建構於三維力回饋裝置之指關節復健系統

在本論文的研究中，我們利用力回饋裝置建構出一套指關節的復健系統（Finger joint Rehabilitation system）。在病患復健過程中，復健專科醫師或治療師常會利用一些設計過的活動來幫助病患，使其後遺症及傷害減小，並可及早回復日常生活。而指關節的復健可分為兩種：互動性復健及主動性復健。互動性復健適用於病人的指關節有能力自行出力，這時便可利用活動性的副木做被動性的伸直、主動性的彎曲運動，以避免肌腱的沾黏、攣縮或疼痛；而主動性復健適用於病人的手無法自行出力，這時必須借助外力，這外力也許是病人另外一隻健康的手，也許是復健師，主動協助病人指關節活動。但是因復健的療程常過短，所以無法滿足復健需求，且在主動、互動復健時，若我們可以精確的控制力量，將有助於復建的品質。目前已知人體較大的關節（如膝、肘、肩、髖等）已有制式的復健機器，但尚未發現針對指關節所設計的機器，原因是因為手指關節較小，不易做成機器。因此本研究可分為二大架構：在通用型的電腦繪製手的幾何模型和利用力回饋裝置完成復健力量的模擬。手的模型以OpenGL函式庫繪製，在VC下結合力回饋裝置HDAPI函式庫以達到互動，力量的模擬又可分互動性復健及主動性復健二種：以彈簧的彈力為基礎，計算互動性復健的力量，以牛頓運動定律及加速度公式為基礎，計算主動性復健的力量。本研究的目的希望能達到系統的即時性、精確性，使指關節的復健治療能有最好的成效。

關鍵字

指關節；力回饋裝置；復健

並列摘要

In the research of this thesis, we construct and build one set of finger joint rehabilitation system by using the haptic device. During the rehabilitation cycle, doctors of Rehabilitation department or therapists use some designed activities to help patients. These activities can reduce injury, and help patients went back to daily life early. There are two kinds of methods of finger joints rehabilitation. One is interactive rehabilitation, and the other is active rehabilitation. Interactive rehabilitation is suitable for the patients who have the ability to flex the harmed finger. In this condition, patients can use dynamic splint to extend joint passive and flexed joint active in order to avoid tendon adhesions, loss of digital flexion, extensor lag, and joint contracture. Active rehabilitation is suitable for the patients who don’t have the ability to flex the harmed finger. In this condition, patients must be helped to do finger joint exercises by the external force which may from the other healthy hand of the patient or therapists’ hands. This rehabilitation cycle can’t always meet the demand, because the cycle of the treatment course is too short. If we can accurate control the force in interactive and active rehabilitation, we will get better quality. Instances of rehabilitation for bigger joint of human body, such as knee, elbow, shoulder, hip etc., is known, but we still has not found yet the instance of rehabilitation for fingers. The reason is finger joints are smaller then others, and it is difficult to make into a machine. This study can be divided into two structures: Draws the geometry model of hand by common computers and simulation the force of rehabilitation by the haptic device. The model of hand is drawn with OpenGL library and it makes cohesion to the haptic device with HDAPI library in order to reach interactive in VC. There are two kinds of rehabilitation: Interactive rehabilitation simulation and active rehabilitation simulation. The force of interactive rehabilitation based on elasticity of the spring, and the force of active rehabilitation based on Newton's movement law and Acceleration formula. The purpose of this research hopes to achieve real-time and accuracy of the system and get the best effect in the finger joint rehabilitation system.

並列關鍵字

Rehabilitation ； Haptic Device ； Joint Finger

參考文獻

〔1〕Chow JA, Dovell S, Thomas LJ, Ho PK, Saldana J., A comparison of results of extensor tendon repair followed by early controlled mobilization versus static immobilization, Journal of Hand Surgery, 14B: 18–20, 1989

〔2〕Joseph E. Donnelly, EdD, LIUING ANATOMY, 1990, Human Kinetics

〔3〕Elliot D, Moiemen NS, Flemming AF, Harris SB, Foster AJ , The rupture rate of acute flexor tendon repairs mobilised by the controlled active motion regimen , Journal of Hand Surgery, 19B: 607–612.,1994

〔4〕Richard S. Wright, JR. and Michael Sweet, OpenGL SUPERBIBLE, 1996, Waite Group Press

〔5〕Kitsis CK, Wade PJ, Krikler SJ, Parsons NK, Nicholls LK , Controlled active motion following primary flexor tendon repair: a prospective study over 9 years , Journal of Hand Surgery, 23B: 344–349, 1998

國際替代計量

建構於三維力回饋裝置之指關節復健系統

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