mesЭкстремальная биомедицинаExtreme Medicine3033-89643033-8972Centre for Strategic Planning of the Federal Medical and Biological Agency10.47183/mes.2022.050mes-208Research ArticleОРИГИНАЛЬНОЕ ИССЛЕДОВАНИЕORIGINAL RESEARCHРешение задачи формирования безопасной конфигурации роботического протеза верхней конечности человекаSolution to the problem of designing a safe configuration of a human upper limb robotic prosthesisБуреевА. Ш.BureevA. Sh.

Томск

Москва

Tomsk

Moscow

ГолобоковаЕ. В.GolobokovaE. V.

Томск

Москва

Tomsk

Moscow

ЖдановД. С.ZhdanovD. S.

Дмитрий Сергеевич Жданов

ул. Красноармейская, д. 14, г. Томск, 634029

Dmitry S. Zhdanov

Krasnoarmeyskaya, 14, Tomsk, 634029

d_s_zhdanov@mail.ruКостелейЯ. В.KosteleyYa. V.

Томск

Москва

Tomsk

Moscow

КошелевР. В.KoshelevR. V.

Москва

Moscow

ФоменкоЕ. А.FomenkoE. A.

Москва

Moscow

Центр развития науки, технологий и образования в области обороны и обеспечения безопасности государства, Национальный исследовательский Томский государственный университет; Федеральный научно-клинический центр медицинской реабилитации и курортологии Федерального медико-биологического агентстваРоссияCenter for Development of Science, Technology and Education in the Field of Defense and State Security, National Research Tomsk State University; Federal Research and Clinical Center of Medical Rehabilitation and Balneology of the Federal Medical Biological AgencyRussian FederationФедеральный научно-клинический центр медицинской реабилитации и курортологии Федерального медико-биологического агентстваРоссияFederal Research and Clinical Center of Medical Rehabilitation and Balneology of the Federal Medical Biological AgencyRussian Federation2022281020242446673Copyright © Буреев А.Ш., Голобокова Е.В., Жданов Д.С., Костелей Я.В., Кошелев Р.В., Фоменко Е.А., 20242024Буреев А.Ш., Голобокова Е.В., Жданов Д.С., Костелей Я.В., Кошелев Р.В., Фоменко Е.А.Bureev A.S., Golobokova E.V., Zhdanov D.S., Kosteley Y.V., Koshelev R.V., Fomenko E.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.extrememedicine.ru/jour/article/view/208

На сегодняшний день остается актуальной разработка методов контроля позиционирования роботических манипуляторов с помощью систем технического зрения (СТЗ) с целью обеспечения безопасности пациентов и медицинского персонала при работе с медицинскими роботизированными реабилитационными устройствами. Целью исследования было разработать метод повышения безопасности применения роботизированных медицинских реабилитационных устройств путем разработки и апробации алгоритма расчета угловых положений роботизированных манипуляторов или роботических протезов, применяемых в восстановительном лечении и позволяющих воспроизвести естественную траекторию перемещения руки человека под контролем СТЗ. Дано описание роботизированного манипулятора, использованного при проведении исследований, представлены существующие подходы к расчету угловых положений приводов, а также описание предлагаемого алгоритма. Приведены сравнительные результаты работы предлагаемого алгоритма и существующих методов расчета угловых положений приводов роботизированных манипуляторов (роботических протезов) и предполагаемые направления для его доработки.

This study aimed to develop a method allowing to improve safety of use of robotic medical rehabilitation devices by designing and testing an algorithm for calculation of the angular positions of rehabilitation robotic manipulators or robotic prostheses and allowing to reproduce the natural arc of a human arm under control of a CVS. The Introduction section supports the urgency of development of the methods granting control over positioning of robotic manipulators with the help of a computer vision system (CVS) and thus guarantee safety of patients and medical personnel in the context of work with medical robotic rehabilitation devices. The Materials and Methods section contains a brief description of the robotic arm used in this study, a description of the existing approaches to calculation of angular positions of drives, and a description of the proposed algorithm. The final sections compare application of the proposed algorithm and existing methods of calculation of angular positions of drives of robotic manipulators (robotic prostheses) and outline the possible directions for further improvement.

безопасность человекауправление манипуляторомроботический протезроботизированная реабилитациякоордината в трехмерном пространствесистемы технического зрениякинематикаhuman safetymanipulator controlrobotic prosthesisrobotic rehabilitationthree-dimensional coordinatevision systemskinematicsрезультаты были получены в рамках выполнения государственного задания Минобрнауки России, проект № FSWM-2022-0008.The study was conducted in the context of execution of the State Task by the Ministry of Education and Science of Russia, project #FSWM-2022-0008.ReferencesLassig R, Lorenz M, Sissimators E, Wicker I, Buchner T. Robotics Outlook 2030: How intelligence and mobility will shape the future. 2021. The Boston Consulting Group.Lassig R, Lorenz M, Sissimators E, Wicker I, Buchner T. Robotics Outlook 2030: How intelligence and mobility will shape the future. 2021. The Boston Consulting Group.Joseph F. Robotics in Service. Engelberger, 1989; 248 p.Joseph F. Robotics in Service. 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The authors declare that there are no conflicts of interest present.