1
|
Devin KM, Tang J, Hamilton AR, Moser D, Jiang L. Assessment of 3D printed mechanical metamaterials for prosthetic liners. Proc Inst Mech Eng H 2024; 238:348-357. [PMID: 38279687 PMCID: PMC10941651 DOI: 10.1177/09544119231225529] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/13/2023] [Accepted: 12/21/2023] [Indexed: 01/28/2024]
Abstract
This study focuses on novel design and evaluation of Elastic 50A (EL50) mechanical metamaterials with open-cell patterns for its potential application to lower limb residuum/socket interfaces, specifically that of a transtibial (TT) amputee. Mechanical characteristics, that is, effective Young's modulus (E), was tuned by altering metamaterial porosity, which was experimentally verified. Specifically, pore radius of the unit cell was varied to achieve a range of E-values (0.05-1.71 MPa) for these 3D printed metamaterials. Finite Element Analysis (FEA) was conducted to evaluate pressure distribution across key load-bearing anatomical sites of a TT residuum. Using designed metamaterials for homogeneous liners, pressure profiles were studied and compared with a silicone liner case. Additionally, a custom metamaterial liner was designed by assigning appropriate metamaterials to four load-sensitive and tolerant anatomical sites of the TT residuum. The results suggest that lowest pressure variation (PV), as a measure of pressure distribution levels and potential comfort for amputees, was achieved by the custom metamaterial liner compared to any of the homogeneous liners included in this study. It is envisaged that this work may aid future design and development of custom liners using now commonly available 3D printing technologies and available elastomer materials to maximise comfort, tissue safety and overall rehabilitation outcomes for lower limb amputees.
Collapse
Affiliation(s)
- Kirstie M Devin
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - Jinghua Tang
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - Andrew R Hamilton
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - David Moser
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - Liudi Jiang
- School of Engineering, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| |
Collapse
|
2
|
Ballen-Moreno F, Langlois K, Ferrentino P, Brancart J, Van Vlerken C, Vanderborght B, Buls N, Verstraten T. Robotically Aided Method to Characterise the Soft Tissue Interaction with Wearable Robots. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941219 DOI: 10.1109/icorr58425.2023.10304757] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Wearable robots are widely used to enhance, support or assist humans in different tasks. To accomplish this scope, the interaction between the human body and the device should be comfortable, smooth, high-efficient to transfer forces, and safe for the user. Nevertheless, the pressure and shear stress related to these goals have been overlooked or partially analysed. In this sense, it is crucial to understand the soft tissue response through the in-vivo characterisation of multiple areas of the human body. In fact, soft tissue characterisation plays an essential role in calculating the pressure distribution and shear stress. However, current approaches to estimating soft tissue properties are unsuitable for deployment with multiple human body areas. Hence, this work presents a novel methodology to ease the characterisation of soft tissues using a robotic arm and a 3D superficial scanner. First, the robotic arm is validated by comparing the tensile and compression tests to the indentation tests done by the robot, estimating a 10,4% error. The preliminary experimental tests present the hyperelastic model which fit two adjacent zones of the forearm. This analysis can be extended in several ways, such as: calculating the shear stress, the energy losses or deformations caused by the interaction, and investigating the pressure distribution of different types of physical interfaces.
Collapse
|
3
|
Paternò L, Lorenzon L. Soft robotics in wearable and implantable medical applications: Translational challenges and future outlooks. Front Robot AI 2023; 10:1075634. [PMID: 36845334 PMCID: PMC9945115 DOI: 10.3389/frobt.2023.1075634] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/20/2022] [Accepted: 01/17/2023] [Indexed: 02/11/2023] Open
Abstract
This work explores the recent research conducted towards the development of novel classes of devices in wearable and implantable medical applications allowed by the introduction of the soft robotics approach. In the medical field, the need for materials with mechanical properties similar to biological tissues is one of the first considerations that arises to improve comfort and safety in the physical interaction with the human body. Thus, soft robotic devices are expected to be able of accomplishing tasks no traditional rigid systems can do. In this paper, we describe future perspectives and possible routes to address scientific and clinical issues still hampering the accomplishment of ideal solutions in clinical practice.
