數位健康暨醫用機器人實驗室 | Digital Health and Biorobotics Lab

研究主題 Researches

2023 利用雙機械手臂建置具居家孕婦監控裝置性能評估之胎動模擬系統

現今年輕人將事業和個人成長放在婚姻之上，造成晚婚和高齡產婦的情況日益普遍，再加上不健康的生活方式和久坐的工作型態與新冠疫情的影響，孕婦腹中胎兒的照護監測裝置如雨後春筍地出現，然而對這樣裝置的驗證假體目前仍相當缺乏。鑒於上述需求，本研究開發了一個胎動模擬系統，使用雙機器手臂協作平台來確保產前護理研究的安全性。此系統使用基於水凝膠的假體和機器手臂，可以準確地模擬腹壁和胎兒在子宮内的運動。本研究目標為模擬胎兒在子宮內運動的多個情況，透過8 個不同的情況來評估此系統的效能：（1）模擬FM 特性；（2）模擬不同懷孕階段的FM；（3）模擬FM在不同角度下的運動；（4）模擬FM 不同持續時間的運動；（5）模擬FM 不同位移的運動：（6）模擬FM 在不同孕婦姿勢下的運動；（7）模擬FM 在不同人工羊水量下的運動；（8）模擬宮缩和 FM 的出現。正面結果顯示：a）位移和能量之間的線性相關性為R=0.95，表明該系統對較大FM位移具有高度的適應性；b）在20週和30週時，R？值為 0.89和 0.98，顯示該系統可以模擬隨著懷孕周數的變化的不同 FM；c）系統在相同位移下保持一致的力和能量，力傳感器測量的能量分布與 FZ 之間呈現負相關，R2為 0.97；d）在模擬5秒的FM 時，準確率達到98%，與典型FM 持續時間相符；e）能量和 RF與位移之間存在很強的相關性，R2值為 0.99，可靠地用於評估胎兒健康和活動水平；f）在6.%和35%的不同位置之間存在偏差，這表明孕婦姿勢的重要性；g）700 毫升較高的羊水量對於能量傳輸的密度具有0.4%的較低測量誤差，h）同時刺激子宮收縮和胎動為了解它們的特性以及它們之間的複雜關係提供了有價值的見解。上述研究結果驗證此系統成功地在實際情況中模擬了多種FM 運動。該模擬系統在現有的胎動模擬器中脫穎而出並可做為臨床試驗前之標準。

Late marriages and advanced maternal age are becoming more common as young adults prioritize career and personal growth over marriage. Although numerous of the remote monitoring of fetal health has been developed for allowing mothers and caregivers to actively assess the baby's well-being, this still lack of a simulator system ensuring a safe of pregnant care devices. To address these problems, this study developed a fetal movement simulator system using a dual-robotic platform to prioritize safety in prenatal care research. The simulator combines a hydrogel-based phantom and a robotic arm to accurately replicate abdominal wall and fetal movements in prenatal care through the topic "Development of a Fetal Movement Simulator based on a Dual-Robotic Platform for Pregnant Wearable Devices Assessment.". This study aims to show many aspects of a fetal movement simulator in an in-womb environment. The performance of the simulator was evaluated through 8 different simulation scenarios: (1) Simulation of FM characteristics; (2) Simulation of FM in different pregnancy stages, (3) Simulation of FM with diverse angles, (4) Simulation of FM with different durations, (5) Simulation of FM with different displacements, (6) Simulation of FM with different maternal postures, (7) Simulation of FM under different Artificial Amniotic Fluid Volumes, and (8) Simulation of UC and FM occurrences. Positive results were showed that a) The linear correlation with R=0.95 between displacement and Energy indicates the high system's qualification for higher FM displacements; b) With the significant difference at R'=0.89 and 0.98 of 20th and 30th-old-week, the system can mimic different FM following the development of gestational weeks; c) The system maintained consistent force and energy in the same displacement, and a negative correlation between Energy measurement and FZ from the force sensor with R'=0.97; d) It achieved 98% accuracy in simulating FM at 5-second duration, aligning with typical FM durations; e) Energy and RF were found to have a strong correlation with displacement at R2=0.99 and be reliable indicators for assessing fetal health and activity levels; f) The deviation between lower position and upper position at 6.% and 35% indicated the important of maternal postures; g) A higher amniotic fluid at 700 mL will have lower measurement error at 0.4% related to the density of amniotic flow on energy transmission; h) Simultaneous stimulation of uterine contractions and fetal movements provided valuable insights into their characteristics and the complex relationship between them. The above results confirm that the enhanced simulator system successfully created a diverse aspect of FM movements in the actual environment. This simulation system stands out from existing fetal movement simulators. This system can be a standard for the pre-test before the clinical trial.

林阮銀河