TEDGlobal 2011
Todd Kuiken: A prosthetic arm that "feels"
トッド・クイケン: 「感覚を持つ」義手
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リハビリテーション医のトッド・クイケンは人の神経系と接続された義手を開発しており、操作性だけでなく感覚性の向上も目指しています。ステージでは患者であるアマンダ・キッツが彼の次世代義手をデモンストレーションしてみせます。
Todd Kuiken - Biomedical engineer
A doctor and engineer, Todd Kuiken builds new prosthetics that connect with the human nervous system. Yes: bionics. Full bio
A doctor and engineer, Todd Kuiken builds new prosthetics that connect with the human nervous system. Yes: bionics. Full bio
Double-click the English transcript below to play the video.
00:15
So today, I would like to talk with you
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本日はみなさんに
00:18
about bionics,
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生体工学
00:20
which is the popular term
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つまり身体の一部を
00:22
for the science of replacing part of a living organism
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メカトロニクス機器やロボットで置き換えるという
00:25
with a mechatronic device, or a robot.
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科学分野についてお話ししようと思います
これは正に
00:28
It is essentially
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00:30
the stuff of life meets machine.
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生体と機械の融合です
00:33
And specifically, I'd like to talk with you
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特に 腕を失った人の為に
00:35
about how bionics is evolving
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生体工学が
00:38
for people with arm amputations.
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どう進歩しているかをお話しします
00:41
This is our motivation.
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我々の研究動機です
00:44
Arm amputation causes a huge disability.
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腕を失うとは大変なことです
単純な不便さは勿論でしょう
00:47
I mean, the functional impairment is clear.
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00:49
Our hands are amazing instruments.
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手は素晴らしい道具です
00:51
And when you lose one, far less both,
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片手を失っただけで
00:54
it's a lot harder to do the things
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日常的に必要とされる
00:56
we physically need to do.
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身体的行為が難しくなります
00:58
There's also a huge emotional impact.
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そして大きな精神的ダメージ
01:00
And actually, I spend as much of my time in clinic
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私の診療室では 身体的不自由さと
01:02
dealing with the emotional adjustment of patients
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同じくらい 精神的ダメージの治療にも
01:05
as with the physical disability.
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時間をかけています
01:07
And finally, there's a profound social impact.
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社交上の問題もあります
01:10
We talk with our hands.
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我々は手で話し
01:12
We greet with our hands.
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手で挨拶をし
01:14
And we interact with the physical world with our hands.
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手で外界とやりとりをします
01:17
And when they're missing,
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手がなくなることは
01:19
it's a barrier.
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障害を意味します
01:21
Arm amputation is usually caused by trauma,
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腕の切断の多くは
01:24
with things like industrial accidents,
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工場事故や交通事故
01:26
motor vehicle collisions
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そして悲しくも
01:28
or, very poignantly, war.
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戦争による外傷の結果です
01:30
There are also some children who are born without arms,
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生まれつき腕のない子もいます
先天性四肢欠損です
01:33
called congenital limb deficiency.
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01:36
Unfortunately, we don't do great
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残念ながら義手の製作は
困難を極めています
01:38
with upper-limb prosthetics.
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01:40
There are two general types.
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義手には２種類あります
01:42
They're called body-powered prostheses,
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こちらは身体操作型義手といって
01:44
which were invented just after the Civil War,
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南北戦争直後に発明され
01:46
refined in World War I and World War II.
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第１・２次世界大戦中に改良されました
01:49
Here you see a patent
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これが1912年の
01:51
for an arm in 1912.
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特許申請書です
01:53
It's not a lot different
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現在の義手と そう違いはありません
01:55
than the one you see on my patient.
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肩の筋肉で制御するものです
01:58
They work by harnessing shoulder power.
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02:00
So when you squish your shoulders, they pull on a bicycle cable.
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肩をすぼめるとケーブルが引かれ
02:03
And that bicycle cable can open or close a hand or a hook
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手やフックを開いたり閉じたり
肘を動かせます
02:06
or bend an elbow.
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02:08
And we still use them commonly,
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この義手は今でも使われています
02:10
because they're very robust
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とても頑丈で単純な構造ですからね
02:12
and relatively simple devices.
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02:14
The state of the art
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最先端のものは
筋電義手という義手です
02:16
is what we call myoelectric prostheses.
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02:18
These are motorized devices
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筋肉からのわずかな
02:20
that are controlled
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電気信号により
02:22
by little electrical signals from your muscle.
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モーター駆動される義手です
02:24
Every time you contract a muscle,
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筋肉を収縮させる時
02:26
it emits a little electricity
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わずかな電気信号が流れ
02:28
that you can record with antennae or electrodes
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それを電極やアンテナで読み取り
02:30
and use that to operate the motorized prosthesis.