Collapse
Affiliation(s)
- Linda Paternò
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy,*Correspondence: Linda Paternò,
| | - Lucrezia Lorenzon
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy
| |
Collapse
|
4
|
Foot contact forces can be used to personalize a wearable robot during human walking. Sci Rep 2022; 12:10947. [PMID: 35768457 PMCID: PMC9243054 DOI: 10.1038/s41598-022-14776-9] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/19/2022] [Accepted: 06/13/2022] [Indexed: 11/09/2022] Open
Abstract
Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking effort could be further reduced if the robot is personalized to the wearer using human-in-the-loop (HIL) optimization of wearable robot parameters. The conventional physiological measurement, however, requires a long estimation time, hampering real-time optimization due to the limited experimental time budget. This study hypothesized that a function of foot contact force, the symmetric foot force-time integral (FFTI), could be used as a cost function for HIL optimization to rapidly estimate the physical effort of walking. We found that the new cost function presents a reasonable correlation with measured metabolic cost. When we employed the new cost function in HIL ankle-foot prosthesis stiffness parameter optimization, 8 individuals with simulated amputation reduced their metabolic cost of walking, greater than 15% (p < 0.02), compared to the weight-based and control-off conditions. The symmetry cost using the FFTI percentage was lower for the optimal condition, compared to all other conditions (p < 0.05). This study suggests that foot force-time integral symmetry using foot pressure sensors can be used as a cost function when optimizing a wearable robot parameter.
Collapse
|
5
|
John Varghese R, Mukherjee G, Deshpande A. Designing Physical Human-Robot Interaction Interfaces: A Scalable Method for Simulation Based Design. Front Neurorobot 2022; 15:727534. [PMID: 35250527 PMCID: PMC8895480 DOI: 10.3389/fnbot.2021.727534] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/18/2021] [Accepted: 12/15/2021] [Indexed: 11/20/2022] Open
Abstract
Designing the physical coupling between the human body and the wearable robot is a challenging endeavor. The typical approach of tightening the wearable robot against the body, and softening the interface materials does not work well. It makes the task of simultaneously improving comfort, and anchoring the robot to the body at the physical human robot interaction interface (PHRII), difficult. Characterizing this behavior experimentally with sensors at the interface is challenging due to the soft-soft interactions between the PHRII materials and the human tissue. Therefore, modeling the interaction between the wearable robot and the hand is a necessary step to improve design. In this paper, we introduce a methodology to systematically improve the design of the PHRII by combining experimentally measured characteristics of the biological tissue with a novel dynamic modeling tool. Using a novel and scalable simulation framework, HuRoSim, we quantified the interaction between the human hand and an exoskeleton. In the first of our experiments, we use HuRoSim to predict complex interactions between the hand and the coupled exoskeleton. In our second experiment, we then demonstrate how HuRoSim can be coupled with experimental measurements of the stiffness of the dorsal surface of the hand to optimize the design of the PHRII. This approach of data-driven modeling of the interaction between the body and a wearable robot, such as a hand exoskeleton, can be generalized to other forms of wearable devices as well, demonstrating a scalable and systematic method for improving the design of the PHRII for future devices coupled to the body.
