Biomedical Engineering Design - Lecture 6. Orthoses
-
Upload
tu-delft-opencourseware -
Category
Education
-
view
1.216 -
download
6
Transcript of Biomedical Engineering Design - Lecture 6. Orthoses
Vermelding onderdeel organisatie
OrthosesCarrying Orthosis, Elbow Orthosis, ARMON
Wb2308 Biomedical Engineering Design
Faculty of Mechanical, Maritime, and Materials Engineering (3mE)Department of BioMechanical Engineering (BMechE)
Just Herder
November 14, 2005 2
Overview
• Carrying Orthosis• Elbow Orthosis• ARMON
November 14, 2005 3
Design guidelines
• Cosmetics: appearance, natural usage• Comfort: lightweight, ‘breathing’• Control: low mental and physical load
November 14, 2005 4
1. No shear forces!
November 14, 2005 5
2. Distance between interfaces!
November 14, 2005 6
3. Make interfaces adaptive!
November 14, 2005 7
4. Perforate the interfaces!
November 14, 2005 8
Design perspectives
• Motion directed design: starting with desired motion (or positions), add actuators later.
• Force directed design (FDD): start with desired forces (or force distributions), take care about motion later.
Same mechanics, different design perspective!
November 14, 2005 9
Example 1
Given situation
Desired situation
November 14, 2005 10
Example 1Solution according to motion directed design
November 14, 2005 11
Example 1Solution according to force directed design
Equilibrium through addition of appropriate forces
November 14, 2005 12
Example 1Solution according to force directed design
Equilibrium through addition of appropriate forces
November 14, 2005 13
Example 1Solution according to force directed design
Equilibrium through addition of appropriate forces
November 14, 2005 14
Example 1Solution according to force directed design
Equilibrium through addition of appropriate forces
November 14, 2005 15
Example 1Solution according to force directed design
Equilibrium through addition of appropriate forces
November 14, 2005 16
Example 1
November 14, 2005 17
Example 1Solution according to force directed design
Equilibrium through addition of appropriate forces
November 14, 2005 18
Example 1Solution according to force directed design
Continuous equilibrium through static balancing
November 14, 2005 19
Conclusion example 1
• Start with desired forces or force distribution• Make equilibrium with other forces • Select profitable force application points• Apply guidelines• Connect application points with minimal material• If mobility desired: static balancing
November 14, 2005 20
Shoulder orthosisa.k.a WILMER Carrying Orthosis
November 14, 2005 21
Shoulder orthosisa.k.a WILMER Carrying Orthosis
Present solutionsdo not work
November 14, 2005 22
Shoulder orthosisa.k.a WILMER Carrying Orthosis
November 14, 2005 23
Shoulder orthosisa.k.a WILMER Carrying Orthosis
Result:
Flail arm
Subluxation
November 14, 2005 24
Shoulder orthosisa.k.a WILMER Carrying Orthosis
November 14, 2005 25
Shoulder orthosisa.k.a WILMER Carrying Orthosis
Cool 1989
November 14, 2005 26
Shoulder orthosisa.k.a WILMER Carrying Orthosis
November 14, 2005 27
Shoulder orthosisa.k.a WILMER Carrying Orthosis
November 14, 2005 28
Shoulder orthosisa.k.a WILMER Carrying Orthosis
November 14, 2005 29
Shoulder orthosisa.k.a WILMER Carrying Orthosis
Made out of stainless steel tube
November 14, 2005 30
Shoulder orthosisa.k.a WILMER Carrying Orthosis
• Neutralization of subluxation
• Suppression of oedema
• Reduced pain
• Protection
• Allows passive motion
• Low mass
• Comfortable
• Invisible
• Easy donning and doffing
November 14, 2005 31
Carrying orthosis
November 14, 2005 32
Elbow Orthosis
November 14, 2005 33
Elbow Orthosis
State of the Art…
November 14, 2005 34
Use of springs
Mass-to-mass (counterweight)
Mass-to-spring (counterspring)
November 14, 2005 35
Elbow Orthosis
November 14, 2005 36
Elbow Orthosis
November 14, 2005 37
Elbow Orthosis
November 14, 2005 38
Elbow Orthosis
G
F
F
G
November 14, 2005 39
Elbow Orthosis
November 14, 2005 40
Elbow Orthosis
November 14, 2005 41
Elbow Orthosis
November 14, 2005 42
Elbow Orthosis
November 14, 2005 43
Elbow Orthosis
• Restores (some) elbow function• Comfortable• Low mass• Invisible• Cosmetically pleasing• Easy donning and doffing• Straightforward fitting procedure• Automatic locking device
November 14, 2005 44
Elbow Orthosis