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義手の操作に用いるのです
02:33
They work pretty well
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手を失ったばかりの人の場合
02:35
for people who have just lost their hand,
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この義手をとても上手く操作します
02:37
because your hand muscles are still there.
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手の筋肉がまだ残っていますから
02:39
You squeeze your hand, these muscles contract.
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手をすぼめればこの筋肉が収縮し
02:41
You open it, these muscles contract.
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手をひらけばこの筋肉が収縮し
02:43
So it's intuitive, and it works pretty well.
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直感的に上手に使うことができます
しかしもっと上部で
腕の大半を切断するとどうでしょう
腕の大半を切断するとどうでしょう
02:46
Well how about with higher levels of amputation?
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02:48
Now you've lost your arm above the elbow.
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この筋肉だけでなく
02:50
You're missing not only these muscles,
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手と肘そのものがありません
02:52
but your hand and your elbow too.
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02:54
What do you do?
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どうしましょう？
02:56
Well our patients have to use
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そのような患者さんは
02:58
very code-y systems
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腕の筋肉だけで
ロボット義手を動かす
03:01
of using just their arm muscles
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技術を要する方法をとります
03:03
to operate robotic limbs.
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ロボット義手ということです
03:06
We have robotic limbs.
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このように様々な種類があります
03:08
There are several available on the market, and here you see a few.
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開閉する手と 回転する手首と
03:11
They contain just a hand that will open and close,
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03:14
a wrist rotator and an elbow.
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肘があります
03:16
There's no other functions.
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機能はそれだけです
03:18
If they did, how would we tell them what to do?
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機能を増やしても制御方法がありません
03:20
We built our own arm at the Rehab Institute of Chicago
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そこで
シカゴリハビリテーション研究所（RIC）では
シカゴリハビリテーション研究所（RIC）では
03:23
where we've added some wrist flexion and shoulder joints
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手首の屈曲と
肩の関節を加え ６つのモーターで
03:26
to get up to six motors, or six degrees of freedom.
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６自由度を持つ試作品を作りました
03:29
And we've had the opportunity to work with some very advanced arms
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さらに我々は米軍から研究費を得て開発された
03:32
that were funded by the U.S. military, using these prototypes,
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可動式の手を持ち
最大10の自由度を持つ
03:35
that had up to 10 different degrees of freedom
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進歩した義手を
03:38
including movable hands.
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使うことができました
03:40
But at the end of the day,
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しかし結局どう義手に
03:42
how do we tell these robotic arms what to do?
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命令を伝えたものでしょうか
03:44
How do we control them?
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どう操作すれば良いのでしょう？
03:46
Well we need a neural interface,
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その為には神経系あるいは思考過程と
03:48
a way to connect to our nervous system
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繋ぐことで身体の一部の様に
03:50
or our thought processes
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直感的かつ自然に操作できる
03:52
so that it's intuitive, it's natural,
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神経インタフェースが
03:54
like for you and I.
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必要なのです
03:58
Well the body works by starting a motor command in your brain,
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脳から発する運動命令は
04:01
going down your spinal cord,
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脊髄を伝わり末梢神経をとおって
04:03
out the nerves and to your periphery.
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末梢に伝わります
04:05
And your sensation's the exact opposite.
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感覚はその反対です
04:07
You touch yourself, there's a stimulus
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刺激は全く同じ神経を逆に辿り
04:09
that comes up those very same nerves back up to your brain.
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脳に伝えます
04:13
When you lose your arm, that nervous system still works.
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腕を失ってもまだ神経系は働きます
04:16
Those nerves can put out command signals.
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まだ脳の指令を送ることができます
04:19
And if I tap the nerve ending
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そして退役軍人が失った
04:21
on a World War II vet,
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腕の端の神経を触ると
04:23
he'll still feel his missing hand.
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彼はまだ手を感じるのです
04:25
So you might say,
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それならば脳を開けて
04:27
let's go to the brain
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脳内に何かを埋め込み
04:29
and put something in the brain to record signals,
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信号を記録したり
あるいは末梢神経の末端で
04:32
or in the end of the peripheral nerve and record them there.
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信号を記録したりしてみよう
04:35
And these are very exciting research areas,
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確かにそういう研究もありますが
04:38
but it's really, really hard.
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これは恐ろしく難しいのです
04:40
You have to put in
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数百の微小電極を埋め込み
04:42
hundreds of microscopic wires
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信号を発する小さな個々のニューロン
- 普通の神経線維 -から
- 普通の神経線維 -から
04:44
to record from little tiny individual neurons -- ordinary fibers
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マイクロボルト単位の
04:48
that put out tiny signals
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信号を読み取る
04:50
that are microvolts.
