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Design and Motion Control of Master-Slave Control Endotracheal Intubation Robot.
Qi, Qian; Lv, Junqi; Sun, Ke; Sun, Yi; Jiang, Andong; Ji, Aihong.
Afiliación
  • Qi Q; Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Lv J; Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Sun K; Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Sun Y; Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Jiang A; Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Ji A; Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Int J Med Robot ; 20(4): e2669, 2024 Aug.
Article en En | MEDLINE | ID: mdl-39183583
ABSTRACT

BACKGROUND:

Master-slave remote control technology allows patients to be treated promptly during transport and also reduces the risk of contagious infections. Endotracheal intubation, guided by endoscopy and a master-slave system, enables doctors to perform the procedure efficiently and accurately.

METHODS:

In this paper, we present the development of a master-slave controlled endotracheal intubation robot (EIR). It is based on operation incremental mapping, a weighted recursive average filtering method to reduce vibration, and a virtual fixture designed to reduce mishandling in minimally invasive surgery.

RESULTS:

Simulation analysis of the master-slave control demonstrates that the weighted recursive average filtering method effectively reduces vibration, while the virtual fixture assists in confining the operator's movement within a delimited area. Experimental validation confirms the validity of the robot's structural design and control method.

CONCLUSIONS:

The developed robot successfully achieves the necessary motion for endotracheal intubation surgery through master-slave control.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Diseño de Equipo / Procedimientos Quirúrgicos Robotizados / Intubación Intratraqueal / Movimiento (Física) Límite: Humans Idioma: En Revista: Int J Med Robot Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Reino Unido
Texto completo
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Diseño de Equipo / Procedimientos Quirúrgicos Robotizados / Intubación Intratraqueal / Movimiento (Física) Límite: Humans Idioma: En Revista: Int J Med Robot Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Reino Unido