Transcript Parkinson-Final - Electrical and Computer Engineering

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
Project Outline

Background
 Significance
 Project Overview
 Assumptions
 Objective
 Problems Faced
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.




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.)

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.
Significance

Our system is the combination of medical robotics
(robotic arm) and signal processing (tremor
cancellation) in rehabilitation of the parkinsonian.
Parkinson
Smoothened
Patient
Movements
Signal
Processing
Signal with tremor
Robotics
Signal without tremor
Project Overview
Analog Input
Signal from
Parkinsonian
Interfacing
RIOS
software
Sensing Device
Processing the
Signal using
MATLAB
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 Diagram
Sensing Module
Reading module
To
Matlab
2 DADIS16006
Accelerometer
Computer Procesing
SENSING DEVICE USED

2D Digital Accelerometer ADIS16006
• Dual-axis accelerometer
• SPI Digital Output
Interface
• 3.0 v to 5.25 V singlesupply 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
Processing of the Signal
FILTERATION PROCESS
•High Pass Filter
Signal with tremor
•WFLC Filter
(Applying in
MATLAB)
Signal without Tremor
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
ST 2
ST 1
Filtered
Signal
Transforma
-tion of
matlab data
To
Robotic
Arm
CSV File
Microcontroller
PWM Signal
Application
Programming
Interface
Microcontroller
Application
Programming
Interface
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.
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 ???????