主从控制气管插管机器人的设计与运动控制

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-08-26 DOI:10.1002/rcs.2669

Qian Qi, Junqi Lv, Ke Sun, Yi Sun, Andong Jiang, Aihong Ji

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引用次数: 0

摘要

背景：主从远程控制技术可使病人在转运过程中得到及时救治，并降低传染性感染的风险。在内窥镜和主从系统的引导下进行气管插管，可使医生高效、准确地完成手术：本文介绍了主从控制气管插管机器人（EIR）的开发情况。它基于操作增量映射、用于减少振动的加权递归平均滤波方法以及旨在减少微创手术中误操作的虚拟夹具：结果：对主从控制的仿真分析表明，加权递归平均滤波法能有效减少振动，而虚拟夹具则有助于将操作员的移动限制在限定区域内。实验验证证实了机器人结构设计和控制方法的有效性：结论：开发的机器人通过主从控制，成功实现了气管插管手术的必要运动。

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Design and Motion Control of Master–Slave Control Endotracheal Intubation Robot

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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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.