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必要があります
04:52
And it's just too hard
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これは現在 技術的に
04:54
to use now and for my patients today.
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難度が高過ぎます
04:56
So we developed a different approach.
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そこで違う方法を考えました
04:59
We're using a biological amplifier
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神経信号を増幅する生体機能
05:02
to amplify these nerve signals -- muscles.
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つまり筋肉を使えば良いのです
05:05
Muscles will amplify the nerve signals
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筋肉は神経信号を
05:07
about a thousand-fold,
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数千倍に増幅するので
05:09
so that we can record them from on top of the skin,
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先程お見せしたように 皮膚の上からでも
05:12
like you saw earlier.
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信号が取れます
05:14
So our approach is something we call targeted reinnervation.
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特定領域への神経支配再確立とでも言えましょう
05:17
Imagine, with somebody who's lost their whole arm,
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腕を失っても
05:20
we still have four major nerves
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（腕を支配する）4つの主要な神経が
まだ残っている患者を
まだ残っている患者を
05:22
that go down your arm.
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想像してみて下さい
05:24
And we take the nerve away from your chest muscle
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その患者の胸筋から神経を取り除き
05:27
and let these nerves grow into it.
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代わりに腕の神経を埋め込みます
05:30
Now you think, "Close hand," and a little section of your chest contracts.
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「手を握ろう」と考えれば胸の一部が収縮し
05:33
You think, "Bend elbow,"
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「肘を曲げよう」と考えれば
05:35
a different section contracts.
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胸の別の場所が収縮します
05:37
And we can use electrodes or antennae
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その動きを電極やアンテナで
05:39
to pick that up and tell the arm to move.
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読み取り義手を操作すればいい
05:42
That's the idea.
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これが我々のアイデアです
05:44
So this is the first man that we tried it on.
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この義手を初めて試した患者です
05:47
His name is Jesse Sullivan.
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ジェシー・サリヴァンという名で
05:49
He's just a saint of a man --
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とても穏やかな方です
05:51
54-year-old lineman who touched the wrong wire
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架線作業中に触る電線を間違え
05:53
and had both of his arms burnt so badly
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両の手に重度の火傷を負い
05:56
they had to be amputated at the shoulder.
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肩から先を切断しました
05:58
Jesse came to us at the RIC
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そして最先端の義手を試すため
06:00
to be fit with these state-of-the-art devices, and here you see them.
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RICの私たちのところにやって来ました
06:03
I'm still using that old technology
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右腕はケーブル操作する
06:06
with a bicycle cable on his right side.
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旧型の義手を使っています
06:08
And he picks which joint he wants to move with those chin switches.
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動かす関節はアゴのスイッチで選びます
06:11
On the left side he's got a modern motorized prosthesis
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左では３つの関節を持つ
06:14
with those three joints,
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モーター駆動の義手で
06:16
and he operates little pads in his shoulder
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肩のパッドで動かしています
06:19
that he touches to make the arm go.
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腕の操作に使うためです
06:21
And Jesse's a good crane operator,
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ジェシーは操縦が上手く
06:23
and he did okay by our standards.
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私たちも満足でした
06:25
He also required a revision surgery on his chest.
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加えて彼は胸の追加手術も必要になりました
06:28
And that gave us the opportunity
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これをよい機会に我々は
06:30
to do targeted reinnervation.
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特定領域への神経支配再確立手術を行いました
06:32
So my colleague, Dr. Greg Dumanian, did the surgery.
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手術を行ったのは
同僚のグレッグ ドゥマニアン博士です
同僚のグレッグ ドゥマニアン博士です
06:35
First, we cut away the nerve to his own muscle,
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まず胸の神経を取り除き
06:38
then we took the arm nerves
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腕の神経を取り出し
06:40
and just kind of had them shift down onto his chest
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それを胸に植え込んで
06:42
and closed him up.
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傷口を塞ぎました
06:44
And after about three months,
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3ヶ月後には神経も少し伸び
06:46
the nerves grew in a little bit and we could get a twitch.
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胸をピクピク動かせるようになり
06:48
And after six months, the nerves grew in well,
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6ヶ月後には神経も十分に伸びて
06:51
and you could see strong contractions.
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強い収縮も可能になりました
06:53
And this is what it looks like.
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このような感じです
06:55
This is what happens when Jesse thinks
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ジェシーが手を開閉させようと思うと
06:57
open and close his hand,
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この動作がおきます
06:59
or bend or straighten your elbow.
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肘を屈曲したり伸ばそうと思うと
07:02
You can see the movements on his chest,
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胸がこう動きます
07:04
and those little hash marks
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この小さなしるしは
07:06
are where we put our antennae, or electrodes.
