The role of simulation in medical education is rapidly increasing. Simulations to train nurses, veterinarians and doctors (osteopathic and allopathic) are utilized due to their effectiveness and cost-reducing advantages. These simulations can be computer-based or in the form of mannequins that can simulate some functions of the real human body such as breathing, blood pressure, pulse and temperature, among others. Computer-based haptic simulations require the usage of a haptic interface to interact with virtual objects. That is clearly not the case when humans interact with real objects. Therefore, a system which allows the user to interact with a real object could be a more realistic and effective approach.
This dissertation presents the theoretical framework (kinematics, pseudostatics, dynamics and control) of a novel 15 degree-of-freedom cable-actuated robotic lumbar spine (RLS) which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vertebra is connected to the neighboring vertebrae by spherical joints. The RLS is designed to be controlled by a force-feedback joystick or an affordable haptic device. By moving the joystick, the angles of rotations are commanded to the RLS, therefore representing a normal lumbar spine movement. A static model of the human lumbar spine was also derived to obtain these normal movement patterns for different types of motion.
Medical schools can benefit from a system that will help instructors train students and assess their palpatory proficiency throughout their education. The RLS has the potential to support these needs in palpatory diagnosis. Medical students will be given the opportunity to examine their own patient that can be programmed with a variety of dysfunctions related to the lumbar spine before they start their professional lives as doctors. The robotic lumbar spine can be used to teach and test medical students to be able to recognize normal and abnormal movement patterns of the human lumbar spine under flexion, extension, lateral bending and axial torsion.
|Commitee:||Chleboun, Gary, Howell, John N., Pasic, Hajrudin, Suer, Gursel|
|School Location:||United States -- Ohio|
|Source:||DAI-B 79/09(E), Dissertation Abstracts International|
|Subjects:||Mechanical engineering, Biomechanics, Robotics|
|Keywords:||Cable robot, Human lumbar spine, Palpatory training, Rls, Robotic lumbar spine, Three-dimensional static modeling|
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