Research On The Drive And Mechanism Of The Serpentine Robot For Tracheal Intubation

In the process of rescuing critically ill patients,the primary measure is to ensure that the airway is unobstructed.Tracheal intubation is the preferred solution for establishing an artificial airway and relieving airway obstruction.It is one of the most basic,common,and important means in the emergency department.Whether tracheal intubation is timely and effective plays a vital role in prolonging the treatment time of patients,maintaining the life of patients,and reducing the mortality rate of patients.The success or failure of tracheal intubation completely depends on the clinical experience of medical staff.It is difficult for inexperienced medical staff to grasp the position of the laryngoscope,which may lead to tooth loss,bleeding and damage to the respiratory mucosa,and even dislocation of the patient’s mandibular joint or even Risk of sudden cardiac arrest.Robots assist medical staff to complete endotracheal intubation,which is conducive to reducing labor intensity,improving intubation efficiency and surgical safety.This paper takes the endotracheal intubation snake robot as the research object.The research contents include the innovation of endotracheal intubation technology;the mechanical structure design of the snake robot;the kinematic modeling of the snake robot;the research on the control method of the snake robot,etc.The main work and research contents are as follows.(1)Innovation in robotic endotracheal intubation techniques.Based on the surgical operation technique of tracheal intubation by medical workers,the Perception Neuron 2.0 motion capture system was used to collect information on key steps of intubation,analyze the function principle of laryngoscope during intubation,establish a digital model,and propose a snake-shaped robot intubation method.Provide a basis for the design of the robot.(2)Mechanical structure design of snake robot.Aiming at the problem of too many drive motors and difficult control of the rope-driven snake robot,the research on the motion mechanism of the biological snake was carried out,and the physical bionic model of the joint connection was established by using the principle of bionics,and the active and passive hybrid snake robot transmission and drive based on the joint distal and proximal linkage was proposed.plan.(3)Kinematics modeling analysis of the snake-shaped manipulator.Using the classical D-H parameter method,the robot joint model is simplified,and the mapping relationship among the robot drive space,joint space and operation space is deduced,which realizes the decoupling analysis of robot kinematics and provides a theoretical basis for robot control.(4)Research on the control method of snake robot.Using the energy method,the robot dynamics equation is established based on the Lagrangian method,the Jacobian matrix is solved,and the sliding mode control method based on the calculated torque is proposed.Simulation experiments were used to verify the feasibility of endotracheal intubation with snake-like robot.The highlights and innovations of the research work in this paper are that(1)using the motion information of medical workers for endotracheal intubation as a reference,using the motion capture system,combined with the characteristics of snake-shaped robot endotracheal intubation to carry out innovation in operating techniques;(2)New configuration of passive hybrid snake robot.