Collapse
Affiliation(s)
- Rohit John Varghese
- Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, United States
- Harmonic Bionics Inc., Austin, TX, United States
- *Correspondence: Rohit John Varghese
| | - Gaurav Mukherjee
- Department Mechanical Engineering, University of Washington, Seattle, WA, United States
| | - Ashish Deshpande
- Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, United States
| |
Collapse
|
6
|
Mbithi FM, Chipperfield AJ, Steer JW, Dickinson AS. Developing a control framework for self-adjusting prosthetic sockets incorporating tissue injury risk estimation and generalized predictive control. Biomed Eng Lett 2021; 12:59-73. [DOI: 10.1007/s13534-021-00211-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2021] [Revised: 09/21/2021] [Accepted: 11/07/2021] [Indexed: 10/19/2022] Open
|
7
|
Mo Y, Qaiser Z, Ou H, Johnson S. A Reconfigurable and Adjustable Compliance System for the Measurement of Interface Orthotic Properties. IEEE Trans Neural Syst Rehabil Eng 2021; 29:1886-1894. [PMID: 34478374 DOI: 10.1109/tnsre.2021.3109977] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Custom foot orthoses (CFOs) have shown treatment effectiveness by providing improved pressure/load redistribution, skeletal support and comfort level. However, the current design methodologies of CFOs have some problems: (1) the plantar surface is captured without considering the soft tissue impedance, (2) the stiffness of the CFOs is limited to rigid, semi-rigid and soft, which ignores the potential effect of local variation of stiffness on the interface pressure/load distribution and subjective evaluations, and (3) the lack of a human-in-the-loop may lead to multiple design-to-deliver iterations. A new prescription methodology of CFOs is required to satisfy the pressure/load distribution, improve comfort level and decrease iterations. METHOD A measurement system which provides INterface with Tunable Ergonomic properties using a Reconfigurable Framework with Adjustable Compliant Elements (INTERFACE system) is developed to implement the Rapid Evaluate and Adjust Device (READ) methodology. The geometry and stiffness of the Medial Longitudinal Arch (MLA) support provided by the INTERFACE system can be adjusted via linear actuators and tunable stiffness mechanisms, based on objective interface pressure/load distribution and subjective feedback evaluations. Validation tests were conducted on 13 subjects to measure the plantar pressure/load distribution and record the subjective feedback in different combinations of geometry and stiffness. RESULTS The interface pressure/load distribution and subjective feedback of the support level indicate the efficacy of the adjustable geometry and stiffness. As the stiffness and geometrical height increased, the plantar loadings increased in the MLA region and decreased in the rear foot. Geometrical fitting can be achieved with the reconfigurable MLA support. The integration of locally adjustable stiffness makes it possible to fine tune the plantar pressure/load and provides the subjects with options of orthotic stiffness. CONCLUSION The proposed INTERFACE system can be applied to conduct the measurement of the desired orthotic properties which satisfy the interface pressure/load requirement and the subject's comfort.
Collapse
|
8
|
Dementyev A, Jitosho R, Paradiso JA. Mechanical Imaging of Soft Tissues With Miniature Climbing Robots. IEEE Trans Biomed Eng 2021; 68:3142-3150. [PMID: 33798064 DOI: 10.1109/tbme.2021.3070585] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Systematically mapping the mechanical properties of skin and tissue is useful for biomechanics research and disease diagnostics. For example, later stage breast cancer and lymphoma manifest themselves as hard nodes under the skin. Currently, mechanical measurements are done manually, with a sense of touch or a handheld tool. Manual measurements do not provide quantitative information and vary depending on the skill of the practitioner. Research shows that tactile sensors could be more sensitive than a hand. We propose a method that uses our previously developed skin-crawling robots to noninvasively test the mechanical properties of soft tissue. Robots are more systematic and repeatable than humans. Using the data collected with a cutomoter or indenter integrated into the miniature robot, we trained a convolutional neural network to classify the size and depth of the lumps. The classification works with 98.8% accuracy for cutometer and 99.6% for indenter for lump size with a diameter of 0 to 10 mm embedded in depth of 1 to 5 mm in a simulated tissue. We conducted a limited evaluation on a forearm, where the robot imaged dry skin with a cutometer. We hope to improve the ability to test tissues noninvasively, and ultimately provide better sensitivity and systematic data collection.