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アンテナや電極の位置です
07:08
And I challenge anybody in the room
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こんな風に胸を動かせる人が
07:10
to make their chest go like this.
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もし会場にいれば教えてください
07:12
His brain is thinking about his arm.
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彼の脳は腕のことを考えています
07:14
He has not learned how to do this with the chest.
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胸をこんな風に動かす方法を
学んだわけではありません
学んだわけではありません
07:17
There is not a learning process.
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学習過程はありません
07:19
That's why it's intuitive.
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直感的なのです
07:21
So here's Jesse in our first little test with him.
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これが最初の動作テストです
07:24
On the left-hand side, you see his original prosthesis,
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左側は元の義手です
07:27
and he's using those switches
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スイッチを使って
07:29
to move little blocks from one box to the other.
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積み木を
ひとつの箱からもう一つの箱へ移しています
ひとつの箱からもう一つの箱へ移しています
07:31
He's had that arm for about 20 months, so he's pretty good with it.
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20ヶ月も使用した義手はよくなじんでいます
07:34
On the right side,
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右側は私たちの
07:36
two months after we fit him with his targeted reinnervation prosthesis --
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「特定領域への神経支配再確立」を使って
2ヶ月目の映像です
2ヶ月目の映像です
07:39
which, by the way, is the same physical arm,
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機器としては同じ義手で
07:42
just programmed a little different --
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制御ソフトが違うだけですが
07:44
you can see that he's much faster
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動作は明らかに速く
07:46
and much smoother as he moves these little blocks.
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スムーズに積み木を移しています
07:49
And we're only able to use three of the signals at this time.
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この時点で3つの信号を使っているだけです
07:52
Then we had one of those little surprises in science.
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ここで驚くべき科学的発見がありました
07:57
So we're all motivated to get motor commands
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私たちはロボット義手を操作するための
07:59
to drive robotic arms.
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運動指令を得ようとしていた訳ですが
08:01
And after a few months,
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数ヶ月後にジェシーの
08:03
you touch Jesse on his chest,
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胸に触れると 彼は
08:05
and he felt his missing hand.
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失った手を感じました
08:08
His hand sensation grew into his chest again
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手の感覚が胸に戻ったのです
08:10
probably because we had also taken away a lot of fat,
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手術で脂肪を取り去ったので
08:13
so the skin was right down to the muscle
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筋肉と皮膚が近づき
08:15
and deinnervated, if you would, his skin.
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以前あった神経支配を取り除いたのでしょう
08:17
So you touch Jesse here, he feels his thumb;
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ここを触れば親指を感じ
08:19
you touch it here, he feels his pinky.
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ここを触れば小指です
08:21
He feels light touch
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1 gほどの小さな
08:23
down to one gram of force.
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力でも感じます
08:25
He feels hot, cold, sharp, dull,
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熱さ、冷たさ、鋭さ、鈍さ
08:28
all in his missing hand,
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全てを失われた手で感じます
08:30
or both his hand and his chest,
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胸の感覚も残っていますが
08:32
but he can attend to either.
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意識できるのは一方です
08:34
So this is really exciting for us,
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これはとても面白いことです
08:36
because now we have a portal,
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なぜなら
これは感覚の再現に繋がる可能性があり
これは感覚の再現に繋がる可能性があり
08:38
a portal, or a way to potentially give back sensation,
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あるいは末梢神経の末端で
08:42
so that he might feel what he touches
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触れたものを感じる義手の製作にも
08:44
with his prosthetic hand.
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繋がる可能性があるからです
08:46
Imagine sensors in the hand
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義手センサーからの信号が
08:48
coming up and pressing on this new hand skin.
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胸の「手」に伝わればいいのです
08:51
So it was very exciting.
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これは面白い
08:53
We've also gone on
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我々はまた 当初注目していた
08:55
with what was initially our primary population
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肘から先を失った多数の患者の
08:57
of people with above-the-elbow amputations.
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義手についても考えました
08:59
And here we deinnervate, or cut the nerve away,
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筋肉の一部から神経を切り離して
神経支配を除き
神経支配を除き
09:02
just from little segments of muscle
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ほかの部分では神経をそのままにすると
09:04
and leave others alone
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上下運動を伝える神経と
09:06
that give us our up-down signals
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手の開閉を伝える神経を
09:08
and two others that will give us a hand open and close signal.
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作れます
09:11
This was one of our first patients, Chris.
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彼は初期の患者のクリスです
09:13
You see him with his original device
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左側は8ヶ月使っている
09:15
on the left there after eight months of use,
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なじみの義手で
09:17
and on the right, it is two months.
