Medical Robotics Application for

pancakesbootAI and Robotics

Nov 24, 2013 (3 years and 9 months ago)

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Medical Robotics Application for
Motion Emulation of Parkinsonian

ECE 7995

Advisor

Dr. Abhilash Pandya


Group #2

Ranvir Hara

Ravanpreet Kaur

Gaganjeet Hans

Mohammed Hossain


College of Engineering

Department of Electrical and Computer Engineering

Wayne State University, Detroit, Michigan



Project Outline


Background


Significance


Project Overview


Assumptions


Objective


Problems Faced

Background


Parkinson Disease


Motor system disorder in the brain.


Results from the loss of Dopamine.


First described by James Parkinson in 1817.


Symptoms (Primary)


Tremor of one or more than one limb.


Rigidity .


Bradykinesia.


Postural instability.


Background (Contd.)


Type of Tremor


Resting Tremor


Postural Tremor


Precision Tremor



Typical tremor found in Parkinson’s disease
Person is 3.71 to 4.34 Hz




Background (Contd.)


Treatment


Drugs: Levodopa, Carbidopa (converts into
dopemine).


Drugs: Bromocryptine, Pramipexole (mimic the
role of dopamine).


Therapy: Deep Brain Stimulation (DBS).


Problems


After a certain time period it comes back.

Significance


Our system is the combination of medical robotics
(robotic arm) and signal processing (tremor
cancellation) in rehabilitation of the parkinsonian
.

Signal
Processing

Parkinson

Patient


Signal with tremor

Robotics

Smoothened

Movements

Signal without tremor

Project Overview



Analog Input

Signal from

Parkinsonian


Sensing Device

Processing the

Signal using

MATLAB


Interfacing

RIOS

software


Tremor Free

movement by

Robotic Arm

Assumptions


No Inertial Parameters ( like gravity)


Z Axes Parameters Null (2D)


Drawing simple figures


OBJECTIVE 1

Sensing the tremor from the Parkinson disease
person to computer for processing




ST1 : Building the tremor sensing device


ST2 : Storing the sensor data into Computer


ST3 : Reading the sensor data into MATLAB


Flow Diagram




Sensing Module

Reading module

Accelerometer

Computer Procesing

To
Matlab

2 D
-

ADIS16006

SENSING DEVICE USED


2D Digital Accelerometer ADIS16006






Dual
-
axis accelerometer



SPI Digital Output
Interface



3.0 v to 5.25 V single
-
supply operation

Problems Faced


IRB Permission



Resolution : Generated the data in MATLAB



Psychological tremor

Accelerometer Signal Read into Software







OBJECTIVE 2



Filtering out the signal

ST1 : Implementing Filter

ST2 : Applying the input signal to filter

ST 3: Storing the Filtered data (signal) in
the Matlab for further processing

FLOW DIAGRAM


FILTERATION PROCESS


High Pass Filter


WFLC Filter


(Applying in
MATLAB)

Signal with tremor

Signal without Tremor

Processing of the Signal

Alternatives Used


LABVIEW used for the test cases



OBJECTIVE 3


Aim : Integrating the Signal in the
Computer with the Hardware



ST 1: Writing API for the interface
between S/W and H/W


ST 2: Transformation of the signal to
PWM



FLOW DIAGRAM


Transforma
-
tion of
matlab data

Application
Programming
Interface

Microcontroller

To
Robotic
Arm

Filtered

Signal

ST 1

ST 2

Application
Programming
Interface

Microcontroller


CSV File

PWM Signal

Problems Faced


Choosing alternatives for the MATLAB and RIOS
interface


Resolution: Socket Programming (TCP/IP)



Generation of PWM using Microcontroller



Writing CSV files (Excel Files)


Generate the CSV file in MATLAB.

OBJECTIVE 4


Aim : Movement of the Robotics Arm


ST1 : Configuration of the Arm
geometry

ST2: Testing the Motion Module

ST 3: Moving the Arm to the desired
Position



FLOW DIAGRAM



From
Microcontroller

Tremor free
movement

Lynx 5 Robotic Arm

Problems Faced


Configuration of geometry of arm


Missing Servo motor


Limitation in the movement of the arm (forward &
Backward)


FUTURE WORK


This is a prototype we developed for the system, but it can
be enhanced further by including the Parkinson patient



3D motion sensor and the gyroscope can be included in the
Consideration of the system.




Calibration of the Arm can be considered with other
optimization factors



Questions ???????