Collapse
|
9
|
Chiaradia D, Tiseni L, Xiloyannis M, Solazzi M, Masia L, Frisoli A. An Assistive Soft Wrist Exosuit for Flexion Movements With an Ergonomic Reinforced Glove. Front Robot AI 2021; 7:595862. [PMID: 33537345 PMCID: PMC7848217 DOI: 10.3389/frobt.2020.595862] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/17/2020] [Accepted: 11/02/2020] [Indexed: 11/13/2022] Open
Abstract
Soft exosuits are a promising solution for the assistance and augmentation of human motor abilities in the industrial field, where the use of more symbiotic wearable robots can avoid excessive worker fatigue and improve the quality of the work. One of the challenges in the design of soft exosuits is the choice of the right amount of softness to balance load transfer, ergonomics, and weight. This article presents a cable-driven based soft wrist exosuit for flexion assistance with the use of an ergonomic reinforced glove. The flexible and highly compliant three-dimensional (3D)-printed plastic structure that is sewn on the glove allows an optimal force transfer from the remotely located motor to the wrist articulation and to preserve a high level of comfort for the user during assistance. The device is shown to reduce fatigue and the muscular effort required for holding and lifting loads in healthy subjects for weights up to 3 kg.
Collapse
Affiliation(s)
- Domenico Chiaradia
- Percro Laboratory, Tecip Institute, Sant'Anna School of Advanced Studies, Pisa, Italy
| | - Luca Tiseni
- Percro Laboratory, Tecip Institute, Sant'Anna School of Advanced Studies, Pisa, Italy
| | - Michele Xiloyannis
- Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Switzerland and the Spinal Cord Injury Center, University Hospital Balgrist, Zurich, Switzerland
| | - Massimiliano Solazzi
- Percro Laboratory, Tecip Institute, Sant'Anna School of Advanced Studies, Pisa, Italy
| | - Lorenzo Masia
- Institut für Technische Informatik (ZITI), Heidelberg University, Heidelberg, Germany
| | - Antonio Frisoli
- Percro Laboratory, Tecip Institute, Sant'Anna School of Advanced Studies, Pisa, Italy
| |
Collapse
|
10
|
Safari R. Lower limb prosthetic interfaces: Clinical and technological advancement and potential future direction. Prosthet Orthot Int 2020; 44:384-401. [PMID: 33164655 DOI: 10.1177/0309364620969226] [Citation(s) in RCA: 19] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 02/03/2023]
Abstract
The human-prosthesis interface is one of the most complicated challenges facing the field of prosthetics, despite substantive investments in research and development by researchers and clinicians around the world. The journal of the International Society for Prosthetics and Orthotics, Prosthetics and Orthotics International, has contributed substantively to the growing body of knowledge on this topic. In celebrating the 50th anniversary of the International Society for Prosthetics and Orthotics, this narrative review aims to explore how human-prosthesis interfaces have changed over the last five decades; how research has contributed to an understanding of interface mechanics; how clinical practice has been informed as a result; and what might be potential future directions. Studies reporting on comparison, design, manufacturing and evaluation of lower limb prosthetic sockets, and osseointegration were considered. This review demonstrates that, over the last 50 years, clinical research has improved our understanding of socket designs and their effects; however, high-quality research is still needed. In particular, there have been advances in the development of volume and thermal control mechanisms with a few designs having the potential for clinical application. Similarly, advances in sensing technology, soft tissue quantification techniques, computing technology, and additive manufacturing are moving towards enabling automated, data-driven manufacturing of sockets. In people who are unable to use a prosthetic socket, osseointegration provides a functional solution not available 50 years ago. Furthermore, osseointegration has the potential to facilitate neuromuscular integration. Despite these advances, further improvement in mechanical features of implants, and infection control and prevention are needed.
