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0 Robotics for Rehabilitation and Medical Applications Domenico Prattichizzo Robotics & Systems Lab University of Siena

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Presentation on theme: "0 Robotics for Rehabilitation and Medical Applications Domenico Prattichizzo Robotics & Systems Lab University of Siena"— Presentation transcript:

1 0 Robotics for Rehabilitation and Medical Applications Domenico Prattichizzo Robotics & Systems Lab University of Siena Centro per la ricerca scientifica e tecnologica ITC - IRST Trento, December 2003 University of Siena

2 1 Outline Visuo-Haptic Interaction 1) Grasp Rehabilitation 2) the FeTouch Project Eye Tracking 3) ASTIDET University of Siena

3 2 Haptic Interaction ? University of Siena

4 3 Touch is very important in medicine Increasing telepresence through video-haptic interfaces HAPTIC interfaces from Greek haptesthai : to touch University of Siena

5 4 Anthromorphic Robot Arm (kinematics) sensors to measure end-tip position actuators to apply end-tip force University of Siena

6 5 measure finger positions get finger position compare with the virtual obj. (collision detection) if the hand-avatar is inside, apply a force … Haptic Interface Principle University of Siena

7 6 Ungrounded Haptic Interfaces joint angles are measured and forces applied relative to mount point on the body Cybergrasp by Immersion inc. University of Siena

8 7 VR Haptic Interface Visual Interface Visio-Haptic Interaction bidirectional flow University of Siena

9 8 Outline Visuo-Haptic Interaction 1) Grasp Rehabilitation 2) the FeTouch Project Eye Tracking 3) ASTIDET University of Siena

10 9 Grasp Rehabilitation University of Siena & University Vita-Salute San-Raffaele Other partners Service de Reeducation, Hopitaux Universitaires, Switzerland Institut National de la Sante et de la Recherche Medicale, France Institut Guttmann, Spain FCS Control Systems B.V, Netherlands University of Siena

11 10 Grasp rehabilitation goals 1) Rehabilitation units equipped with robotic systems helping patients with motor deficits to relearn basic manual skills such as to open doors, use forks and knives, drink a glass of water, or button a shirt. 2) Virtual Reality Environments that allow pre-surgery patients to face the expected deficits after a surgical intervention, by mimicking its effects on fine manual skills. University of Siena

12 11 Robotic upper-limb rehabilitation HapticMasterTM with the Endo-Ring (project GENTLE/S). University of Siena

13 12 Upper-limb MIT MIT-MANUS (1990s) - The robot provided guidance, assistance or resistance while the patient executed a pointing movement. Robot-aided patients improved more than the control patients. The gains obtained with this technique remain significant after 3 years. {{{{{{{{{{{{{{{{{{{{{{ Burke Hospital-MIT group Palo Alto Veteran's Affairs Hospital / Stanford group Spaulding Rehabilitation Hospital (1999) Baltimore VA Hospital (2000) University of Siena

14 13 Upper-limb rehabilitation in Europe MULOS Motorised Upper Limb Orthotic System is a 5 dofs robot mounted on a wheel chair that can move the joints of the upper limb under joystick control. REHAROB This project used industrial robots to passively manipulate the arm of patients. GENTLE project … University of Siena

15 14 Robotic Siena Grasp rehabilitation Simpler robotic devices University of Siena

16 15 Robotic Siena/Milan The Grip Analyzer. The Grip Analyzer is essentially a real object instrumented with several six degree- of-freedom (DOF) transducers for measuring contact forces. University of Siena

17 16 Robotic Reachin ­ The Virtual Grasping Environment. Simulation of a double point contact interaction using two degrees of freedom devices. ReachinTM setup University of Siena

18 17 Robotic Siena ­ Multi finger haptic interaction. Stability analysis Performance evaluation Deformable objects Stabilizing a multi contact haptic intercation: Problem overview University of Siena

19 18 References ­ University of Siena D.Prattichizzo, J.K. Salisbury, and A. Bicchi, Contact and grasp robustness measures: Analysis and experiments. in Experimental Robotics IV}, Lecture Notes in Control and Information Sciences, pages Springer-Verlag, A.Bicchi and D.Prattichizzo, in \Analysis and optimization of tendinous actuation for biomorphically designed robotic systems\ in Robotica 18:23--31, Workshop ``Multi-point interaction: from robotic hands to haptic interfaces' organized by F. Barbagli, D. Prattichizzo and K. Salisbury at the IEEE International Conference on Robotics and Automation}, 2004, (submitted). To be published on a Springer Verlag Serie. F. Barbagli, D. Prattichizzo, J.K. Salisbury, ``Multi-contact haptic interaction with deformable objects: amulti-rate approach'' in ISRR 2003, the 11th International Symposium of Robotics Research, October 19-22, 2003, Siena, Italy. To be published on a Springer Verlag Serie.

