Biomedical Engineering Reference
In-Depth Information
2
2
2
l
1
,
l
2
=
(
Pv
6
x
−
P
4
x
)
+(
Pv
6
y
−
P
4
y
)
+(
Pv
6
z
−
P
4
z
)
(12.3)
2
2
2
l
3
,
l
4
=
(
Pv
1
x
−
P
4
x
)
+(
Pv
1
y
−
P
4
y
)
+(
Pv
1
z
−
P
4
z
)
(12.4)
l
5
,
l
6
=
(
Pv
2
x
−
P
5
x
)
2
+(
Pv
2
y
−
P
5
y
)
2
+(
Pv
2
z
−
P
5
z
)
2
(12.5)
2
2
2
l
7
=
(
Pv
8
x
−
P
3
x
)
+(
Pv
8
y
−
P
3
y
)
+(
Pv
8
z
−
P
3
z
)
(12.6)
2
2
2
l
8
=
(
Pv
9
x
−
P
2
x
)
+(
Pv
9
y
−
P
2
y
)
+(
Pv
9
z
−
P
2
z
)
(12.7)
l
1
0
=
(
Pv
10
x
−
P
1
x
)
2
+(
Pv
10
y
−
P
1
y
)
2
+(
Pv
10
z
−
P
1
z
)
2
(12.8)
2
2
2
l
11
,
l
12
=
(
Pv
4
x
−
P
o
m
x
)
+(
Pv
4
y
−
P
o
m
y
)
+(
Pv
4
z
−
P
o
m
z
)
(12.9)
2
2
2
l
9
,
l
13
=
(
Pv
3
x
−
P
7
x
)
+(
Pv
3
y
−
P
7
y
)
+(
Pv
3
z
−
P
7
z
)
(12.10)
2
(12.11)
An experiment was proposed to verify the accuracy of the reproduction of the
experiment to determine the differences between the kinematic results and the real
ones. Thus, we compare the lengths of each of the wires which are obtained by the
kinematic analysis, and the real length of each of wires by measuring them using
a caliper (0.05mm of resolution). For this experiment; as a first approach, we have
considered two kinds of cases of patients for the airway management training. The
first case is the normal patient condition with its mouth closed (
L
=0mm,
l
14
,
l
15
=
(
Pv
5
x
−
P
6
x
)
2
+(
Pv
5
y
−
P
6
y
)
2
+(
Pv
5
z
−
P
6
z
)
=0
◦
), and
second case is the restricted mouth opening on patients with temporomandibular
joint disorders (
L
=0mm,
θ
=13
◦
). For this purpose, we have adjusted the angle of
mandible and the position of translational axis based on the each of the proposed
cases by controlling the sixteen actuators.
The experimental results are shown in
Table 12.1
; where an average error of
3mm was found. As we may observe, the wires connected to the mandible and
the ones connected on the tongue have bigger length errors. Regarding the three
tongue bones attached on the tongue, a total of ten wires were attached to them
to control the tongue's position. In order to determine the initial position of the
tongue, we used the tongue-offset device. With three bones fixed with the tongue-
offset device, each of the actuators pulls the wires to determine an initial position
of the tongue. However, the tongue which has high elastic coefficient makes it
return to original shape, and the tensioned wires which are connected on the three
bones make their positions change when the calibration device is removed from
the mandible.
θ
