Robotics in restorative medicine - narod.rumedicalrobot.narod.ru/articles/PresentationMESROB.pdf ·...

Robotics in restorative medicine

Vadim GolovinMoscow state industrial university

Dedicated to the memory of Miomir Vukobratovic

Robotics in restorative medicine

Winner of the Nobel Prize Ivan Pavlov

“The preventive medicine reaches the social purposes only in case of transition from pathology medicine to medicine of health of the healthy”

Apparatus for restorative medicine

Massage chair robots

Robot for plume massage

Robot for face massage

Universal manipulation robot for restorative medicine

Block diagram of BTC system of robot for restorative medicine

Position/force control

( ) ( )tXtX 0→

( ) ( )tFtF 0→

Practical contact problems

- machining (cutting and polishing),- deburring, - assembly by insertion,- details extraction from no oriental box, - force unloading of robot links, - remote bilateral manipulators control,-manipulations on soft tissues and joints,- plowing field.

Specific massage techniques, movements, and loadings

The values of speed, strength, pressure on soft tissues developed in massage

movements

Distributed character of force loading during massage

“Displacement – force” experimental curves of ST

Geometric training

• where x, y, z are the position co-ordinates, • o, a, t are Euler’s angles of tool orientation.

T),,,,,( taozyxX =

Force training

• XF = (X, F)T

( )T,,,,, ZYXZYX MMMFFFF =

T),,,,,( taozyxX =

Characteristic with final values of a thickness of SТ and a linear zone of the

force sensor

1EK

ZF

e∆ 1∆

z∆

2EK

3EK

Model of ST deformation uniformity in time and space

TST

Fd1

Fen

n

TST

F

Fen

n

V

d2

Training Tracing

Fd1n

Fnd2=

Force training realization variants

PFC algorithms for manipulations on soft tissues

Algorithm of force control with fast approach to SТ

Transients curves of force Fz at approach speed Vz0 = 50 mm/s,

PFC algorithm with points position training and their force correction

X

Z

),( 111 zxA),( 222 zxA

),( 333 zxA ),( 444 zxA0),,(1 =ϕ zyx

0),,(2 =ϕ zyx

A1‘‘

A2‘‘

A4‘‘

A3‘‘

A2‘

A3‘

A4‘

Joint position/force control

RFXLFXL <− ),(),( 0000

Hardware solution of joint position/force control

• Force drive instead of sixth position one

Artromot

Robot trains and exercises the patient with the injured hand to eat with a spoon

Scheme of interaction of a robot hand with patient’s hand

Fp

Fr

MX

Robot handPatient`s hand

q pjq ri

X(n,s,a,p)

.

,))

,)()(T

T

pr

rpppmpppppp

prrrdrrrrrr

FFXM

F(qJFq,(qBq)(qA

FqJFq,(qBq)qA

+=

−=+

−=+

&&

&&&

&&&

.)F(qJ)q,(qB

)]q(qG)qq(Gq)[q(AF

rrT

rrrr

rrrrrrrrd

−+

+−+−+=

&

&&&& 02010

Scheme of interaction between components of ergatic system the physician- operator,

the robot, the patient

Physician

Knowledge base

PatientRobot

1 2 3 4 5 6

109

87

1112

Changes of electric skin resistance and other psychophysiological indicators at

mechanotherapy

Curve of electric skin resistance in a massage session

Robotics system for mechanotherapy with BTC on signal of electric skin resistance on

the basis of RM-01 robot

RM-01 robot with force module with spring compensator

Main robot tools for massage

KR-5

Robot rigid ball tool touches the spine model

«Paul» robot for capillary massage

There is no psychological barrier between Jack and robot

Conclusion

– The robotics for restorative medicine is perspective and it requires many interesting science investigations in theoretical and practical area.

– I invite all interested scientists to cooperate, for example, by means of international grants.

• Welcome to our robotics lab!

• Our website: www.medicalrobot.narod.ru