November 14, 2005 45
Anglepoise (Carwardine, 1934)
November 14, 2005 46
Example 2: Neuromuscular diseases
600 variants identifiedMuscular Dystrophies (Duchenne DMD)Motor Neuron Diseases (Spinal Muscular Atrophy SMA)Inflammatory MyopathiesNeuromuscular Junction DiseasesEndocrine AbnormalitiesPeripheral Nerve DiseasesMetabolic Diseases of Muscle
Over 1 mln. people affected in USASMA alone 12 .. 40 per mln of the adult populationNeonatal from 40 per mln (USA) to 200 per mln (SA)
November 14, 2005 47
Spinal Muscular Atrophy (SMA)
Inherited
Affects motor neurons voluntary muscles
Senses not affected, normal or above-average intellect
Incurable
Progressive
November 14, 2005 48
Spinal Muscular Atrophy (SMA)
Hips Trunk
Respiration
November 14, 2005 49
Spinal Muscular Atrophy (SMA)
Hips Trunk
Respiration
Legs
Shoulders
November 14, 2005 50
Spinal Muscular Atrophy (SMA)
Hips Trunk
Respiration
NeckElbows
Legs
Shoulders
November 14, 2005 51
Two of our volunteers!Academic degree
Head support
Scoliosis, A had surgery, B not
Wheelchair bound
Arm on armrest
Good sense of touch
Slight deformationsin hands
A B
November 14, 2005 52
Design CriteriaSystem preference
1: Separate Manipulators
2: PoweredOrthoses
3: PassiveOrthoses
Weston
ManusARM
MULOS WREXFocal TOP
UniversalRadialGolden
Arm
November 14, 2005 53
Available assistive devices
1. Rehabilitation robotic manipulators
No use of hand functionControl by joystick
TNO MANUS
November 14, 2005 54
Available assistive devices
2. Powered orthotic devices
Use of hand functionControl by joystick
November 14, 2005 55
Available assistive devices
3. Passive orthotic devices: static balance
Use of hand functionNo separate control
FOCAL
Universal Healthcare Systems
November 14, 2005 56
Design CriteriaBased on home visits
“Your page turner is ready…”
• Independence• Personal Hygiene• Cooking, eating• Computer work
• Social activities• Have dinner• Shake hands
• Trunk balance• Arm rest essential
• Inconspicuous!
© Contact (VSN)
November 14, 2005 57
Clinically driven approachRange of motion for desired activities
EP
EA
EP
EA
Elevation plane
Elevation angle
FP
FA
FP
FA
Flexion plane
Flexion angle
EA and FP most important
0 .. 135 deg
0 .. 90 deg
0 .. 90 deg
0 .. 150 deg
November 14, 2005 58
Springs and masses
rL
mka
k1
a1
k2a2
r2
r1
mgL=rka r1k1a1= r2k2a2
November 14, 2005 59
Conception framework
Parameter variation
Rotation
Shift
Kinematic inversion
Resultant spring
Res. spring element
Similarity mass-spring
k1a1r1 = k2a2r2
k1a1 = k2a2kres = Σki
mg = ka
November 14, 2005 60
Herder and Tuijthof (1998)
Anthropomobile balanced arm
November 14, 2005 61
Herder and Tuijthof (1998)
Anthropomobile balanced arm
November 14, 2005 62
Herder and Tuijthof (1998)
Anthropomobile balanced arm
Desired: not fixed
November 14, 2005 63
Herder and Tuijthof (1998)
Anthropomobile balanced arm
November 14, 2005 64
Herder and Tuijthof (1998)
Anthropomobile balanced arm
Superposition: degrees of freedom associated withlower spring are balanced
mL1=r1k1a1
November 14, 2005 65
Herder and Tuijthof (1998)
Anthropomobile balanced arm
Superposition: additionaldegree of freedom
November 14, 2005 66
Herder and Tuijthof (1998)
Anthropomobile balanced arm
mL2=r2k2a2
mL1=r1k1a1
November 14, 2005 67
Herder and Tuijthof (1998)
Anthropomobile balanced arm
Four degrees of freedom
Two zero-free-length springsfor perfect static balance
November 14, 2005 68
Anthropomobile balanced arm
Variable stiffness control
McKibben actuators
Statically balanced
Inherently safe
November 14, 2005 69
Attached towheelchair
Attached to the user’s trunk
Hybrid form withadditional segment
Insufficientmobility
Respitatoryhamper
Excessivecomplexity
Conceptual designMechanism alongside the user’s arm
November 14, 2005 70
Conceptual designForce analysis revisited
November 14, 2005 71
m g1
Conceptual designForce analysis revisited
November 14, 2005 72
m g1
FsFe
Fe and Fs constant Fs by shoulder
Conceptual designForce analysis revisited
November 14, 2005 73
Fem g2
Conceptual designForce analysis revisited
November 14, 2005 74
Fem g2
Fccm
CCM
Fe and m2g constantFccm for complete arm
Conceptual designForce analysis revisited
November 14, 2005 75
BiomechanicsChange of Design Paradigm
Balancing 2-link 4DoF arm Balancing a point mass!