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右は2ヶ月目の義手です
09:19
He's about four or five times as fast
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4~5倍のスピードで
09:22
with this simple little performance metric.
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動作テストをこなしています
09:25
All right.
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09:27
So one of the best parts of my job
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この仕事が好きなのは
09:30
is working with really great patients
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研究仲間である患者さんが
09:32
who are also our research collaborators.
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同時に共同研究者だからです
09:34
And we're fortunate today
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本日その一人のアマンダ・キッツが
09:36
to have Amanda Kitts come and join us.
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会場に来てくれました
09:38
Please welcome Amanda Kitts.
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アマンダ・キッツです
09:40
(Applause)
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(拍手)
09:47
So Amanda, would you please tell us how you lost your arm?
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アマンダ どうして腕を失ったのですか？
09:50
Amanda Kitts: Sure. In 2006, I had a car accident.
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2006年に交通事故に遭いました
09:53
And I was driving home from work,
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仕事から帰る途中
09:56
and a truck was coming the opposite direction,
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反対車線のトラックが突っ込んできて
09:58
came over into my lane,
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車の前面が潰され その時
10:00
ran over the top of my car and his axle tore my arm off.
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トラックの車軸に腕を巻き取られました
10:04
Todd Kuiken: Okay, so after your amputation, you healed up.
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そうですか 腕を切断したあと回復したのですね
10:07
And you've got one of these conventional arms.
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従来型の義手を使ったと思いますが
10:09
Can you tell us how it worked?
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使い心地は如何でしたか？
10:12
AK: Well, it was a little difficult,
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少し難しかったです
10:14
because all I had to work with was a bicep and a tricep.
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上腕二頭筋と上腕三頭筋しか使えなくて
10:16
So for the simple little things like picking something up,
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例えば何かを拾うという簡単な動作にも
10:19
I would have to bend my elbow,
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まずは肘を曲げ
10:22
and then I would have to cocontract
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筋を同時収縮させ
10:24
to get it to change modes.
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モードを変える必要があります
10:26
When I did that,
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そして
10:28
I had to use my bicep
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上腕二頭筋を使って
10:31
to get the hand to close,
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手を閉じて
10:33
use my tricep to get it to open,
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上腕三頭筋で手を開き
10:35
cocontract again
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また同時収縮させ
10:37
to get the elbow to work again.
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肘をまた動かすのです
10:39
TK: So it was a little slow?
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時間がかかりますか
10:41
AK: A little slow, and it was just hard to work.
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少し遅いし とにかく大変なのです
10:44
You had to concentrate a whole lot.
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集中力が要ります
10:46
TK: Okay, so I think about nine months later
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オーケー そして9ヶ月後に
10:49
that you had the targeted reinnervation surgery,
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「特定領域への神経支配再確立」手術を
受けたと思いますが
受けたと思いますが
10:51
took six more months to have all the reinnervation.
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神経支配が再確立するには
さらに半年程かかったと思います
さらに半年程かかったと思います
10:54
Then we fit her with a prosthesis.
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そして改めて作った義手は
10:57
And how did that work for you?
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どうでしたか？
10:59
AK: It works good.
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良かったですよ
11:02
I was able to use my elbow
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肘を使いながら
11:06
and my hand simultaneously.
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手も一緒に動かせるし
11:09
I could work them just by my thoughts.
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それも思うだけで動かせます
11:11
So I didn't have to do any of the cocontracting and all that.
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同時収縮などあれこれ面倒はありません
11:14
TK: A little faster?
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速くなりました？
11:16
AK: A little faster. And much more easy, much more natural.
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少しだけ速いです ただすごく簡単で自然です
11:20
TK: Okay, this was my goal.
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それを目指していたんです
11:23
For 20 years, my goal was to let somebody
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20年間 私の目標は患者さんが
11:26
[be] able to use their elbow and hand in an intuitive way
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肘と手を直感的に そして同時に操作できる
11:29
and at the same time.
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義手の製作でした
11:31
And we now have over 50 patients around the world who have had this surgery,
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そして今 50人以上がこの手術を受けました
11:34
including over a dozen of our wounded warriors
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何十人もの米軍の
11:36
in the U.S. armed services.
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負傷兵も含まれます
11:38
The success rate of the nerve transfers is very high.
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手術の成功率は極めて高く
11:41
It's like 96 percent.
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96%程成功しました
11:43
Because we're putting a big fat nerve onto a little piece of muscle.
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太い神経を細い筋に移植しているからです
11:46
And it provides intuitive control.
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この手術が直感的な操作を可能にします
11:50
Our functional testing, those little tests,
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動作テストでは 速さと
11:52
all show that they're a lot quicker and a lot easier.