Collapse
Affiliation(s)
- Reza Safari
- Health and Social Care Research Centre, University of Derby, Derby, UK
| |
Collapse
|
11
|
Steer JW, Worsley PR, Browne M, Dickinson AS. Predictive prosthetic socket design: part 1-population-based evaluation of transtibial prosthetic sockets by FEA-driven surrogate modelling. Biomech Model Mechanobiol 2020; 19:1331-1346. [PMID: 31256276 PMCID: PMC7423807 DOI: 10.1007/s10237-019-01195-5] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/24/2018] [Accepted: 06/23/2019] [Indexed: 11/26/2022]
Abstract
It has been proposed that finite element analysis can complement clinical decision making for the appropriate design and manufacture of prosthetic sockets for amputees. However, clinical translation has not been achieved, in part due to lengthy solver times and the complexity involved in model development. In this study, a parametric model was created, informed by variation in (i) population-driven residuum shape morphology, (ii) soft tissue compliance and (iii) prosthetic socket design. A Kriging surrogate model was fitted to the response of the analyses across the design space enabling prediction for new residual limb morphologies and socket designs. It was predicted that morphological variability and prosthetic socket design had a substantial effect on socket-limb interfacial pressure and shear conditions as well as sub-dermal soft tissue strains. These relationships were investigated with a higher resolution of anatomical, surgical and design variability than previously reported, with a reduction in computational expense of six orders of magnitude. This enabled real-time predictions (1.6 ms) with error vs the analytical solutions of < 4 kPa in pressure at residuum tip, and < 3% in soft tissue strain. As such, this framework represents a substantial step towards implementation of finite element analysis in the prosthetics clinic.
Collapse
Affiliation(s)
- J. W. Steer
- Bioengineering Science Research Group, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - P. R. Worsley
- Clinical Academic Facility, Faculty of Health Sciences, University of Southampton, Southampton, UK
| | - M. Browne
- Bioengineering Science Research Group, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - A. S. Dickinson
- Bioengineering Science Research Group, Faculty of Engineering and Physical Sciences, University of Southampton, Southampton, UK
| |
Collapse
|
12
|
Gupta S, Loh KJ, Pedtke A. Sensing and actuation technologies for smart socket prostheses. Biomed Eng Lett 2019; 10:103-118. [PMID: 32175132 DOI: 10.1007/s13534-019-00137-5] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2019] [Revised: 10/17/2019] [Accepted: 10/26/2019] [Indexed: 01/20/2023] Open
Abstract
The socket is the most critical part of every lower-limb prosthetic system, since it serves as the interfacial component that connects the residual limb with the artificial system. However, many amputees abandon their socket prostheses due to the high-level of discomfort caused by the poor interaction between the socket and residual limb. In general, socket prosthesis performance is determined by three main factors, namely, residual limb-socket interfacial stress, volume fluctuation of the residual limb, and temperature. This review paper summarizes the various sensing and actuation solutions that have been proposed for improving socket performance and for realizing next-generation socket prostheses. The working principles of different sensors and how they have been tested or used for monitoring the socket interface are discussed. Furthermore, various actuation methods that have been proposed for actively modifying and improving the socket interface are also reviewed. Through the continued development and integration of these sensing and actuation technologies, the long-term vision is to realize smart socket prostheses. Such smart socket systems will not only function as a socket prosthesis but will also be able to sense parameters that cause amputee discomfort and self-adjust to optimize its fit, function, and performance.
Collapse
Affiliation(s)
- Sumit Gupta
- 1Department of Structural Engineering, University of California-San Diego, La Jolla, CA 92093-0085 USA
| | - Kenneth J Loh
- 1Department of Structural Engineering, University of California-San Diego, La Jolla, CA 92093-0085 USA
| | | |
Collapse
|
13
|
Grabke EP, Masani K, Andrysek J. Lower Limb Assistive Device Design Optimization Using Musculoskeletal Modeling: A Review. J Med Device 2019. [DOI: 10.1115/1.4044739] [Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/04/2023] Open
Abstract
AbstractMany individuals with lower limb amputations or neuromuscular impairments face mobility challenges attributable to suboptimal assistive device design. Forward dynamic modeling and simulation of human walking using conventional biomechanical gait models offer an alternative to intuition-based assistive device design, providing insight into the biomechanics underlying pathological gait. Musculoskeletal models enable better understanding of prosthesis and/or exoskeleton contributions to the human musculoskeletal system, and device and user contributions to both body support and propulsion during gait. This paper reviews current literature that have used forward dynamic simulation of clinical population musculoskeletal models to perform assistive device design optimization using optimal control, optimal tracking, computed muscle control (CMC) and reflex-based control. Musculoskeletal model complexity and assumptions inhibit forward dynamic musculoskeletal modeling in its current state, hindering computational assistive device design optimization. Future recommendations include validating musculoskeletal models and resultant assistive device designs, developing less computationally expensive forward dynamic musculoskeletal modeling methods, and developing more efficient patient-specific musculoskeletal model generation methods to enable personalized assistive device optimization.
