RESUMEN
In these days, there are many patients with ataxia, which is paralysis caused by a brain stroke or asynergia. Early detection of functional deterioration and sufficient rehabilitative training are necessary for these patients. Rehabilitation support systems for upper limbs using force display devices are expected to quantify the effects of rehabilitative training and enhance the motivation of patients. The application of passive-type force display devices unactuated by motors is especially desirable for its high safety. There are, however, some orientations and positions for which it is difficult to display force in an unactuated force display systems using only passive elements. To solve this problem, a method for the improvement of controllability using larger number of brakes than the degree of freedom of system had been suggested. This method made it possible to display more various force power and orientations than could be done with previous systems. However, the system with the larger number of brakes often become huge system. In this study, we have developed a rehabilitation system for the upper limbs which use only the same number of brakes as the degree of freedom but can display the resistance force in the orientation opposite to operator's motion in any orientations and link posture: "Neo-PLEMO".
Asunto(s)
Ataxia/rehabilitación , Terapia Pasiva Continua de Movimiento/instrumentación , Rehabilitación de Accidente Cerebrovascular , Fenómenos Biomecánicos , Mano/fisiopatología , Humanos , Recuperación de la Función , Robótica/instrumentación , Programas Informáticos , Accidente Cerebrovascular/complicaciones , Extremidad Superior/fisiopatologíaRESUMEN
It is important to construct rehabilitation system for elderly people, people who have suffered strokes, and so on. In recent years, the need for rehabilitation support systems is increasing that using force display devices. When using force display systems, it is most important to ensure safety mechanically in order to prevent operators from hurting. Conventional force display systems are active-type devices with actuators but these devices may become dangerous when going out of control. On the other hand, passive-type force display devices with only passive elements are thought to be an effective method for assuring inherent safety. In this paper, we evaluate force display ability about a 2-D passive-type force display device with fast-response MR (Magneto-Rheological) fluid brakes to apply this device to rehabilitation training.
Asunto(s)
Rehabilitación de Accidente Cerebrovascular , Extremidad Superior/fisiología , Terapia de Exposición Mediante Realidad Virtual/métodos , Actividades Cotidianas , Fenómenos Electromagnéticos , Mano/fisiología , Humanos , Movimiento , Reología , Programas Informáticos , Juegos de Video , Terapia de Exposición Mediante Realidad Virtual/instrumentaciónRESUMEN
Several rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness was reported in several studies for the aged people or patients with stroke. However most of them have only 2-DOF for its active motion. It is important for designing a rehabilitation system which trains in the 3-DOF space because the upper limbs of humans works in 3-DOF space even expect for the wrist. We developed the quasi 3-DOF rehabilitation system which has 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. And we named it Hybrid-PLEMO for it can be switched between active type and passive type. Hybrid-PLEMO is a compact, low-cost rehabilitation system for upper limbs with high safety by using ER brakes or ER actuators. Additionally, in Hybrid-PLEMO, we take direct-drive linkage mechanism by adding sub links. In this paper, we describe the mechanism and haptic control of Hybrid-PLEMO.
Asunto(s)
Traumatismos del Brazo/rehabilitación , Robótica/instrumentación , Anciano , Brazo/fisiopatología , Fenómenos Biomecánicos , Ingeniería Biomédica , Diseño de Equipo , Retroalimentación , Humanos , Sistemas Hombre-Máquina , Seguridad , Accidente Cerebrovascular/fisiopatología , Rehabilitación de Accidente CerebrovascularRESUMEN
The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (Curved Multi-Tube Device) which was developed by Furusho Laboratory. A CMTD, was developed for minimally-invasive surgery and needle insertion. And we use ultrasonograph as a sensing device to detect the position of bible duct or tumor and the orientation and position of the needle which is inserted into liver. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body.
Asunto(s)
Drenaje/instrumentación , Inyecciones/instrumentación , Punciones/instrumentación , Terapia Asistida por Computador/instrumentación , Animales , Conductos Biliares/diagnóstico por imagen , Conductos Biliares/cirugía , Diseño de Equipo , Análisis de Falla de Equipo , Procesamiento de Imagen Asistido por Computador , Modelos Teóricos , Agujas , Fantasmas de Imagen , Porcinos , UltrasonografíaRESUMEN
In recent years, the needs for rehabilitation support systems are increasing, which use robot technology and virtual reality technology. Applying these technologies make efficient rehabilitation possible. We have developed 6-degrees-of-freedom (DOF) upper rehabilitation support system to evaluate synergy pattern of stroke survivors and to train stroke survivors, named 'Robotherapist'. When stroke survivors who can move plural joints only along a certain constant pattern called synergy pattern do reaching movement, some of them cannot keep their posture of the arm normal, but can move their hand along the aim orbit. In this study, we experiment on a measurement of reaching movement with our system and make a model of movement peculiar to stroke survivors and a model of movement of healthy people. Additionally, we propose application software for reaching training with this model. In this paper, we report measurement of reaching movement and propose application software for reaching training with our system.
Asunto(s)
Movimiento/fisiología , Parálisis/rehabilitación , Robótica , Rehabilitación de Accidente Cerebrovascular , Extremidad Superior/fisiología , Algoritmos , Fenómenos Biomecánicos , Simulación por Computador , Estimulación Eléctrica/métodos , Diseño de Equipo , Humanos , Sistemas Hombre-Máquina , Modelos Neurológicos , Redes Neurales de la Computación , Programas InformáticosRESUMEN
BACKGROUND: Needle insertion is an important procedure for the diagnosis and treatment of various diseases. A prototype curved multi-tube device (CMTD) and system for performing computerized correction of path errors during needle insertion is described. METHODS: The CMTD provides two functional modes, the straight-needle mode and the curved-needle mode. This study describes the CMTD and path-error correction, using a prototype needle-insertion system in a trial with a simple water phantom. RESULTS: The needle insertion procedure was performed precisely in the centre of an ultrasound image. The CMTD functioned with the inner needle extending properly from its sleeve to correct path errors. CONCLUSIONS: The path-error corrections by the CMTD in a needle-insertion system were shown. The system's computer processing can successfully determine the needle path from the ultrasound image and automatically guide the CMTD to the target.