仿真智能吸痰机器人运动单元的研制  

Development of Motion Unit of Simulated Intelligent Endotracheal Suctioning Robot

作　　者：谭文君[1,2,3,4] 申存毅 罗禹[1,2,3,4] 朱皓阳[1,2,3,4] 马涛 董鼎辉 史爱华 薛召[1,2,3,4] 吴荣谦[1,2,3,4] 吕毅 TAN Wenjun;SHEN Cunyi;LUO Yu;ZHU Haoyang;MA Tao;DONG Dinghui;SHI Aihua;XUE Zhao;WU Rongqian;LYU Yi(Department of Hepatobiliary Surgery, First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, 710061;Institute of Advanced Surgical Techniques and Engineering of Xi'an Jiaotong University, Xi'an, 710061;National Local Joint Engineering Research Center for Precision Surgery & Regenerative Medicine, Xi'an, 710061;Shaanxi Province Center for Regenerative Medicine and Surgery Engineering Research, Xi'an, 710061)

机构地区：[1]西安交通大学第一附属医院肝胆外科,西安市710061 [2]西安交通大学先进外科技术与工程研究所,西安市710061 [3]精准外科与再生医学国家地方联合工程研究中心,西安市710061 [4]陕西省再生医学与外科工程研究中心,西安市710061

出　　处：《中国医疗器械杂志》2019年第1期17-20,共4页Chinese Journal of Medical Instrumentation

基　　金：国家自然科学基金(81127005)

摘　　要：该文介绍了一种运动稳定、操作方便、流程仿真的吸痰机器人运动单元。在临床工作中获得吸痰操作动作要点,参数以及流程数据,为吸痰机器人运动单元的设计提供依据。根据吸痰动作要点,采用机械手仿真拇指、食指及掌指关节夹取吸痰管动作,运用舵机及机械臂结构模拟腕关节及肘关节的运动完成吸痰管的转动的推送动作,通过高级吸痰训练模型,完成可行性验证。该运动单元运动稳定,能够顺利完成吸痰管的夹取、送管、回退保护以及旋转退管动作,达到有效的吸痰。A motion unit for sucking robot with a stable motion, convenient operation and process simulation is introduced. The key parameters and process data of the sucking operation were obtained from the clinical work, which provided the basis for the design of the sucking robot motion unit. According to the points of sucking action, robotic thumb, forefinger and metacarpophalangeal joints were used to grip the suction tube, and the servo and arm structure were used to simulate the motion of the wrist and elbow to complete the rotation and push of the sputum suction tube. The feasibility is verified through the advanced sputum suction training model. The movement unit is stable in movement, and can smoothly complete the clamping, feeding, back off protection and rotating tube removal of the sputum suction tube, so as to achieve effective sputum suction.

关 键 词：吸痰 机器人 运动单元 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]