Download - Parkinson-Final.ppt - Wayne State University
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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
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Project OutlineProject Outline
BackgroundSignificanceProject OverviewAssumptionsObjectiveProblems Faced
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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.
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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
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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.
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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
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Project OverviewProject Overview
Analog Input Signal from Parkinsonian
Sensing DeviceProcessing the Signal using
MATLAB
Interfacing RIOS
software
Tremor Free movement by Robotic Arm
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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 DiagramSensing Module Reading module
Accelerometer
Computer Procesing
To Matlab
2 D- ADIS16006
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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
FILTERATION PROCESS
•High Pass Filter
•WFLC Filter
(Applying in MATLAB)
Signal with tremor Signal without Tremor
Processing of the Signal
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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
Transforma-tion of matlab data
Application Programming Interface
Microcontroller
To RoboticArmFiltered
Signal
ST 1 ST 2
Application Programming Interface
Microcontroller
CSV File
PWM Signal
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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.
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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 ???????