Collapse
Affiliation(s)
- Emerson Paul Grabke
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ON M5S 3G9, Canada
| | - Kei Masani
- KITE—Toronto Rehabilitation Institute, University Health Network, Toronto, ON M4G 3V9, Canada
| | - Jan Andrysek
- Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Toronto, ON M4G1R8, Canada
| |
Collapse
|
14
|
Regional variations of in vivo surface stiffness of soft tissue layers of musculoskeletal extremities. J Biomech 2019; 95:109307. [DOI: 10.1016/j.jbiomech.2019.08.001] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/18/2018] [Revised: 07/23/2019] [Accepted: 08/01/2019] [Indexed: 12/23/2022]
|
15
|
Ranger BJ, Feigin M, Zhang X, Moerman KM, Herr H, Anthony BW. 3D Ultrasound Imaging of Residual Limbs With Camera-Based Motion Compensation. IEEE Trans Neural Syst Rehabil Eng 2019; 27:207-217. [PMID: 30676967 DOI: 10.1109/tnsre.2019.2894159] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Ultrasound is a cost-effective, readily available, and non-ionizing modality for musculoskeletal imaging. Though some research groups have pursued methods that involve submerging the transducer and imaged body segment into a water bath, many limitations remain in regards to acquiring an unloaded volumetric image of an entire human limb in a fast, safe, and adequately accurate manner. A 3D dataset of a limb is useful in several rehabilitative applications including biomechanical modeling of soft tissue, prosthetic socket design, monitoring muscle condition and disease progression, bone health, and orthopedic surgery. This paper builds on previous work from our group and presents the design, prototyping, and preliminary testing of a novel multi-modal imaging system for rapidly acquiring volumetric ultrasound imagery of human limbs, with a particular focus on residual limbs for improved prosthesis design. Our system employs a mechanized water tank setup to scan a limb with a clinical ultrasound transducer and 3D optical imagery to track motion during a scan. The iterative closest point algorithm is utilized to compensate for motion and stitch the images into a final dataset. The results show preliminary 2D and 3D imaging of both a tissue-mimicking phantom and residual limbs. A volumetric error compares the ultrasound image data obtained to a previous MRI method. The results indicate potential for future clinical implementation. Concepts presented in this paper could reasonably transfer to other imaging applications such as acoustic tomography, where motion artifact may distort image reconstruction.
Collapse
|
16
|
Paterno L, Ibrahimi M, Gruppioni E, Menciassi A, Ricotti L. Sockets for Limb Prostheses: A Review of Existing Technologies and Open Challenges. IEEE Trans Biomed Eng 2018; 65:1996-2010. [PMID: 29993506 DOI: 10.1109/tbme.2017.2775100] [Citation(s) in RCA: 91] [Impact Index Per Article: 15.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
In the prosthetics field, one of the most important bottlenecks is still the human-machine interface, namely the socket. Indeed, a large number of amputees still rejects prostheses or points out a low satisfaction level, due to a sub-optimal interaction between the socket and the residual limb tissues. The aim of this paper is to describe the main parameters (displacements, stress, volume fluctuations and temperature) affecting the stump-socket interface and reducing the comfort/stability of limb prostheses. In this review, a classification of the different socket types proposed in the literature is reported, together with an analysis of advantages and disadvantages of the different solutions, from multiple viewpoints. The paper then describes the technological solutions available to face an altered distribution of stresses on the residual limb tissues, volume fluctuations affecting the stump overtime and temperature variations affecting the residual tissues within the socket. The open challenges in this research field are highlighted and the possible future routes are discussed, towards the ambitious objective of achieving an advanced socket able to self-adapt in real-time to the complex interplay of factors affecting the stump, during both static and dynamic tasks.
Collapse
|