11

Applications of Medical Informatics -

Robotic Arm & Virtual Reality

Date: 11/14

Reporter: 盧紀邦

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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)

99

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

1010

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)

1313

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

2323

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