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簡易性の向上が示されました
11:54
And the most important thing
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そして何より
11:56
is our patients have appreciated it.
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患者さんが喜んでくれました
11:58
So that was all very exciting.
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これが楽しかった
12:00
But we want to do better.
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しかしまだ改善したい
12:03
There's a lot of information in those nerve signals,
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神経信号には多くの情報が含まれていますが
12:07
and we wanted to get more.
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もっと情報を引き出したい
12:09
You can move each finger. You can move your thumb, your wrist.
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指一本づつ 親指 手首を動かせます
12:12
Can we get more out of it?
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しかしもっと何かできないか？
12:14
So we did some experiments
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実験を行いました
12:16
where we saturated our poor patients with zillions of electrodes
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患者さんに無数の電極を取り付け
12:19
and then had them try to do two dozen different tasks --
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指先の動作から 何かへ腕を伸ばす
12:22
from wiggling a finger to moving a whole arm
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腕全体の動作まで20あまりの動作を
12:25
to reaching for something --
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試してもらい
12:27
and recorded this data.
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データを集めました
12:29
And then we used some algorithms
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そしてパターン認識と呼ばれる
12:31
that are a lot like speech recognition algorithms,
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音声認識によく用いられる
12:33
called pattern recognition.
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アルゴリズムを適用しました
12:35
See.
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どうでしょう
12:37
(Laughter)
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(笑)
12:39
And here you can see, on Jesse's chest,
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ジェシーの胸を見れば
12:41
when he just tried to do three different things,
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3つの動作に対応する
12:43
you can see three different patterns.
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3つのパターンがわかります
12:45
But I can't put in an electrode
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しかし電極に対し具体的な
12:47
and say, "Go there."
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動作の指示はできないので
12:49
So we collaborated with our colleagues in University of New Brunswick,
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ニューブランズウィック大学と共同で
12:52
came up with this algorithm control,
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アマンダがこれから披露する
12:54
which Amanda can now demonstrate.
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アルゴリズム制御を開発しました
12:56
AK: So I have the elbow that goes up and down.
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まず肘を上下に動かすことができます
13:01
I have the wrist rotation
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手首も回せるし
13:03
that goes -- and it can go all the way around.
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しかもグルットとも回ります
13:06
And I have the wrist flexion and extension.
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手首も屈伸します
13:10
And I also have the hand closed and open.
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手の開閉もできます
13:13
TK: Thank you, Amanda.
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ありがとう アマンダ
13:15
Now this is a research arm,
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これは実験段階の義手ですが
13:17
but it's made out of commercial components from here down
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ここから下は市販の部品でできています
13:20
and a few that I've borrowed from around the world.
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残りの部品は世界中から借りてきました
13:23
It's about seven pounds,
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3 kg程の重さです
13:26
which is probably about what my arm would weigh
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私の腕を切り落としたら きっと
13:28
if I lost it right here.
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そのくらいの重さです
13:30
Obviously, that's heavy for Amanda.
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アマンダにはちょっと重いはずです
13:33
And in fact, it feels even heavier,
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しっかり取り付けていない義手なので
13:35
because it's not glued on the same.
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余計重く感じます
13:37
She's carrying all the weight through harnesses.
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装着具でつけた腕ですからね
13:39
So the exciting part isn't so much the mechatronics,
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つまりメカトロニクス部分は
胸躍るようなものではありませんが
胸躍るようなものではありませんが
13:42
but the control.
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制御が素晴らしいのです
13:44
So we've developed a small microcomputer
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我々は小型のマイコンを開発しました
13:47
that is blinking somewhere behind her back
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アマンダの首の後ろでチカチカしながら
13:50
and is operating this
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彼女がそれぞれの筋肉からの
13:52
all by the way she trains it
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信号パターンを使って 訓練に従って
13:54
to use her individual muscle signals.
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動作しているのです
13:56
So Amanda, when you first started using this arm,
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アマンダ この義手を使い始めた時
13:58
how long did it take to use it?
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慣れるまでどのくらいかかりました？
14:01
AK: It took just about probably three to four hours
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自分に適応させるまでに３-４時間といった
14:03
to get it to train.
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そんなところです
14:05
I had to hook it up to a computer,
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その間はコンピュータの側を
14:07
so I couldn't just train it anywhere.
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離れることはできず
14:09
So if it stopped working, I just had to take it off.
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コンピューターが止まったら
外さなければいけません
外さなければいけません
14:12
So now it's able to train
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今は背中の
14:14
with just this little piece on the back.
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小さな装置で同じことができ
14:16
I can wear it around.
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いつでもつけていられます
14:18
If it stops working for some reason, I can retrain it.
