Medical Robotics Application for Motion Emulation of Parkinsonian

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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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Project Outline

• Background
• Significance
• Project Overview
• Assumptions
• Objective
• Problems Faced

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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.

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Background (Contd.)

• Type of Tremor
• Resting Tremor
• Postural Tremor
• Precision Tremor
• Typical tremor found in Parkinsons disease
  Person is 3.71 to 4.34 Hz

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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.

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Significance

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

Parkinson Patient
Smoothened Movements
Signal Processing
Robotics
Signal with tremor
Signal without tremor
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Project Overview
Processing the Signal using MATLAB
Analog Input Signal from Parkinsonian
Sensing Device
Tremor Free movement by Robotic Arm
Interfacing RIOS software
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Assumptions

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

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• 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

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Flow Diagram
Sensing Module
Reading module
To Matlab
2 D- ADIS16006
Accelerometer
Computer Procesing
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SENSING DEVICE USED

• 2D Digital Accelerometer ADIS16006

• Dual-axis accelerometer
• SPI Digital Output Interface
• 3.0 v to 5.25 V single-supply operation

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Problems Faced

• IRB Permission
• Resolution Generated the data in MATLAB
• Psychological tremor

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Accelerometer Signal Read into Software
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• 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

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FLOW DIAGRAM
Processing of the Signal
FILTERATION PROCESS

• High Pass Filter
• WFLC Filter

Signal without Tremor
Signal with tremor
(Applying in MATLAB)
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Alternatives Used

• LABVIEW used for the test cases

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• 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

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FLOW DIAGRAM

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

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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
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FLOW DIAGRAM
From Microcontroller
Tremor free movement
Lynx 5 Robotic Arm
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Problems Faced

• Configuration of geometry of arm
• Missing Servo motor
• Limitation in the movement of the arm (forward
  Backward)

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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

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Questions ???????