of different height , for example , the length from knee to foot . although not shown in fig1 - 14 , the proximal sling module 30 and / or a distal sling module 40 can each include an adjustable upper support means 36 , 37 , 48 , 49 to provide pressure to the upper portions of the patient &# 39 ; s limb . the adjustable upper support means 36 , 37 , 48 , 49 can be removably or permanently attached to the proximal sling module 30 and / or distal sling module 40 by any means of attachment ( not shown ) known in the art , i . e ., adhesives , rivets , or the like . moreover , the removable , adjustable upper support members 36 , 37 , 48 , 49 can be any constructed into any length along the longitudinal axis of the elongated beams 31 , 32 and / or elongated rods 41 , 42 . the upper support means 36 , 37 , 45 , 46 , 48 , 49 can be constructed of a rigid , semi - rigid material or a composite , for example , aluminum , thin gauge steel or plastic . in addition , other materials and shapes , having the requisite strength , rigidity and weight , may be utilized , ( i . e . leather , nylon , or the like ). the lower support material 43 , 45 must be constructed from a material strong enough to carry the weight of the patient &# 39 ; s limb , for example , flexible cloth , film or relatively stiff sheet . additionally , the adjustable upper and / or lower support means 36 , 37 , 43 , 45 , 48 , 49 can include an inner lining , or padding , that will provide comfort and protect the patient &# 39 ; s limb from irritation or chaffing during movement . as illustrated in fig1 , the operating system , or , power assist device can include , albeit not limited to , a low powered ( i . e . about 10 to about 20 vdc ), hi - torque linear actuator 63 , having a motor 64 mounted to the upper end of the distal sling module rod 42 . the linear actuator 63 comprises a motor output shaft 65 and a complementary power transfer part , shown here as , albeit not limited to , a circular , or worm , gear 66 fixed by the pin 62 to either elongated rods 41 , 42 , as shown in fig1 . the linear actuator 63 can comprise any means for providing power , for example , stepper motor or the like . an optical or mechanical encoder ( not shown ) may be used for the precise control of the linear actuator 63 . the rotation of the output shaft 65 causes the circular gear 66 to turn which moves the distal sling module 40 relative to the proximal sling module 30 . the motor 64 is operatively connected through either elongated rods 41 , 42 with the controller 67 . the controller 67 can be as simple as an off / on switch or include a programmable system which can include a speed control means for the motor 64 . such other features which may be included into the controller 67 include , a timer for session duration , repetitions over time , and length of throw of the worm gear 66 controlling angle of flex . also , a safety circuit may produce a signal , ( i . e . audio or visual or both ), if there is an extension beyond the programmed parameters . additionally , the controller 67 and / or linear actuator 63 may be powered by any means for supplying power known to the skilled artisan . for example , the controller 67 and / or linear actuator 63 may include a battery pack ( not shown ) and be connected to the motor 63 through interior portion of either elongated rods 41 , 42 or preferably by a wireless remote 68 , ( i . e . rf , ir , etc . ), shown in fig1 . the wireless remote 68 is preferred to obviate the possibility of entangling the operating system with the bed clothes or any moving parts of the device 10 . a wireless receptor ( not shown ) may be on the controller 67 or directly on the motor 64 . although not limit to , the controller 67 is mounted on the heel plate module 50 in fig1 - 14 . preferable , the heel plate module 50 has a flange 88 for supporting the extremity of the patient &# 39 ; s limb to assist in the proper location of the patient &# 39 ; s limb in the device . the flange 88 is mounted on an axle 52 intermediate a set of wheels 53 , 54 , one at each end of the axle 52 . the extension 51 is mounted near each wheel 53 , 54 normal to the axle 52 . as previously discussed above , the ends of the extensions 51 are adjustably telescoped into the ends of the elongated rods 41 , 42 of the distal sling module 40 . thus , the heel plate 50 and the distal sling module 40 may be further adjusted to comfortably conform to the length of the patient &# 39 ; s limb . to perform cpm on a patient &# 39 ; s knee , for example , the patient is supine and the patient &# 39 ; s leg is placed on the device 10 so that the thigh supported by the proximal lower support mean 45 and the calf supported by the distal lower support means 43 with the knee adjacent the pivot point between the distal sling module 40 and the proximal sling module 30 , as shown in fig2 . the proximal sling module 30 is then strapped to the patient &# 39 ; s limb with appropriately sized proximal upper support means 36 , 37 . the distal sling module 40 is fastened about the calf with distal upper support means 48 , 49 . in this position , the wheels 53 , 54 are in contact with a supporting surface , such as the floor , so that the wheels move across the surface in response to the actuation of the linear actuator 63 ( fig8 ). the articulation of this embodiment is similar to that shown in fig3 of the first embodiment and fig1 , 13 of the second embodiment . next , the controller 67 is programed , as desired , and the motor 64 is energized . as the linear actuator 63 moves the proximal sling module 40 relative to the distal sling module 30 , the patient &# 39 ; s leg can achieve a full range of motion , for example , albeit not limited to , about − 30 degrees to about + 155 degrees . in addition , a track or rail system can be included on either of aforementioned embodiments of the instant device to provide unobstructed movement of the wheels 53 , 54 , either across the floor or across other surfaces , such as rumpled sheets on a bed , ( fig9 ). in one preferred embodiment , the track is formed as a c - shaped channel 71 , 72 enclosing each wheel . the tracks 71 , 72 may or may not be joined by cross ties ( not shown ) and the tracks 71 , 72 may or may not be flexible . the length of the tracks 71 , 72 is commensurate with the distance the wheels 53 , 54 move in response to the operation of the linear actuator 63 . it is to be understood that while a certain form of the invention is illustrated , it is not to be limited to the specific form or arrangement herein described and shown . it will be apparent to those skilled in the art that various changes may be made without departing from the scope of the invention and the invention is not to be considered limited to what is shown and described in the specification and drawings / figures . one skilled in the art will readily appreciate that the present invention is well adapted to carry out the objectives and obtain the ends and advantages mentioned , as well as those inherent therein . the embodiments , methods , procedures and techniques described herein are presently representative of the preferred embodiments , are intended to be exemplary and are not intended as limitations on the scope . changes therein and other uses will occur to those skilled in the art which are encompassed within the spirit of the invention and are defined by the scope of the appended claims . although the invention has been described in connection with specific preferred embodiments , it should be understood that the invention as claimed should not be unduly limited to such specific embodiments . indeed , various modifications of the described modes for carrying out the invention which are obvious to those skilled in the art are intended to be within the scope of the following claims .
a portable medical device suitable for use in continuous passive motion rehabilitation programs has a lightweight modular frame for ease of storage and portability . in one embodiment a proximal sling module is pivotally connected to a distal sling module with is pivotally connected to a heal plate module . another embodiment includes a base module is pivotally connected to a proximal sling module which is pivotally connected to a distal sling module pivotally connected to a link pivotally connected to the base . the joint of a patient &# 39 ; s limb is flexed through a range of motion by pivoting the distal sling module relative to the proximal sling module . the device is powered by a motor and worm gear directed by a controller .