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Assisted Leg Holding Device For Medical Procedures. By: Jennifer Bruno Katherine Etter Gehendra Kunwar Team 1 Funded by: Rehabilitation Education Research Center Client Contact Information: Dr. John D. Enderle. Overview . Introduction Purpose Requirements Research/Work Done By Others

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Assisted leg holding device for medical procedures

Assisted Leg Holding Device For Medical Procedures

By:Jennifer BrunoKatherine EtterGehendra Kunwar

Team 1

Funded by:Rehabilitation Education Research Center

Client Contact Information:Dr. John D. Enderle


  • Introduction

    • Purpose

    • Requirements

    • Research/Work Done By Others

  • Final Design

    • Subunits

    • Future additions

  • Budget

  • Highlighted Features

  • Conclusion/Acknowledgements/Questions


  • In the United States, about 51.2 million people are disabled

  • Leg holding devices are required for many medical procedures

    • Important for patients to have a positive experience as to keep up with preventative screenings and to reduce anxiety

  • Problems with traditional leg-holding devices.

    • Lack of adjustability, patients outside the “normal” range

    • Practitioners have difficulty positioning patients who are overweight or have severe disabilities


The assisted leg holding device employs anti-gravity techniques to balance each patient’s weight, so that the patient’s legs can be positioned effortlessly by a practitioner.


  • Comfortable

  • Versatile (can be used by a wide variety of patients)

  • Adhere to medical standards

  • Low cost

  • Compact and easy to relocate

  • Easy to sterilize

  • Not imposing or intimidating

  • Durable and reliable

Product research
Product Research

  • Allen YellofinTM Lithotomy Stirrups

    • intra-operative re-positing of patients

    • mimics natural motion of the hip

    • prevents excessive pressure on the calf

    • Accommodates patients up to 500 lbs


  • 2714541

    • approved in August, 1955

    • One of the earliest patents found pertaining to this subject, stirrup only supports the patient’s foot

    • extremely compact and can be easily stored to maximize space within the operating room

  • 4809687

    • approved in September 1989

    • cushioned shell that supports a patient’s foot and lower leg

    • accommodates for patients with joint or muscle disease

  • 5802641

    • approved in September 1998

    • can be adjusted to support a patient against gravity

    • uses a motorized system

A useful paper a simple technique to passively gravity balance articulated mechanisms
A Useful Paper: “A Simple Technique to Passively Gravity-Balance Articulated Mechanisms”

Link Free Body Diagram

Total Potential Energy Must Equal Zero!

Substituting and solving…

Spring Constant K=(m*g*l)/(a*b)

Patients benefiting from this device
Patients benefiting from this device: Gravity-Balance Articulated Mechanisms”

  • Phylis rheumatoid arthritis, joint stiffness, pain

  • Jerry Parkinson’s disease, tremor, rigidity, and decreased range of motion

  • Jamie T11 spinal cord injury

  • Betty limited and asymmetrical lower extremity range of motion, limited strength in her right leg, pain caused by her hip

  • Violet short stature

  • Paul two below-the-knee amputations

Final design
Final Design Gravity-Balance Articulated Mechanisms”

Assisted Leg-Holding Device

Gravity-Balancing Mechanism Gravity-Balance Articulated Mechanisms”






Motor stepper motor
Motor – Stepper Motor Gravity-Balance Articulated Mechanisms”

MDrive23 Plus Microstepping

Pic microprocessor
PIC Microprocessor Gravity-Balance Articulated Mechanisms”


Foot and thigh supports
Foot and Thigh Supports Gravity-Balance Articulated Mechanisms”

Attachment to table
Attachment to Table Gravity-Balance Articulated Mechanisms”

Pivot and Lock

Aluminum Support


Top View

Front View

Future additions
Future Additions Gravity-Balance Articulated Mechanisms”

  • Scale with Bluetooth capabilities to transmit patient weight to PIC for automatic adjustment

  • Automatic braking system to lock the device in place during a medical procedure

Highlighted features
Highlighted Features Gravity-Balance Articulated Mechanisms”

  • Anti-gravity technology allows the practitioner to adjust the position of a patient’s leg in a “weightless” environment

  • Device is adjustable for patients weighing up to 300 pounds

  • Device is adjustable for a patient leg range of 20 inches to 44 inches

  • Device is adjustable for a variety of leg positions from fully bent to fully extended

  • Device is adjustable for a variety of leg positions from close together to widely spread

  • Device can be removed from table and stored when not in use

  • Medical drapings allow the device to be sterilized easily between procedures

  • Adjustable, Velcro-secured foot and knee supports allow for extra comfort and support during procedures and can accommodate amputees

Budget Gravity-Balance Articulated Mechanisms”

Conclusion Gravity-Balance Articulated Mechanisms”

  • The proposed design

    - provides full leg support to disabled patients

    -offers an easy solution for practitioners who are unable to comfortably adjust patients

    - allows a wide range of adjustability to ensure patient comfort and procedure integrity

Acknowledgements Gravity-Balance Articulated Mechanisms”

RERC-AMI Funding

Dr. John D. Enderle

Dave Price

Rich and Serge

Dave Kaputa

References Gravity-Balance Articulated Mechanisms”


  • T. Rahman, R. Ramanathan, R. Seliktar, and W. Harwin, "A Simple Technique to Passively Gravity-Balance Articulated Mechanisms," J Mech. Des. vol. 117, pp. 655-658, 1995.


Questions?? Gravity-Balance Articulated Mechanisms”

Thank you for your attention!