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）： 插座相对于下肢假肢足部的定位对于残肢和完整肌肉骨骼系统的舒适性、功能和健康至关重要。目前，实现正确的对准是一项耗时且不精确的技术，需要假肢修复师相当多的技能和努力，并且不允许患者直接控制。拟议的项目将显着推进协调进程。拟议工作的目标是创建一个机器人假肢对准系统（RoboPAL），使下肢假肢的对准能够通过机器人控制快速调整。该系统将允许假肢师和患者通过手持控制单元与集成了标准模块化组件的执行器单元无线通信来指定对准变化。该技术将使假肢师能够专注于“大局”（即消除在地板上手持扳手的时间），并使患者能够通过直接控制调整来更充分地参与。此外，该系统将能够接受来自计算机化假肢对准系统（ComPAS）的输入，这是一种单独的技术，可以测量通过假肢传输的负载，计算错位的幅度和方向，并输出建议的对准修改的方向和幅度。当 RoboPAL 和 ComPAS 一起使用时，结果将是自动对齐肢体。该系统还为远程医疗应用打开了大门——由经验丰富的从业者直接控制调整，在没有足够假肢护理的地区通过网络流视频观察患者。在拟议的工作中，我们将设计和构建原型系统，评估人体受试者的性能和可行性，并与临床假肢受试者和同事一起审查结果。该项目将推进下肢假肢部件对齐的重要进程。该技术将使假肢师能够快速、轻松地调整对齐方式，并且比目前的方式更容易控制。它还将允许患者直接参与肢体的对准，并使通过远程医疗范例远程完成对准成为可能。