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Medical Robotics Application for Motion Emulation of Parkinsonian

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.

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Medical Robotics Application for Motion Emulation of Parkinsonian

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  1. 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

  2. Project Outline • Background • Significance • Project Overview • Assumptions • Objective • Problems Faced

  3. 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.

  4. 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

  5. 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.

  6. Significance Parkinson Patient Smoothened Movements Signal Processing Robotics Signal with tremor Signal without tremor Our system is the combination of medical robotics (robotic arm) and signal processing (tremor cancellation) in rehabilitation of the parkinsonian.

  7. Project Overview Processing the Signal using MATLAB Analog Input Signal from Parkinsonian Sensing Device Tremor Free movement by Robotic Arm Interfacing RIOS software

  8. Assumptions No Inertial Parameters ( like gravity) Z Axes Parameters Null (2D) Drawing simple figures

  9. 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

  10. Flow Diagram Sensing Module Reading module To Matlab 2 D- ADIS16006 Accelerometer Computer Procesing

  11. SENSING DEVICE USED • 2D Digital Accelerometer ADIS16006 • Dual-axis accelerometer • SPI Digital Output Interface • 3.0 v to 5.25 V single-supply operation

  12. Problems Faced • IRB Permission • Resolution : Generated the data in MATLAB • Psychological tremor

  13. Accelerometer Signal Read into Software

  14. 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

  15. FLOW DIAGRAM Processing of the Signal FILTERATION PROCESS • High Pass Filter • WFLC Filter Signal without Tremor Signal with tremor (Applying in MATLAB)

  16. Alternatives Used • LABVIEW used for the test cases

  17. 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

  18. FLOW DIAGRAM ST 2 ST 1 To RoboticArm Filtered Transforma-tion of matlab data CSV File Microcontroller Signal PWM Signal Microcontroller Application Programming Interface Application Programming Interface

  19. 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.

  20. 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

  21. FLOW DIAGRAM From Microcontroller Tremor free movement Lynx 5 Robotic Arm

  22. Problems Faced • Configuration of geometry of arm • Missing Servo motor • Limitation in the movement of the arm (forward & Backward)

  23. 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

  24. Questions ???????

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