Nhận diện tín hiệu não và ứng dụng điều khiển cánh tay Robot bằng ý nghĩ

NHAN DANG TIN HIEU NAO
VA UNG DUNG DIEU KHIAN CANH TAY ROBOT BANG Y NGHI
Mai Khdc Trudng, Hodng Thi Li Vdn
Khoa Sinh hgc Dien tir
Hgc viin Ky thugt Qudn sir
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Tdm tdt
Doi vai nhirng ngirai khiem khuyet chdn tay thi viec diiu khiin duac vdt dung do diing cd
nhdn Id cd mgt niem hanh phiic Ion lao. Hiin nay cdc nhd khoa hgc trin the giai dd che tgo
thdnh cong cdnh tay gid co the dugc diiu khiin true tiep tiry nghi ciia con ngirai.
Tuy nhiin gid thdnh ciia cdnh tay ndy hien nay khong hi ri vd ngirai khuyet tdt Viet Nam
it CO khd ndng di .sa hiru thiit hi ndy. Bdi bdo de xudt mgt soy tudng vd gidi phdp ky thudt di
chi tgo cdnh tay Robot diiu kliiin bdng y nghi trong diiu kiin Vift Nam.
I. DATVANDE
De cd the nhan dang tfn hifu nao vd iing dyng dilu khiln cdnh tay robot, ve nguyen
tdc, cd the diing cdc ngudn tfn hifu y sinh sau:
a) Tin hiiu diin :
Ngudn gdc cua tfn hifu nay la difn the mdng tl bdo dugc tao ra bdi cdc te bdo than kinh
vd cac te bao co ma dudi cac dieu kifn khdc nhau cd the bj kfch thi'ch va ra cac difn the boat
ddng.
b) Tin hiiu tie
Cdc bd phan nhu nao, tim, phoi ludn tao ra cdc tir tmdng rat yeu. Vifc do cdc dang tir
tmdng nay se thu nhan dugc cdc thdng tin tinh trang ciia nao, tim ma tfn hifu difn khdng thu
dugc. Tuy nhien cdc tfn hifu tir nay lai cd ti so Tin hifu/ Nhieu rat thdp. Day chi'nh Id khd
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khdn Idn nhat trong vifc che tao cdc cdm bien thu nhan ciing nhu he thdng xu ly ( khueeh dai ,
lgc ) tfn hifu.
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c) Tin hiiu quang
La ket qua ciia cdc chiic ndng quang hgc trong hf thdng sinh hgc. Cdc tfn hifu ndy xudt
hifn do bdn than hf thing hodc do cdc phep do tao h6n. Vf dy nhu dya vdo vifc do dnh sdng
tmyln di trong md cd thi xdc djnh dugc miirc df oxi hda ciia mdu...
d) Tin hiiu ca .sinh hgc :
..f;; -*>
Bao gdm tit cd cdc tfn hifu duoc tao ra tir cdcT boat'dgng chiic ndng co hgc cua hf thdng
sinh hgc Cdc tfn hifu nay bao gdm : tfn hifu djch chuyen , chuyin dgng , dp suit...
e) Tin hiiu dao dgng dm sinh hgc :
Rit nhilu cdc qua trinh y sinh tao ra tfn hifu am thanh Phep do dao ddng am thanh ndy
cung cip thdng tin vl hf thing sinh hgc, vf dy nhu luu lugng chuyen dgng ciia mdu trong
^,
tim, nao, ludng khf di vdo vd di ra ciia phdi...
f) Tin hiiu tra khdng sinh hgc
Trd khdn<^ cua md chira dyng thdng tin lien quan tdi cdc thdnh phdn thi tfch mdu, sy phan
bl mdu, cdc boat ddng ndi tiet, boat dgng cua hf thong than kinh vd cdc thdng sd sinh hgc

khdc. Vifc do trd khang cua cac md sinh hgc dem lai khd nhieu gid trj thdng tin tinh trang ciia
cdc md...
Tuy nhien, phu thudc vao mirc do nhieu vd khd"ndng do ludng cua cac loai tfn hifu nay,
hifn nay ngudi ta dang sir dung mdt sd phep do sau day.

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II. GIAI QUYET VAN DE

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2.1 Phep do tin hieu diin catcii cdc ddy thdn kinh ly tdm
Nguyen' ly ciia phep do nay dua lien ca che hinh thanh cung phan xa :
Mat ( nhdn tin hieu) "^ Ndo (phdn tfch , ctira ra quyet djnh ) • • Tay chdn thuc hiin
Giai thi'ch co che : " Khi Mat nhan dugc tfn hieu tir mdi tmdng ngoai se dua ve Nao theo
day thin kinh hirdng tam. Sau khi nhan dugc thdng tin Nao se xir ly vd dua ra quyet djnh
cho Tay Chan Idm viec thong qua day than kinh li tam".
Tfn hieu md nao truyen cho cac day than kinh tdi co tay chan vd ngugc lai Id tfn hifu difn
sinh hoc.
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Hinh 1. Minh hpa phip do tin hiiu dien catgi cdc ddy than kinh ly tam
Nhung ngudi khuylt tat khdngcd tay nen khong thi hinh thdnh phdn xa. Tuy nhien tin
hifu tren day thin kinh li tam thi van cdn. Vi vay khi ta ndi cdc diu dav thin kinh bj diit vdi
cdc difn eye cua cdnh tay gid se thyc hifn dugc cdc phdn xa theo y mudn( thdng qua mach vi
xuly vd mdy tfnh... ).
Cdch thuc hiin phep do ndy cd thi torn tdt nhu sau :
"Cdc difn eye kim se dugc gdn ndi tilp vdo diu cdc sgi ca_tbin kinh cua cdnh tay bj mit.
Cy the nhu trong hinh ndy cdc difn eye dugc gdn d cdc co ngyc vd byng.