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何かの理由で働かなくなっても
もう一度訓練して
もう一度訓練して
14:21
Takes about a minute.
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今度は１分程しかかかりません
14:23
TK: So we're really excited,
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つまり臨床的に使えるものを
14:25
because now we're getting to a clinically practical device.
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開発できて 我々はとても興奮しています
14:28
And that's where our goal is --
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実用に足るような そんな機器を
14:30
to have something clinically pragmatic to wear.
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作るのが我々の望むことだったからです
14:34
We've also had Amanda able to use
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アマンダにはもっと進んだ
14:37
some of our more advanced arms that I showed you earlier.
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義手も使ってもらいました
14:41
Here's Amanda using an arm made by DEKA Research Corporation.
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これはDEKA社の義手です
14:44
And I believe Dean Kamen presented it at TED a few years ago.
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ディーン・カーメンが
数年前TEDでデモを行ったものです
数年前TEDでデモを行ったものです
14:48
So Amanda, you can see,
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とてもスムーズに
14:50
has really good control.
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制御できています
14:52
It's all the pattern recognition.
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パターン認識の成果です
14:54
And it now has a hand that can do different grasps.
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違った握り方のできる義手もあります
14:57
What we do is have the patient go all the way open
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患者さんに義手の手を広げてもらい
15:00
and think, "What hand grasp pattern do I want?"
364
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「どんな握り方をしたいか」考えてもらうと
15:03
It goes into that mode,
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そのモードになり これで
15:05
and then you can do up to five or six different hand grasps with this hand.
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５〜６種の握り方ができます
15:07
Amanda, how many were you able to do with the DEKA arm?
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アマンダ いくつの握り方ができますか？
15:10
AK: I was able to get four.
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４つです
15:12
I had the key grip, I had a chuck grip,
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キーグリップ、チャックグリップ
15:15
I had a power grasp
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強く握ること そして
15:17
and I had a fine pinch.
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つまむことができます
15:19
But my favorite one was just when the hand was open,
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でも手を開いているのが一番好きですね
15:21
because I work with kids,
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子ども相手の仕事では
15:23
and so all the time you're clapping and singing,
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手を叩いて歌うことが多いんです
15:26
so I was able to do that again, which was really good.
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それがまたできるようになったのが嬉しいです
15:29
TK: That hand's not so good for clapping.
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この義手は拍手向きではないようで
15:31
AK: Can't clap with this one.
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難しいですね
15:33
TK: All right. So that's exciting
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ありがとう
メカトロニクスが進歩し
15:35
on where we may go with the better mechatronics,
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15:37
if we make them good enough
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実地試験ができれば
15:39
to put out on the market and use in a field trial.
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何ができるか楽しみです
15:42
I want you to watch closely.
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ではこちらをご覧下さい
15:44
(Video) Claudia: Oooooh!
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(オー!)
15:46
TK: That's Claudia,
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この患者はクローディアといい
15:48
and that was the first time
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これは彼女が初めて
15:50
she got to feel sensation through her prosthetic.
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義手から感覚を得た場面です
15:53
She had a little sensor at the end of her prosthesis
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義手の先端にセンサーがあり
15:56
that then she rubbed over different surfaces,
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いくつかの違った表面をなでる毎に
15:59
and she could feel different textures
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違った感触を感じるのです
16:01
of sandpaper, different grits, ribbon cable,
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紙やすり 砂利 リボン
16:04
as it pushed on her reinnervated hand skin.
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感触が
「神経支配を再確立した手」の皮膚に伝わります
「神経支配を再確立した手」の皮膚に伝わります
16:07
She said that when she just ran it across the table,
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テーブルをなでると自分の指が
16:10
it felt like her finger was rocking.
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揺れ動くのを感じると言います
16:12
So that's an exciting laboratory experiment
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これが皮膚感覚フィードバックの
16:14
on how to give back, potentially, some skin sensation.
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可能性を示す実験となります
16:17
But here's another video that shows some of our challenges.
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こちらはまた別の挑戦です
16:20
This is Jesse, and he's squeezing a foam toy.
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ジェシーが泡粒玩具を握ると
16:23
And the harder he squeezes -- you see a little black thing in the middle
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強く握るほど胸についた黒い小さな機器が
16:26
that's pushing on his skin proportional to how hard he squeezes.
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それに比例して彼の皮膚を強く押します
16:29
But look at all the electrodes around it.
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ただ多くの電極を見ればわかる通り
16:31
I've got a real estate problem.
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皮膚の表面にぎっしりです
16:33
You're supposed to put a bunch of these things on there,
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多くの電極を繋ぐ必要があり
16:35
but our little motor's making all kinds of noise
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電極に付属するモーターは
16:38
right next to my electrodes.
