Robotic massage |
||
| Main | News | Materials & articles | Video | Our proposals | Contacts | ||||||||||||
|
Main News Materials & articles Video Our Proposals Contacts 
|
||
|
Mechatronic approach to designing of medical robotics
Control of mechanical systems takes place in medical techniques when an execution part of the system performs movements along the controlled trajectory. The movement control may be the program one, adaptive one with self adjusting one according to environment parameters or artificial intelligence one. Nowadays various facilities of controlled mechanics in surgery, restorative medicine and rehabilitation are known in Russia and in other countries [1]. Some of them are listed below.
The main feature of these systems is the usage of mechanical movements which is the most native for a contact with human being. The controlled parameters are movement characteristics – space movements, velocities, accelerations, forces and torques. Today mechatronics is the effective way of mechanics development in various fields of science and technics. Mechatronics studies the synergetic union of exact mechanics with electronic, electromechanic and computer components for the purpose of designing and manufacturing qualitatively new modules, systems, machines with intelligent control [9]. A synergetic character of elements integration in mechatronical systems is emphasized in this definition. Besides the components not only supplement each other, but also give qualitatively new properties according to nonlinear dynamics principles [10]. The interaction between technics and human being causes the necessity of interface development. Measured biomedical parameters are used for control, including automatic real time control. Nanotechnologies allow integrating small-sized biocomponents with mechanical, electronic and computer components. Biomorphical machinery is developing on a base of biomechanical and bio-cybernetics achievements. The decreasing of perception thresholds of environment is obliged to appearance of biorobots designed with biohybrid technologies [11]. Necessity of synergetic integration of mentioned components with biocomponents appears in industry. Bio-components are integrated not only with mechanical components as in biomechanics, but also with electronic (bio-electronics) and computer ones. On the one hand, mechatronics uses properties of its components. For example, one of the principles of cybernetics is unity of control methods in technical and biological systems [12]. On the other hand, biomechatronics causes the appearance of systems with completely new properties. The qualitatively new systems appear in biosystems using the feedback principle. The Ernst’s Hand [13], the Kobrinsky’s Hand, developed in Machinery Institute in Russia are the harbingers of bioelectrical prosthesises, which can not only replace but also increase human possibilities. The biological feedback, using biomedical parameters of patient, can correct the patient’s condition either by means of his strong-willed efforts or his physiotherapy parameters. For example, measuring systems with biological feedback can register the key reactions on stress: electrical skin resistance, muscular efforts, extremities temperature, frequency and depth of breath, pulse rate, brain activity. Controlling these reactions or strong-willed efforts by the consciousness or by physiotherapy parameters (i.e. massage parameters), the regulation possibility for tonic of sympathetic and parasympathetic systems appears. The mechatronic approach is especially effective in designing of bioelectrical prosthesises and medical robots to solve problems of compactness, reliability and multifunctionality using rational structure-functional system organization. That’s why mechatronics, as a methodological approach, increase optimism in development of new medical devices and methods including prosthesises and medical robotics fields. References
|
||
