CHEST COMPRESSION FOR CARDIOPULMONARY RESUSCITATION WITH A 3-PRR PARALLEL MANIPULATOR

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1 International Journal of Mechanical Engineering and Technology (IJMET) Volume 7, Issue 6, November December 2016, pp , Article ID: IJMET_07_06_065 Available online at ISSN Print: and ISSN Online: IAEME Publication CHEST COMPRESSION FOR CARDIOPULMONARY RESUSCITATION WITH A 3-PRR PARALLEL MANIPULATOR T. Dharniju Reddy B.Tech Grduate, Department of Mechanical Engineering, K.L University, Andhra Pradesh, India G. Yedukondalu Assistant Professor, K.L University, Andhra Pradesh, India ABSTRACT Chest compression is a basic technique in emergency situations for resuscitating patients who are suffering from a cardiac arrest. Even for an expert, it is very difficult to perform chest compressions at the correct compression rate and depth. We designed a 3-PRR (Prismatic, Revolute and Revolute) translational parallel manipulator for delivering chest compression. The manipulator work space was generated in view of the physical constraints imposed by prismatic and revolute joints. Finally, the design of the manipulator made it easy to deploy for performing chest compression at the required compression rate, time and depth. Key words: Chest compression, Parallel manipulator, Work space. Cite this Article: T. Dharniju Reddy and G. Yedukondalu, Chest Compression for Cardiopulmonary Resuscitation with A 3-PRR Parallel Manipulator, International Journal of Mechanical Engineering and Technology, 7(6), 2016, pp INTRODUCTION Surviving from a cardiac arrest is totally depended on timing of cardiopulmonary resuscitation (CPR). High-quality chest compressions of sufficient depth and rate, with full recoil of the chest between compressions and avoidance of interruptions are crucial to survival. Maintenance of high-quality compressions during resuscitation is difficult because of the small number of crew present, fatigue, patient access, competing tasks and difficulty of performing resuscitation. However, some patients with cardiac arrest may also be infected with different in determinate diseases, and hence, it is highly dangerous for a doctor to apply CPR directly to the patients. Mechanical chest compression devices are suitable for being used in hospital environment as they have been developed to automate and potentially improve this process. A person with cardiac arrest should be treated with compression frequency of 100 times per minute and up to 4-5cms in depth.cpr is performed with compression to ventilation ratio of 15 compressions to 2 breaths, aiming to maintain oxygenated blood flow to vital organs and to prevent anoxic tissue damage during cardiac arrest which also prevents brain damage. [1] 660

2 Chest Compression for Cardiopulmonary Resuscitation with A 3-PRR Parallel Manipulator In view of the practical requirement, we have designed and developed a medical parallel manipulator to assist the CPR operation and hope that the robot can perform the job well instead of doctors. 2. PARALLEL MANIPULATORS The concept of parallel manipulator for medical applications had set its mark in the modern manufacturing grounds based on its advantages like rigidity, low inertia and precise positions. The parallel robot is an appropriate architecture for CPR application because of its paralyzed construction. The load is distributed on multiple linkages with actuators. On safety concern, when actuators on the fixed frame are locked they remain in position. Parallel manipulator s advantage is that actuator or motor is placed on the fixed link, which reduces weight on the moving frame. [2] 3. DESIGN OF 3-PRR PARALLEL MANIPULATOR This robotic model was designedd in such a way that it consists of fixed platform and moving platform, where in these are connected with three rigid links of equal lengths and with equal angular distances between them, as shown in Fig: 1. Both ends of the rigid links are revolute, where as the top end is attached to the fixed platform through a moving prismatic link that is attached to the fixed base and the bottom of link is attached to movable platform with the help of revolute joints. The three Prismatic joints on the fixed base are used to activate the revolute joints for the desired motion of movable platform. The kinematic analysis was carried out for the position and orientation of the moving platform. The three dimensional modeling for this design is shown in Fig: 2. Figure 1 The schemaic diagram of two dimensional (2-D) 3-PRR medical parallel manipulator for CPR operation. PRISMATIC REVOLUTE REVOLUTE Figure 2 The design of three dimensional (3-D) 3-PRR medical parallel manipulator for CPR operation

