Robotic Prosthesis Alignment System: RoboPAL

机器人假肢对准系统：RoboPAL

• 批准号: 7272157
• 负责人: David A Boone
• 金额: $ 4.7万
• 依托单位: CYMA CORPORATION
• 依托单位国家: 美国
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-08-01 至 2007-09-29
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7272157
• 关键词: Robotic; Prosthesis; Alignment; System; RoboPAL

DESCRIPTION (provided by applicant): Positioning of the socket relative to the foot of a lower limb prosthesis is critical to comfort, function, and health of the residual limb and intact musculoskeletal system. Achieving proper alignment is currently a time- consuming and imprecise art that requires considerable skill and effort on the part of the prosthetist, and permits no direct control by the patient. The proposed project will significantly advance the alignment process. The objective of the proposed work is to create a Robotic Prosthetic Alignment system (RoboPAL) that enables the alignment of lower limb prostheses to be rapidly adjusted by robotic control. The system will allow both the prosthetist and the patient to specify alignment changes via a hand-held control unit communicating wirelessly with an actuator unit integrated with standard modular components. The technology will permit the prosthetist to concentrate on "the big picture" (i.e. eliminate time on the floor with wrenches in hand), and will enable the patient to participate more fully by directly controlling adjustments. In addition, the system will be capable of accepting input from the Computerized Prosthetic Alignment System (ComPAS), a separate technology that measures loads transmitted through the prosthesis, calculates magnitude and direction of misalignment, and outputs direction and magnitude of advised alignment modifications. When RoboPAL and ComPAS are used together, the result will be an auto-aligning limb. The system also opens the door for telemedicine applications - adjustments directly controlled by experienced practitioners observing patients via web-streamed video in areas without adequate prosthetic care. In the proposed work, we will design and build the prototype system, evaluate performance and feasibility with human subjects, and review the results with the subjects and colleagues in clinical prosthetics. This project will advance the important process of aligning the components of lower limb prostheses. The technology will allow the prosthetist to adjust the alignment quickly, easily, and in a more well-controlled manner than is currently possible. It will also allow the patient to directly participate in aligning the limb, and will make it possible for alignment to be accomplished remotely through a telemedicine paradigm.

描述（由申请人提供）：插座相对于下肢假体的脚的定位对于残留肢体和完整的肌肉骨骼系统的舒适，功能和健康至关重要。目前，实现适当的一致性是一种耗时和不精确的艺术，需要假肢主义者的技能和精力，并且不允许患者直接控制。拟议的项目将大大提高对齐过程。拟议工作的目的是建立一个机器人的假体比对系统（Robopal），该系统使下肢假体的比对可以通过机器人控制迅速调节。该系统将允许假肢和患者通过手持控制单元与与标准模块化组件集成的执行单元无线通信来指定对齐单元的对齐变化。该技术将允许假肢专注于“大局”（即用扳手消除地板上的时间），并将通过直接控制调整来使患者更加全面地参与。此外，该系统将能够接受计算机化假肢系统（Compas）的输入，该系统是一种单独的技术，该技术测量通过假体传播的负载，计算未对准的幅度和方向，并输出建议对准修改的方向和大小。当将Robopal和Compas一起使用时，结果将是一个自动对准的肢体。该系统还为远程医疗应用打开了大门 - 经验丰富的从业者通过网络流视频在没有足够的假体护理的地区观察患者的经验医生直接控制了调整。在拟议的工作中，我们将设计和构建原型系统，评估人类受试者的绩效和可行性，并在临床假体中与受试者和同事一起回顾结果。该项目将推进将下肢假体组成部分保持一致的重要过程。该技术将使假肢能够以比目前可能的方式快速，轻松地调整对齐方式。它还将允许患者直接参与肢体对齐，并可以通过远程医疗范式远程完成对齐。