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^ Kh dd tfn hieu dien sinh hgc do nao phat ra dilu khiln canh tay se dugc dien cue (cam
bien) nay thu nhan. Tfn hieu tii' cac dien cue tilp tuc dugc truyin vl dk " Chip" xii' ly phan
biet ro hanh ddng rdi ra lenh dilu khiln cho canh tay gia"
0 day ngudi ta su dung cac loai dien cue kim dac biel, cd till dien rit nho, dudng kfnh
chi khoang 25 pm, va su- dung bg lgc tin s l cao (500 Hz). Nhd do cd thi ghi rd rdng duoc

timg hgat ddng dien cua tiimg sgi co trong 1 don vi van dgng.
Yeu cau cua phep do :
Vi phep do nay dung cac difn cue kim gdn tmc tilp len cac mo ciia co thi nen cin cd do
chi'nh xdc rat cao. Cdc difn cue phai dugc chl tao dl cd thi thu nhan tdt tfn hieu dien sinh hgc
nhun^ 'f' ^^ §^y ^^^ ^V"g ^o'' CO' ^^^ ( \i t" ^ilp ^uc ft bi xa hda nhit). Va thdi gian dien eye
CO the ton tai trong co thi cung nhu do dn dinh trong thdi gian lam viec phai Idn",

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Hinh 2. Minh hga phep do tfn hifu can hdng ngoai do boat ddng ciia vd nao sinh ra
2.2. Phip do tin hiiu can hong ngoai do hogt dgng cua vd ndo sinh ra
Ca .sa khoa hgc cua phip do nhu sau :
Mdi phan vung tren vd nao chju trdch nhifm xii ly, dieu khien ciing nhu chi phdi mdt bd
phan ciia ca thi. Khi vd nao suy nghT mdt vin dk gi thi diu dugc phdn dnh thdng qua tfn '^'^••
hieu
can hong ngoai. Tire Id moi su suy nghT ciia con ngudi diu cd mdt phd tfn hifu hong&n..goal

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dac trung rieng do vung vo nao tuang img phdt ra Nhu vay, bdng each thu nhan xir ly nhan
dang cac tfn hieu " can hong ngoai" ndy la cd the dgc dugc suy nghT ciia ddi tirgng ciing nhu
cd the dicu khien canh lay gia.
Quy trinh thirc hien phep do :
Cac cam bien ( difn cue ) dugc gan cd chii dinh vdo mgt chiec mii ddc bift. Tuy vdo vj trf
muon do tfn hifu cac dien eye dugc gdn mgl cdch phii hgp tren dau ngudi dieu khien rd bdt (
vi mii phan vung tren vd nao dilu khien mgt bg phan rieng ciia ca thi), dk cd the thu nhan
tfn hifu mgt cdch chfnh xdc nhat.
Cac cdm bien dugc ndi ra ngoai vdi bg vi xir ly. Bg vi xii ly cd trdch nhifm nhan dang ra
cac " tfn hifu can hdn^ ngoai tir vo nao phat ra do cam bien dua ve mang gid trj thdng tin gi"
tir dd ra Ifnh dieu khien tdi cdc phdn tir dap irng sau nd md trong tmdng hgp ndy Id cdnh tay
gid.
2.3. So sdnh uu, nhugrc diim cda hai phip do
2.3.1. Phdp do tfn hifu difn co:
*Uu diem :
Hoat dgn^ dn djnh, chfnh xdc trong mgt thdi gian ddi trong ca the.
*Han che :
-Vl phdi gdn tryc tilp difn eye len md n8n cin tay nghi cao ciia ky thuat vien. Thao tdc
thyc hifn khd khdn.
-Yeu ciu khdt khe vl difn eye (difn eye khd chl tao ) dk dam bdo ft gay tdc dung phy khi
dua vdo CO the...
-Cdn phdi cd thdi gian dk co the thfch nghi (Idm quen ) dugc vdi difn eye.
-Cdnh tay chi boat ddng dugc nhumg ddng tdc co ban, dom gian....
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2.3.1. Phep do tfn hifu can hdng ngoai:
*Uu diem:
-Cdc difn eye khdng gdn tryc tilp vdo ca thi nen thao tdc de dang nhanh chdng.
-Cd the dilu khien chfnh xdc mgt sd thao tdc phiirc t^p
-Co the ket hgp vdi 1 sd phuang phdp khdc (chyp cgng hudng tii hat nhan MRI )dk tdi
tao hinh dnh 3D ciia nao iirng vdi timg trang thdi khi suy nghT.
*Han chl:
-Khd khdn trong vifc xiir ly tfn hifu tir cam biln c?in hdng ngofii.
Khd khdn trong vilt chuang trinh nhan dang tfn hifu
- Vdi mdi ngudi lai cd mgt tr^ng thdi thi liifn tfn hifu khdc nhau nen cin phai cd thdi
gian ddi luyfn tap de thilt bj Idm quen...
IIL KET LUAN
Vifc so sdnh hai phep do cho phep rut ra kit luan sau: Thyc ra cdc han chl ciia
phuang phdp do tfn hifu can hdng ngo?i lai cd thi vugt qua dugc tuang doi de ddng nhd kha
ndng lap trinh phan mem cua ky su Vift nam.
Chi'nh vi vay vifc chgn phuang dn 2 do tfn hifu can hdng ngoai ciia vd nao- se Id
each giai quyet thi'ch hgp cho bdi todn nhdn dang tfn hifu nao vd img dyng dilu khiln cdnh
tay robol bang y nghT trong dilu kifn Vift nam.

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