Research ArticleMEDICAL ROBOTS

Long-term implant of intramuscular sensors and nerve transfers for wireless control of robotic arms in above-elbow amputees

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Science Robotics  17 Jul 2019:
Vol. 4, Issue 32, eaaw6306
DOI: 10.1126/scirobotics.aaw6306
  • Table 1 TMR nerve transfer matrix for the above-elbow level of amputation.

    Targeted musclesNervesProsthetic functionInnervation
    M. biceps caput longumN. musculocutaneousElbow flexionOriginal
    M. biceps caput breveN. ulnarisHand closeTransferred
    M. brachialisN. medianusPronationTransferred
    M. triceps caput longum/medialeN. radialisElbow extensionOriginal
    M. triceps caput lateraleSplit ramus prof. N. radialisHand openTransferred
    M. brachioradialisSplit ramus prof. N. radialisSupinationTransferred
  • Table 2 Functional outcome using SHAP, BBT, CPRT, and AC.

    NA, not available.

    PatientSHAPBBTCPRTAC
    PreIMESSurfacePreIMESSurfacePreIMESSurfaceIMESSurface
    139452712121186.982643.332.832.33
    23644239103.3349.3842.06NA2.952.22
    32452452156.67117.0014.6737.5832.33
    Mean33.0047.0031.677.6712.337.0084.4527.5840.462.932.29
    SD7.944.3211.725.132.523.8533.8813.764.070.090.06
  • Table 3 Patient demographics.

    PatientAge at
    amputation
    Side of
    amputation
    Dominant
    hand before
    amputation
    Years from
    amputation
    to surgery
    Follow-up
    from surgery
    (years)
    Time from
    surgery to
    evaluation
    (years)
    Nature of lossNumber of
    IMES
    implanted
    115.92RightRight1.083.003.00Traffic accident6
    231.42LeftRight1.502.752.00Motorcycle accident5
    347.17RightRight0.502.501.92Machine accident6
    31.501.032.752.31
    15.630.500.250.60

Supplementary Materials

  • Supplementary Materials

    The PDF file includes:

    • Legends for movies S1 and S2

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    Other Supplementary Material for this manuscript includes the following:

    • Movie S1 (.mp4 format). SHAP and CPRT of patient II.
    • Movie S2 (.mp4 format). Accuracy test of patient III with six myosignals and surface electrodes compared with implanted electrodes.

    Files in this Data Supplement:

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