Abstract

Info

Title:: Design of massage manipulator for rehabilitation after pancreaticoduodenectomy

Author(s):: LIN Zijie1; GONG Wei2; 1. Department of Equipment, Guangdong Provincial Hospital of Chinese Medicine, Guangzhou 510000, China 2. School of Medical Information Engineering, Guangzhou University of Chinese Medicine, Guangzhou 510006, China

Keywords:: Keywords: pancreaticoduodenectomy massage mechanical arm acupoint

Abstract:: A reasonable rehabilitation program was formulated using the theory of traditional Chinese medicine massage and the robot hand as a tool for relieving abdominal distension and abdominal pain in patients after pancreaticoduodenectomy. The 9 massage manipulations of traditional Chinese medicine are decomposed into three-dimensional planes for kinematic analysis, and the matrix for the degree of freedom is established. The rotation speed and rotation time of each steering engine are calculated for controlling the action of the manipulator with 6 degree of freedom, so as to realize the simulation of massage manipulations. The acupoints of Pishu, Weishu, Dachangshu are treated by pushing, pressing and other manipulations. The test results show that the force direction and frequency of the massage manipulations simulated by the robot hand are accurate, which meets the expected requirements. The designed massage manipulator provides a new idea and method for the rehabilitation of patients suffering from common complications after pancreaticoduodenectomy.