20 19 Outline Visuo-Haptic Interaction 1) Grasp Rehabilitation 2) the FeTouch Project Eye Tracking 3) ASTIDET University of Siena

21 The FeTouch Siena Robotics & Systems Lab Dip. di Pediatria, Ostetricia e Medicina della Riproduzione University of Siena

22 21 training & simulation, training & simulation, for: – diagnosis – tissue palpation Minimally Invasive Surgery Minimally Invasive Surgery (MIS) – training through simulation – the real thing: fly by wire to improve interaction telesurgery demonstrated on a human in 2002 (at the EITS in Strasburg from New York) Medical Applications University of Siena

23 22 Siemens Sonoline Elegra Dipartimento di Pediatria, Ostetricia e Medicina della Riproduzione. Isosurface Vision (25fps) Haptic Interface (1KHz) (tactile rendering) Confluence of Ultrasound and Haptic Interfaces real patient data University of Siena

24 23 University of Siena The FeTouch System

25 24 Direct Volume Rendering (Ray-Casting) Isosuphase Extraction (Marching Cubes) Volume and Surface Rendering Marching Cubes (triangles) NEW ! (geometric) University of Siena

26 25 Ultrasound Image Segmentation Segmentation and Surface Extraction Marching Cubes (triangles) University of Siena

27 26 Haptic Principle 1.[Avatar] Measure hand position (encoders) 2. [Collision Detection] Localize the avatar in VR 3. [Force Rendering] Apply force to the operator(motor) 4. [Visual Feedback] Modify VR (deformable objects) Problems fast force feedback loop slow deformable object dynamics … Internal organ modeling University of Siena

28 27 Proxy and force rendering University of Siena

29 28 US3D:US3DTouch: Fetus face (baby.vtk) VIDEOVIDEO Heartbeat US3D & US3DTouch Session to know more University of Siena

30 29 Neonatology in cooperation with University of Siena

31 30 References ­ University of Siena B. La Torre, D. Prattichizzo, F. Barbagli, and A. Vicino.``The fetouch project, a tool for augmenting the fetus perception.\ in The Inter. Journal of Medical Robotics and Compurer Assisted Surgery, Jan B.~la~Torre, D.~Prattichizzo, F.~Barbagli, and A.~Vicino. The fetouch project.\ in Proc. IEEE Int. Conf. on Robotics and Automation, B. La Torre, D. Prattichizzo, F. Barbagli, and A.Vicino, ``The fetouch system: Visual-haptic rendering of fetuses.\ in Proc. Euro{Haptics 2003, Dublin, Ireland, 6-9 July 2003.

32 31 Outline Visuo-Haptic Interaction 1) Grasp Rehabilitation 2) the FeTouch Project Eye Tracking 3) ASTIDET University of Siena

33 Robotics & Systems Lab Dep. of Neurological and Behavioural Sciences University of Siena ASTIDET, Advanced STImuli Design for Eye Tracking Easy Applicability for Ocular Movement Study in Neurology

34 33 PC Eye movement data Eye Tracking University of Siena

35 34 Eye Movements Pan/Tilt Infrared camera (ASL) Pan/Tilt Infrared camera (ASL) observed by controlled by Control Unit Control Unit Pupil, CR, Line of gaze Pupil, CR, Line of gaze Eye-Tracking: Setup University of Siena

36 35 CCD camera-IR emitting diodes with light source coaxial with optical axis Detection of light reflections from cornea (CR) and bright pupil. Real time processing of eye image sequences and extraction of pupil and CR centroids. Line of gaze computed using pupil and CR centroids. Infrared Video-Based Eye-Tracker University of Siena

37 36 ASTIDET © Stimulus generator University of Siena

38 37 Experimental Results: Saccades Study Tg=20cs Ta=180cs 12 ° University of Siena

39 38 horizontal movement vertical movement University of Siena

40 39 Eye tracking for medical diagnosis Disease causes abnormal oscillations of the eyes Images of stationary objects move excessively on the retina (blurring of vision and oscillopsia) University of Siena

41 40 Ocular rehabilitation Generated scene can change with respect to the subjects eye movements! University of Siena

42 41 Scene Viewing-Fixation

43 42 References ­ University of Siena A. Rufa, D. Prattichizzo, G.L. Mariottini, A. Vicino, and A. Federico, ``Advanced STImuli Design for Eye Tracking - ASTIDET: a software tool for scene generation, data acquisition and analysis in ocular movements study,' in Proc. of the American Academy of Neurology Conference, San Francisco, USA, April 2004, A. Rufa, D. Prattichizzo, G.L Mariottini, A. Patrichi, A. Vicino, and A. Federico, ``Advanced STImuli Design for Eye Tracking (ASTIDET): easy applicability for ocular movement study in neurology,'' in Atti del Simposio Italiano di Neurologia, Rome, Italy, October 2003.

44 43 Concluding Visuo-Haptic Interaction Grasp Rehabilitation the FeTouch Project Eye Tracking ASTIDET Task Driven Robotic Devices Towards Simplicity (home tools) Modularity rslab.dii.unisi.it University of Siena


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