3 T. Dharniju Reddy and G. Yedukondalu Table 1 Geomentric parameers of the manipulator. S.No Parameter Value Units 1 FP i 400 Mm Mm 3 MQ i Mm 4. MOBILITY ANALYSIS The proposed manipulator consists of a moving plat form, fixed platform and six linkages. In this analysis, the mobility of this particular design was done. Degrees of freedom (DOF) are the number of possible ways that the mechanism can move. The degree of freedom (DOF) for this configuration as shown in fig. 1 is computed using the following equation as, [3] = 1+ Where M-Mobility of the mechanism D - Order of system (6 in case of spatial and 3 in case of planar or spherical) = 6 N-Number of bodies in the mechanism G - Number of joints F i -Number of degree of freedom for the i th -joints For this design we have d=6, N=8, g=9, F i =1 for each revolute joints and prismatic M=6(8-9-1) +3(1+1+1) = -3 The 3-DOF of the proposed mechanism are rotation about X-axis and rotation about Y-axis and translational about Z-axis. 5. KINEMATIC MODELING For analyzing the kinematic model of the parallel manipulator, two relative coordinate frames were assigned, as shown in Fig. (3). Figure 3 Schematic representation of a 3-PRR parallel manipulator

4 Chest Compression for Cardiopulmonary Resuscitation with A 3-PRR Parallel Manipulator A static Cartesian coordinate frame XYZ was assigned at the center of the base and a mobile Cartesian coordinate frame wasfixed to the center of the mobile platform.p and Q, (i=1,2,3), are the joints located at the center of the base, as shown in Fig. 3, and the platform passive joints, respectively. A middle link wasplaced between the mobile and fixed platform. An equation for calculating the angle of movable platform would be in terms of link length, joint angles and radius of the frames assigned. [4] Let,, be the links lengths as expressed below L = P Q = P Q L = Q (1) Fixed Platform Movable Platform Figure 4 Schematic diagram of fixed and movable platform for 3-PRR parallel robot. Fig: 4 show the coordinate frames of both the movable and fixed plat forms. In order to compute!" = "! for i=1, 2, 3, r Qi and r Pi need to be computed first. First, r Qi is defined as: # + cos( " = # + #" = $ # + sin( * (2) # Where α i is computed as ( = Then, r Pi is calculated as: 663

5 T. Dharniju Reddy and G. Yedukondalu / 0123! = $ / 2+43 * (3) 0 Where α i is computes as ( = From (3) yields F i : # + cos( / 0123 = $ # + sin( / 2+43 * = 0; = 6!7 " 7 6 (4) # # + cos( +/ cos3 +2 # + cos( / cos3 + # + sin( +/ sin3 +2 # + sin( / sin3 +! = 0 (5) From (4) we obtain (5) and by reformulating (5), (6) is Obtained as 8 +/ [ # + cos( cos3 + # + sin( sin3 + # + cos( + # + sin( + # = 0 (6) By substituting, we obtain (7) : = # + cos( cos3 + # + sin( sin3 ; = # + cos( + # + sin( + # = 0 (7) In (6), we obtain the inverse kinematics problem of the 3-PRR parallel manipulator from fig. (3) / = : ±=: ; (8) 6. PROCEDURE FOR CHEST COMPRESSION Victim should be laid down, as quickly as possible, on the horizontal surface with his face facing upwards and on a hard firm surface. According to leeway the chest part should be made apparent without any coverage, so that one can recognize the position to carry out the chest compressions between the chests place the palm of one hand on top and at lower half of sternum. Now the other hand should be placed on the top of the first hand as per your comfort. Force should be applied on the chest of the victim with your hand. Your body force must be used to move the victim s chest up and down, so that your arms would not get fatigued and right rate and depth of compressions could be delivered. Locking the elbows, think of moving at waist, this allows performing appropriate chest compressions. Chest compression rate should be at least 100 compressions per minute, without resuming. Avoid yourself, not to get fatigued. After every compression, the chest must be allowed to regain its home position. This allows heart to refill with blood, so that most appropriate CPR process can be attained. [5] Figure 5 A schematic of CPR operation 664

