1 Robotics for Rehabilitation and Medical Applications Domenico Prattichizzo Robotics & Systems Lab University of Siena www.dii.unisi.it/prattichizzo [email protected]Centro per la ricerca scientifica e tecnologica ITC - IRST Trento, December 2003 University of Siena
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Robotics for Rehabilitation and Medical Applications
Domenico Prattichizzo
Robotics & Systems Lab University of Sienawww.dii.unisi.it/[email protected]
Centro per la ricerca scientifica e tecnologicaITC - IRST Trento, December 2003
• compare with the virtual obj. (collision detection)
• if the hand-avatar is inside, apply a force …
Haptic Interface Principle
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Ungrounded Haptic Interfaces
joint angles are
measured and
forces applied
relative to mount
point on the
body
Cybergrasp by Immersion inc.
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VR
Haptic Interface
Visual Interface
Visio-Haptic Interaction
bidirectional flow
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OutlineVisuo-Haptic Interaction
1) Grasp Rehabilitation
2) the FeTouch Project
Eye Tracking
3) ASTIDET
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Grasp Rehabilitation
University of Siena & University Vita-Salute San-Raffaele
Other partners
Service de Reeducation, Hopitaux Universitaires, Switzerland
Institut National de la Sante et de la Recherche Medicale, France
Institut Guttmann, Spain
FCS Control Systems B.V, Netherlands
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Grasp rehabilitation goals
1) Rehabilitation units equipped with robotic systems helping patients with motor deficits to relearn basic manual skills such as to open doors, use forks and knives, drink a glass of water, or button a shirt.
2) Virtual Reality Environments that allow pre-surgery patients to face the expected deficits after a surgical intervention, by mimicking its effects on fine manual skills.
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Robotic upper-limb rehabilitation
HapticMasterTM with the Endo-Ring (project GENTLE/S).
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Upper-limb rehabilitation @ MIT
• MIT-MANUS (1990s) - The robot provided guidance, assistance or resistance while the patient executed a pointing movement.
Robot-aided patients improved more than the control patients.
The gains obtained with this technique remain significant after 3 years.
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Burke Hospital-MIT group
Palo Alto Veteran's Affairs Hospital / Stanford group
Spaulding Rehabilitation Hospital (1999)
Baltimore VA Hospital (2000)
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Upper-limb rehabilitation in Europe
• MULOS
Motorised Upper Limb Orthotic System is a 5 dofs robot mounted on a wheel chair that can move the joints of the upper limb under joystick control.
• REHAROB
This project used industrial robots to passively manipulate the arm of patients.
• GENTLE project
…
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Robotic rehabilitation @ Siena
Grasp rehabilitation
Simpler robotic devices
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Robotic rehabilitation @ Siena/Milan
The Grip Analyzer. The Grip Analyzer is essentially a real object instrumented with several six degree-of-freedom (DOF) transducers for measuring contact forces.
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Robotic rehabilitation @ Reachin
The Virtual Grasping Environment. Simulation of a double point contact interaction using two degrees of freedom devices.
Stabilizing a multi contact haptic intercation:Problem overview
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References
University of Siena
D.Prattichizzo, J.K. Salisbury, and A. Bicchi, “Contact and grasp robustness measures: Analysis and experiments.’’ in Experimental Robotics IV}, Lecture Notes in Control and Information Sciences, pages 83--90. Springer-Verlag, 1997.
A.Bicchi and D.Prattichizzo, in \Analysis and optimization of tendinous actuation for biomorphically designed robotic systems\ in Robotica 18:23--31, 2000.
Workshop ``Multi-point interaction: from robotic hands to haptic interfaces'‘ organized by F. Barbagli, D. Prattichizzo and K. Salisbury at the IEEE International Conference on Robotics and Automation}, 2004, (submitted). To be published on a Springer Verlag Serie.
F. Barbagli, D. Prattichizzo, J.K. Salisbury, ``Multi-contact haptic interaction with deformable objects: amulti-rate approach'' in ISRR 2003, the 11th International Symposium of Robotics Research, October 19-22, 2003, Siena, Italy. To be published on a Springer Verlag Serie.
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OutlineVisuo-Haptic Interaction
1) Grasp Rehabilitation
2) the FeTouch Project
Eye Tracking
3) ASTIDET
University of Siena
University of Siena
The FeTouch project @ Siena
Robotics & Systems Lab
Dip. di Pediatria, Ostetricia e Medicina della Riproduzione
University of Siena
www.fetouch.org
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• • training & simulation,training & simulation, for:
– diagnosis
– tissue palpation
• Minimally Invasive SurgeryMinimally Invasive Surgery (MIS)
– training through simulation
– the real thing: “fly by wire” to improve interaction
• telesurgerytelesurgery
demonstrated on a human in 2002
(at the EITS in Strasburg from New York)
Medical Applications
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Siemens Sonoline Elegra Dipartimento di Pediatria, Ostetricia e Medicina della Riproduzione.
B. La Torre, D. Prattichizzo, F. Barbagli, and A. Vicino.``The fetouch project, a tool for augmenting the fetus perception.\ in The Inter. Journal of Medical Robotics and Compurer Assisted Surgery, Jan.2004.
B.~la~Torre, D.~Prattichizzo, F.~Barbagli, and A.~Vicino. “The fetouch project.\ in Proc. IEEE Int. Conf. on Robotics and Automation, 2003.
B. La Torre, D. Prattichizzo, F. Barbagli, and A.Vicino, ``The fetouch system: Visual-haptic rendering of fetuses.\ in Proc. Euro{Haptics 2003, Dublin, Ireland, 6-9 July 2003.
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OutlineVisuo-Haptic Interaction
1) Grasp Rehabilitation
2) the FeTouch Project
Eye Tracking
3) ASTIDET
University of Siena
University of Siena
Robotics & Systems Lab
Dep. of Neurological and Behavioural Sciences
University of Siena
ASTIDET, Advanced STImuli Design for Eye Tracking Easy Applicability for Ocular Movement Study in Neurology
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PC
Eye movement data
Eye Tracking
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Eye MovementsEye Movements Pan/Tilt Infrared camera (ASL)Pan/Tilt Infrared camera (ASL)
observed by
controlled by
Control Unit Control Unit Pupil, CR, Line of gazePupil, CR, Line of gaze
Eye-Tracking: Setup
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•CCD camera-IR emitting diodes with light source coaxial with optical axis
•Detection of light reflections from cornea (CR) and bright pupil.
•Real time processing of eye image sequences and extraction of pupil and CR centroids.
•Line of gaze computed using pupil and CR centroids.
• Disease causes abnormal oscillations of the eyes
• Images of stationary objects move excessively on the retina (blurring of vision and oscillopsia)
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Ocular rehabilitation
Generated scene can change with respect to the subject’s eye movements!
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Scene Viewing-FixationScene Viewing-Fixation
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References
University of Siena
A. Rufa, D. Prattichizzo, G.L. Mariottini, A. Vicino, and A. Federico, ``Advanced STImuli Design for Eye Tracking - ASTIDET: a software tool for scene generation, data acquisition and analysis in ocular movements study,'‘ in Proc. of the American Academy of Neurology Conference, San Francisco, USA, April 2004,
A. Rufa, D. Prattichizzo, G.L Mariottini, A. Patrichi, A. Vicino, and A. Federico, ``Advanced STImuli Design for Eye Tracking (ASTIDET): easy applicability for ocular movement study in neurology,'' in Atti del Simposio Italiano di Neurologia, Rome, Italy, October 2003.