Medical Robotics Application for Medical Robotics Application for Motion Emulation of ParkinsonianMotion 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

Project OutlineProject Outline

BackgroundSignificanceProject OverviewAssumptionsObjectiveProblems Faced

BackgroundBackgroundParkinson 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.

Background (Contd.)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

Background (Contd.)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.

SignificanceSignificance

Our system is the combination of medical robotics (robotic arm) and signal processing (tremor cancellation) in rehabilitation of the parkinsonian.

Signal Processing

Parkinson

Patient

Signal with tremor

Robotics

Smoothened

Movements

Signal without tremor

Project OverviewProject Overview

Analog Input Signal from Parkinsonian

Sensing DeviceProcessing the Signal using

MATLAB

Interfacing RIOS

software

Tremor Free movement by Robotic Arm

Assumptions

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

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

Flow DiagramSensing Module Reading module

Accelerometer

Computer Procesing

To Matlab

2 D- ADIS16006

SENSING DEVICE USED

2D Digital Accelerometer ADIS16006

• Dual-axis accelerometer

• SPI Digital Output Interface

• 3.0 v to 5.25 V single-supply operation

Problems Faced

IRB Permission

Resolution : Generated the data in MATLAB

Psychological tremor

Accelerometer Signal Read into Software

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

FLOW DIAGRAM

FILTERATION PROCESS

•High Pass Filter

•WFLC Filter

(Applying in MATLAB)

Signal with tremor Signal without Tremor

Processing of the Signal

Alternatives Used LABVIEW used for the test cases

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

FLOW DIAGRAM

Transforma-tion of matlab data

Application Programming Interface

Microcontroller

To RoboticArmFiltered

Signal

ST 1 ST 2

Application Programming Interface

Microcontroller

CSV File

PWM Signal

Problems Faced

Choosing alternatives for the MATLAB and RIOS interface

Resolution: Socket Programming (TCP/IP)Generation of PWM using MicrocontrollerWriting CSV files (Excel Files)

Generate the CSV file in MATLAB.

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

FLOW DIAGRAM

From Microcontroller

Tremor free movement

Lynx 5 Robotic Arm

Problems Faced

Configuration of geometry of arm Missing Servo motor Limitation in the movement of the arm (forward &

Backward)

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

Questions ???????