Fccm
CCM
November 14, 2005 76
No longer alongside arm Arm rest maintainedInconspicuous
Conceptual designBased on CCM principle
AnglepoiseDesk Lamp (Carwardine, 1934)
November 14, 2005 77
Fccm
Single fittingOnly normal forces
Conceptual designBased on CCM principle
No longer alongside arm Arm rest maintainedInconspicuous
November 14, 2005 78
mL2=r2k2a2
mL1=r1k1a1
Conceptual designWorking principle
November 14, 2005 79Herder, Tomazio, and Cardoso, 2001
Patent pending
Anti-gravity system rather than pick-and-place robot
Conceptual designSide view
Herder et al.
November 14, 2005 80Herder, Tomazio, Cardoso, Gil and Koopman, 2002
Herder et al.
ARMON (Mark I) Preliminary clinical testing
Patent pending
November 14, 2005 81
ARMON (Mark I) Patient performing important ADL with device
Herder, Tomazio, Cardoso, Gil and Koopman, 2002
Patent pending
Sergio Tomazio and Luis Cardoso
recieving the Premio Engenheiro
Jaime Philipeaward
JorineKoopman
Ms B.
Sergio Luis
November 14, 2005 82
Conceptual designFrontal view
November 14, 2005 83
Preliminary clinical testingMoving arm sideways
Herder, Tomazio, Cardoso, Gil and Koopman, 2002
November 14, 2005 84
Preliminary clinical testingMoving arm sideways
Herder, Tomazio, Cardoso, Gil and Koopman, 2002
November 14, 2005 85
Preliminary clinical testingInterference with fixed arm rest!
Herder, Tomazio, Cardoso, Gil and Koopman, 2002
November 14, 2005 86
Preliminary clinical testingFitting unbalance!
CCM
Herder, Tomazio, Cardoso, Gil and Koopman, 2002
November 14, 2005 87
Preliminary clinical testingWhen very weak: friction!
Herder, Tomazio, Cardoso, Gil and Koopman, 2002
November 14, 2005 88
Conclusion Arm Support
Achievements:• CCM principle works well• Aesthetics and control highly appreciated
Problems to be solved:• Interference with fixed arm rest• Fitting unbalance• Friction
November 14, 2005 89
ARMON (Mark II)Team: 2 ME and 2 IDE students
( ) 0det ==
JJqx
Sabine Gal (IDE)
Wendy van Stralen (ME)
Tonko Antonides (IDE)
Pieter Lucieer (ME)
Herder, Stralen, Lucieer, Gal and Antonides, 2004
November 14, 2005 90
Wendy (ME)
ARMON (Mark II)Complete device and close up of fitting
Herder, Stralen, Lucieer, Gal and Antonides, 2004
Patent pending
November 14, 2005 91
ARMON (Mark II)Patients with the device
Herder, Stralen, Lucieer, Gal and Antonides, 2004
Patent pending
November 14, 2005 92
ARMON (Mark III)Testing of pre-production prototype
Herder, Vrijlandt, Antonides, Cloosterman, 2005
Patent pending
Niels Vrijlandt and Tonko Antonides at work
Ms B.
November 14, 2005 93
Patent pending
ARMON (Mark III)First commercial product
Herder, Vrijlandt, Antonides, Cloosterman, 2005
www.microgravityproducts.com
November 14, 2005 94
Development of ARMON
• Mark I: • Proof of novel CCM balancing principle• Single fitting and aesthetics highly
appreciated
• Mark II: • Improved range of motion, no interference• Actively adjustable gravity balancing• Improved appearance and fitting design
• Mark III: • Further improved balancing quality and
reduced friction• Reduced box volume, general sophistication
November 14, 2005 95
Thank you for your attention
Eelke drinking a glass of water with ARMON Mark II
November 14, 2005 96
Acknowledgment
• MSc Students: Sergio Tomazio, Luis Cardoso, JorineKoopman, Clara Gil Guerrero, Wendy van Stralen, Pieter Lucieer, Sabine Gal, Tonko Antonides
• Physician: Imelda de Groot MD• Patients: In total over 12 patients tried the device• Patient organization: Dutch Neuromuscular Disease
Association (VSN)• Company: Microgravity Products (MGP), Niels
Vrijlandt, Tonko Antonides, Marijn Cloosterman, formanufacturing the prototypes and images.