Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Int J Med Robot. 2024 Aug;20(4):e2669. doi: 10.1002/rcs.2669.
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.
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.
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.
The developed robot successfully achieves the necessary motion for endotracheal intubation surgery through master-slave control.
主从式远程控制技术允许患者在运输过程中得到及时治疗，同时降低传染性感染的风险。在内窥镜和主从式系统的引导下进行气管插管，使医生能够高效、准确地进行操作。
本文提出了一种基于操作增量映射的主从式控制气管插管机器人（EIR）的开发。该机器人采用加权递归平均滤波方法来减少振动，并设计了虚拟夹具来减少微创手术中的误操作。
主从控制的仿真分析表明，加权递归平均滤波方法有效地减少了振动，而虚拟夹具则有助于将操作人员的运动限制在限定的区域内。实验验证证实了机器人结构设计和控制方法的有效性。
通过主从控制，开发的机器人成功地实现了气管插管手术所需的运动。
