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Transcript of 1 Applications of Medical Informatics - Robotic Arm & Virtual Reality Date: 11/14 Reporter:...
11
Applications of Medical Informatics -
Robotic Arm & Virtual Reality
Date: 11/14
Reporter: 盧紀邦
22
OutlinesOutlines
A. Robotic ArmA. Robotic Arm
B. Virtual Reality (VR)B. Virtual Reality (VR)
C. VR + Robotic ArmC. VR + Robotic Arm
Benefits & LimitationsBenefits & LimitationsSummarySummary
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Robotic Arm
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Robotic Arm
Combined technologies:(Bio-)mechanicsinformation technology (IT) -
data processing, programming, information management..
For therapy:Medicine, rehabilitation, exercise science...
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Robotic Arm
Digital Control (Feedback):Digital Control (Feedback):Input (sensor) (sensor) Process (decision) Process (decision) Output (motor)Output (motor)Loop (repeat) Loop (repeat)
For Brain Injury: StrokeFor Brain Injury: Stroke
Functions:Functions:A. CompensationA. CompensationB. TrainingB. Training
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A. CompensationA. Compensation
Performance↑Performance↑
ex: reaching, feeding...ex: reaching, feeding...
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B. TrainingB. Training
Passive:Passive:
↓↓LimitationLimitation
Active (Robotic Therapy) :Active (Robotic Therapy) :
↑↑RecoveryRecovery
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B. Training - PassiveB. Training - Passive
Maintain Functional ROM, ↓ stiffnessMaintain Functional ROM, ↓ stiffness
ex: Continuous Passive Motion (CPM) ex: Continuous Passive Motion (CPM)
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B. Training – Active (1)B. Training – Active (1)
with resistancewith resistance
Strength, Endurance↑ Strength, Endurance↑
ROM, Velocity↑ROM, Velocity↑Unicycle Two-Link Arm (UTLA)
Northwestern University Mechanical Engineering Dept. Laboratory for Intelligent Mechanical Systems
Kinematic Constraints
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B. Training – Active (2)B. Training – Active (2)
With TargetWith Target
Motor control↑Motor control↑
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MIT-MANUSMIT-MANUSRobotic Therapy on Motor Impairment and Recovery in Chronic Stroke. 1998~
B. Training – Active (2)B. Training – Active (2)
Massachusetts Institute of Technology (MIT) Department of Mechanical Engineering & Department of Brain and Cognitive Sciences.
1994~
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Virtual Reality (VR)Virtual Reality (VR)
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Virtual Reality (VR) Virtual Reality (VR)
Combined technologies:Motion Analysis & Motion Capture3D ModelIT(Bio-)mechanics
For therapy:Medicine, rehabilitation, exercise science...
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Virtual Reality (VR)Virtual Reality (VR)
A. Virtual Environment: A. Virtual Environment: vision + audition + (olfaction, temperature, tactile, vision + audition + (olfaction, temperature, tactile,
vestibular...) vestibular...)
B. Reality Motion (virtual manipulate)B. Reality Motion (virtual manipulate) role play, motion capture role play, motion capture feedback → virtual environmentfeedback → virtual environment
Types:Types:Open VROpen VRClose VRClose VR
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Motion Capture Motion Capture
VICONVICON
Motion Capture Data Motion Capture Data
+ 3D Model+ 3D Model
+
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Open VROpen VR
→
ex:
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Close VRClose VR
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Virtual Reality (VR)Virtual Reality (VR)++
Robotic ArmRobotic Arm
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VR + Robotic Therapy (1)VR + Robotic Therapy (1)
Physical Medicine and Rehabilitation,Mechanical & Biomedical Engineering,Northwestern University
2020
VR + Robotic Therapy (2)VR + Robotic Therapy (2)
IEEE-USA and the Human Factors and Ergonomics Society
Robotic Arm for Stroke Victims- Doctors and Engineers Develop Virtual-Reality Recovery for Stroke Victims. 2005
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VR + Robotic Therapy (3)VR + Robotic Therapy (3)
Hocoma - Armeo® Hocoma - Armeo® 2006 2006
task-oriented upper extremity therapy
stroke, traumatic brain injury or other neurological diseases and injuries.
an adjustable arm supportaugmented feedbacka large 3-D workspace : allows fu
nctional therapy exercises in a virtual reality environment.
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Benefits & LimitationsBenefits & Limitations
Benefits:objective, quantificationpurposeful, Interaction → enjoy↑risk↓manpower ↓space
:
Limitations:costmaintainmulti-discipliness
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Summary Clinical evidence :
physical performance maintain: ROM, strength…
motor recovery in stroke.
cognition rehabilitation.
now & future …
OT Roles ?
Effects of robotic therapy on motor impairment and recovery in chronic stroke.
2003 ~
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Q & A