Research Of Robot System For Auxiliary Nonimvasive Positive Pressure Ventilation

Through the analysis of the current situation of airway nursing during anesthesia, the noninvasive positive pressure ventilation has the advantages of less trauma, less complications, less pain and shorter recovery period. The clinical experience of physicians found that noninvasive positive pressure ventilation can be used in a part of the operation to assist breathing,but the doctor must always hold the jaw and fasten the mask, so it is easy to make the doctor feel tired after a long time, the most important is that fatigue causes airway ventilation status is not stable, which hinders the noninvasive positive pressure ventilation in use during anesthesia. Therefore, it is urgent to design a robot, instead of doctors to carry out noninvasive positive pressure ventilation, and its results are of great significance.According to the clinical needs of the anesthesia doctors, this paper designed a set of auxiliary noninvasive positive pressure ventilation robot system based on the background of noninvasive positive pressure ventilation and the use of robotics. The robot adopts the active and passive control mode to realize the anti jaw opening, so as to ensure the best breathing condition without damage to the human body.This paper from the perspective of clinical application and based on noninvasive positive pressure ventilation airway established medical experience, then consider assisted a positive pressure ventilation design of robot can be realized, put forward the concept of the anti jaw opening position(that is mandibular anti jaw position and the opening position implement step by step), in addition, it analyze the method of judging the best breathing condition of non invasive positive pressure ventilation and the production of pressure ulcer during noninvasive positive pressure ventilation. From the point of the specific operation process of the invasive positive pressure ventilation, the overall design scheme of the auxiliary noninvasive positive pressure ventilation robot was put forward.According to the design requirements of the auxiliary auxiliary noninvasive positive pressure ventilation robot, the mechanical system is divided into four parts that mandibular fixation mechanism, passive positioning arm, face pose adjustment mechanism and line balancing mechanism. The design purpose of each part of the mechanism is analyzed, then detailed design were carried out respectively; by the robotic arm length is optimized to meet the needs of light and large working space, in addition to the key components of mechanical check. On the basis of this, the processing and assembly of the robot prototype is completed.It design the electronic control system for robot, configure and design the hardware of each part of the robot, so that the robot has the ability to complete the auxiliary breathing capacity and limit protection, and make the robot has the ability to perceive. It design the control algorithm based on the interaction force between the end manipulator and the face, and realize the data extraction and real-time display of the respiratory condition and the pressure of the face in the operation process.Robot system experimental platform is built, on the motion characteristics and gravity balance effect were evaluated at the same time, the largest of the joint lock tightening moment are studied by experiment, in order to validate the reliability of the mechanical system; and will build a good experimental platform is installed on the regular hospital operation stage of preliminary clinical experiments, were anti jaw opening position form validation experiments, force threshold determined experimentally, assisted autonomous ventilation experiment and mask servo experimental verification, to verify the robot’s effectiveness and practical ability.