D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification rehabilitation. Most SpO2 sensors are disposables that are glue attached to the patient. Validated products sending SpO2 and heart rate data via Continua standard Bluetooth protocol are also available (e.g. Nonin Onyx II 9560 9 ). Examples of both disposable and reusable sensors are shown in Figure 20. 10.2.1.7 Blood pressure Figure 20: Nonin Onyx II 9560 and disposable 7000A Adult sensor Blood pressure (BP) is the pressure exerted by circulating blood upon the walls of blood vessels. A person's BP is usually expressed in terms of the systolic pressure over diastolic pressure (mmHg). The term blood pressure usually refers to the pressure measured at a person's upper arm (at the level of the heart). It is measured on the inside of an elbow at the brachial artery, which is the upper arm's major blood vessel that carries blood away from the heart. The clinical, gold standard blood pressure measurement is however done invasively. Blood pressure is influenced by many factors, such as diet, activity level, exercise, disease, drugs or alcohol, stress, obesity and so-forth. Further, it is a parameter that varies throughout the body depending upon gravity, blood viscosity, artery flexibility and several other parameters. Blood pressure is usually done as a point measurement during a consultation with a medical professional. It is based on either palpation, ascultatory measurements or oscillometric measurements. In either case, the measurement of the blood pressure involves a measurement of the pressure at which the blood pressure of an artery or vein is becoming significantly constrained. These measurements are therefore not suitable for continuous, long term monitoring. Simple, continuous and comfortable monitoring of blood pressure is currently not possible using commercially available products [Kirstein et al, 2005] [Sola et al, 2011]. One promising research direction is the analysis of the arterial pulse wave velocity, which can be measured without physical constraints on an artery or vein. The research is however novel, and challenged by movement artefacts, so it is not seen as a realistic alternative for BP measurements in CORBYS . 10.2.1.8 Skin/Core temperature The clinical interest for core temperature measurements is related to illness or hypo- or hyperthermia. The skin temperature varies widely and is also strongly affected by the thermal environment. Both skin and core temperature will increase during physical effort but the human thermal regulating system will effectively limit the temperature changes. Both skin and core temperature are slowly varying parameter. Skin temperature can be measured with different types of temperature sensors, such as thermocouple, resistance, or infrared emission sensors placed in contact with the patient’s skin. The core temperature is typically using a rectal 9 www.nonin.com 106
D2.1 Requirements and Specification probe or by infrared emission measurements in the ear. 10.2.2 Inertial measurement units (IMU) An inertial measurement unit (IMU) uses inertial sensors such as movement sensors (accelerometers) and rotation sensors (gyroscopes), possibly in combination with other movement sensors. One frequent example in this respect is magnetometers, which help orient the object you want to track with respect to the earth magnetic field. In order to be able to track objects, an IMU must have accelerometer and gyroscope sensing in at least as many directions of freedom as the object does; typically 3 axis of acceleration and 3 axes for rotations. Accelerometers and gyroscopes measures changes of inertia during movements and rotations. For accelerometers, accelerometer values can be a direct measure of force via Newton’s second law: The equation also displays that if the acceleration measurement is integrated once with time, one gets the velocity, and by integrating a second time, on gets the position. The same can be done for gyroscope measurements, where changes in degrees/second squared can be integrated to yield angular velocity and integrated again to obtain the absolute angle. It is however important to be aware that there are several challenges in order to obtain accurate measurements. First, as this is integration measurements, any measurement error, such as offset error, a drift or a scaling error will be integrated and can become substantial. In order to perform correct integration of the accelerometer data is important to be aware of the direction of gravity at all times. The magnetometer is valuable for providing this orientation information. Further it is crucial to know the initial position, from which the integration process is started. In the CORBYS setting, it will therefore be important to establish “home” positions where the locations of the various IMUs are known. IMU are essential components in robotics and are also widely used in navigation systems. For human measurements, it is probably most convenient to select a compact, integrated IMU suitable for attachment on the human. As an example, the xSens MTx 10 device that offers 3D motion, 3D rotations and 3D magnetometer in an integrated unit weighing 30 g, and intended for biomechanics applications. 10 http://www.xsens.com/en/general/mtx Figure 21: The xSens MTx inertial monitoring unit offering simultaneous 3 axis measurements of movements, rotations and magnetic field. 107
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