6 Chest Compression for Cardiopulmonary Resuscitation with A 3-PRR Parallel Manipulator If possible two rescue breaths must be given followed by 30 compressions, head/chin lifts must be performed and compressions must be stopped as quickly as possible. If CPR is not performed, blood and oxygen stops circulating and theree is a chance of cellular damage and sometimes victim may expire. Chest compression should be continuous without any kind of delay. While undergoing chest compression sometimes you may feel that ribs may break or ribs rubbing each other. If a person survives overcoming cardiac arrest their ribs will restoree to health [5]. The application gesture is as shown in Fig: ANALYSIS ON 3-PRR PARALLEL MANIPULATOR DEVICE Material: Aluminium Alloys (7075-T6 (SN)) Material Properties: Poisson s Ratio (PRXY) : 0.33 Density: 2810 kg/m3 Ultimate Tensile Strength: psi Tensile Yield Strength: psi Fatigue Strength: psi Shear Strength: 48000psi 7.1. Equivalent Stress Analysis in Ansys 665

7 T. Dharniju Reddy and G. Yedukondalu 7.2. Factor of Safety Taken from Ansys 7.3. Finite Element Mesh done in Solidworks 8. WORK SPACE ANALYSIS Work space computation for the proposed design was a significant phase while designing a parallel Manipulator. In this analysis, the work space for the 3-PRR parallel manipulator had been analyzed using AUTOCAD software package. Fig: 7 shows the two dimensional work space for the 3-PRR medical parallel manipulator. It had been absorbed that the work space achieved up to 300mm. the sufficient range of work space for chest compression task (both compression and decompression) towards Z- direction is 100 mm. Figure 7 The three dimensional (3-D) graph showing work space for 3-PRR medical parallel manipulator

8 Chest Compression for Cardiopulmonary Resuscitation with A 3-PRR Parallel Manipulator 9. CONCLUSION The designed manipulator makes it easy to performing chest compressions at the correct compression rate, time and depth. This research has been going in search of safe and effective mechanism to rescue the cardiac arrest patient. REFERENCES [1] Design and optimization of a Delta Parallel Robot for Cardiopulmonary Resuscitation. G. Yedukondalu Assistant Professor K.L University Guntur Dt , India Dr. A. Srinath Professor K.L University Guntur Dt , India Dr. J. Suresh Kumar Professor JNTUH College of Engg, Hyderabad , India. [2] Parallel Manipulators Applications A Survey Y. D. Patel1*, P. M. George2 [3] Dynamic Analysis of a Modified DELTA Parallel Robot for Cardiopulmonary Resuscitation Yangmin Li and QingsongXu Department of electromechanical Engineering, Faculty of Science and Technology University of Macau Av. Padre Tom as Pereira S.J., Taipa, Macao SAR, P. R. China. [4] Evolutionary Approach to Opimal Design of 3 Translation Exoskeleton and Medical Parallel Robots.Sergiu-Dan Stan, IEEE, Milos Manic, Senior Member, IEEE, Vistrian Maties and Radu Balan. [5] Manikins With Human-Like Chest Properties A New Tool for Chest Compression Research Jon B. Nysæther, Elizabeth Dorph, Ivan Rafoss, and Petter A. Steen. [6] Kinematics analysis, Workspace, Design and Control of 3-RPS and TRIGLIDE medical parallel robots. Dan Verdes, Sergiu-Dan Stan, Member, IEEE, Milos Manic, Senior Member, IEEE, RaduBălan, VistrianMăties Dept. of Mechatronics, Technical University of Cluj-Napoca, Romania, Dept. of Computer science, University of Idaho, USA. [7] Sri Rama Jayakrishna and G. Satish Babu. Dexterity Indices of 6-UPS Parallel Manipulator, International Journal of Mechanical Engineering and Technology (IJMET), 6(12), 2015, pp [8] N. Vamshidhar Reddy, A. V. Vishnu Vardhan Reddy, S. Pranavadithya and J. Jagadesh Kumar, A Critical Review on Agricultural Robots. International Journal of Mechanical Engineering and Technology (IJMET), 7(4), 2016, pp