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とてもうるさいです
16:40
So we're really challenged on what we're doing there.
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課題は多いですが我々は挑戦を続けています
16:43
The future is bright.
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将来は明るいです
16:45
We're excited about where we are and a lot of things we want to do.
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今の技術にも 将来の技術にも希望が一杯です
16:48
So for example,
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例えばもっと
16:50
one is to get rid of my real estate problem
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皮膚表面の問題を解決して
16:53
and get better signals.
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良い信号を得ることだとか
16:55
We want to develop these little tiny capsules
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米粒のように非常に小さく
16:58
about the size of a piece of risotto
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筋肉に入れることができ
17:00
that we can put into the muscles
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EMG信号を遠隔で取得できる
17:02
and telemeter out the EMG signals,
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カプセルを開発し 煩わしい配線などに
17:05
so that it's not worrying about electrode contact.
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気をもまない様にしたいだとか
17:08
And we can have the real estate open
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感覚のフィードバックを得るために
17:10
to try more sensation feedback.
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皮膚につけるものを減らすとか
17:12
We want to build a better arm.
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とにかく良い義手を作りたい
17:14
This arm -- they're always made for the 50th percentile male --
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この義手は平均的な男性用のサイズです
17:18
which means they're too big for five-eighths of the world.
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全人口の5/8の人間にとっては大き過ぎます
17:22
So rather than a super strong or super fast arm,
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そのため 私たちは強く 速い義手よりは
17:25
we're making an arm that is --
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ただ握り・開き
17:27
we're starting with,
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手首と肘だけは動かせる
17:29
the 25th percentile female --
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しかしサイズ的には
17:32
that will have a hand that wraps around,
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平均的な女性用のサイズより
17:34
opens all the way,
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さらに小さい
17:36
two degrees of freedom in the wrist and an elbow.
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そんな義手の開発の優先を考えています
17:39
So it'll be the smallest and lightest
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その義手は最も小さく軽く
17:41
and the smartest arm ever made.
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最も賢い義手です
17:43
Once we can do it that small,
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小さな義手を開発すれば
17:45
it's a lot easier making them bigger.
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それを大きくするのは簡単です
17:47
So those are just some of our goals.
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これらが我々の目標です
17:50
And we really appreciate you all being here today.
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今日はここに来てくださり有難うございます
17:54
I'd like to tell you a little bit about the dark side,
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最後に昨日私たちが体験した
17:56
with yesterday's theme.
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義手の難しさについてお話します
17:58
So Amanda came jet-lagged,
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時差ぼけしたアマンダが
18:00
she's using the arm,
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義手を操作すると
18:02
and everything goes wrong.
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うまくいきませんでした
18:04
There was a computer spook,
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システムが変な挙動をし
18:06
a broken wire,
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ワイヤーが切れ
18:08
a converter that sparked.
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電圧変換機がスパークし
18:10
We took out a whole circuit in the hotel
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ホテルの電気回路を全て使って
18:12
and just about put on the fire alarm.
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火災報知機が鳴りかけました
18:14
And none of those problems could I have dealt with,
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その全てに私は対処できませんでしたが
18:17
but I have a really bright research team.
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サイモン博士をはじめとする
18:19
And thankfully Dr. Annie Simon was with us
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優秀な研究チームのおかげで
18:22
and worked really hard yesterday to fix it.
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昨日の問題を処理できました
18:24
That's science.
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これが科学というものです
18:26
And fortunately, it worked today.
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幸運にも 今日は問題なく動作しました
18:28
So thank you very much.
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ありがとうございました
18:30
(Applause)
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(拍手)
ABOUT THE SPEAKER
Todd Kuiken - Biomedical engineerA doctor and engineer, Todd Kuiken builds new prosthetics that connect with the human nervous system. Yes: bionics.
Why you should listen
As Dean Kamen said at TED2007, the design of the prosthetic arm hadn't really been updated since the Civil War -- basically "a stick and a hook." But at the Rehabilitation Institute of Chicago, physiatrist Todd Kuiken is building new arms and hands that are wired into the nervous system and can be controlled by the same impulses from the brain that once controlled flesh and blood.
Kuiken's training -- as both a physician and an engineer -- helps him see both sides of this complex problem. A technology called targeted muscle reinnervation uses nerves remaining after an amputation to control an artificial limb, linking brain impulses to a computer in the prosthesis that directs motors to move the limb. An unexpected effect in some patients: not only can they move their new limb, they can feel with it.
He said: "From an engineering standpoint, this is the greatest challenge one can imagine: trying to restore the most incredible machine in the universe."
Todd Kuiken | Speaker | TED.com