Research On Tactile Perception Method Of Epiglottis Adsorption Hand

In the face of the continuous spread of the epidemic in the world today,in order to take into account the clinical medical efficiency and the physical and mental health of medical staff,the use of medical robots to complete some clinical medical tasks is an effective solution to the spread of the virus.The epiglottis adsorption hand is an operating part of the endotracheal intubation robot.It performs the operation of lifting the epiglottis to expose the glottis to ensure that the endotracheal tube has enough working space to be introduced into the patient’s airway.The upper respiratory tract of the human body is a narrow,tortuous and irregular closed channel.During the intubation process,in order not to damage the soft tissues of the organs,the epiglottis adsorption hand should have the function of tactile perception.This paper takes the tactile perception method of the epiglottis adsorption hand as the research object.The research contents include laryngoscope static analysis and lens stress distribution simulation;configuration design of epiglottis adsorption hand and reasoning of working techniques;establishment of tongue soft tissue and saliva hydrodynamic model;PVDF pressure Electric sensor tactile response signal acquisition;force tactile and sliding tactile signal processing methods;epiglottis adsorption hand tactile threshold calibration research,etc.The main work and research contents are as follows.(1)Reasoning of configuration design and working technique of epiglottis adsorption hand.Based on the relationship between the static force of Miller laryngoscope and Macintosh laryngoscope in clinical application,as well as the simulated laryngeal blade stress distribution,combined with the advantages of the two laryngoscopes when interacting with the human body,a new method suitable for the epiglottis adsorption hand was proposed.The design scheme of the configuration of the artificial laryngoscope is used for reference,and the scientific and reasonable working techniques of the epiglottis adsorption hand are deduced by means of model simulation,and the tactile requirements are clarified.(2)The hydrodynamic model of tongue soft tissue and saliva was established.According to the biological soft tissue viscoelasticity of the tongue in contact with the epiglottis adsorption hand,the constitutive relations of Maxwell model and Kelvin model are deduced and extended,and a three-parameter solid model is used to describe the mechanical properties of the tongue soft tissue.The theoretical model was used to fit the experimental data,and the model parameters were calculated.The study found that there is a layer of saliva non-Newtonian fluid between the epiglottis adsorption hand and the tongue,and the Carreau model was used to express the viscosity of saliva.Combined with tongue soft tissue and saliva hydrodynamic model,the characteristics of contact force and viscous force on the epiglottis adsorption hand were analyzed,which provided the basis for distinguishing force-tactile and slip-tactile signals.(3)PVDF piezoelectric sensor tactile response signal acquisition.According to the working principle and equivalent circuit of the PVDF sensor,the physical sensor is prepared and a test platform is built.The data acquisition card is used to collect the tactile signal,and the characteristics of the force tactile and sliding tactile response signals are clarified.(4)Force-tactile and sliding-tactile signal processing and threshold calibration.Based on the concept of driving and sensing integration,a tactile sensing system for the epiglottis adsorption hand is designed,and the tactile signal of the epiglottis suction hand is collected by means of simulation.The relationship with the contact state of the epiglottis adsorption hand is used to calibrate the tactile threshold,and the tactile perception of the epiglottis adsorption hand is realized.The highlights and characteristics of the research work are reflected in the innovation of the epiglottis adsorption hand configuration and working technique,the establishment of the tongue soft tissue and saliva hydrodynamic model,the extraction and separation of force-tactile and slip-tactile signals,and the realization of the tactile perception method of the epiglottic adsorption hand.