软镜递送机器人平台的设计与性能评估  

Design and performance evaluation of visual endotracheal intubation robot platform

作　　者：王家玮 罗静静 王洪波 潘琪琪[1,2,3] 周昊宇 韩园 李文献 WANG Jiawei;LUO Jingjing;WANG Hongbo;PAN Qiqi;ZHOU Haoyu;HAN Yuan;LI Wenxian(Academy for Engineering&Technology,Fudan University,Shanghai 200433,China;Shanghai Engineering Research Center of AI&Robotics,Shanghai 200433,China;Engineering Research Center of AI&Robotics,Ministry of Education,Shanghai 200433,China;Department of Anesthesiology,Eye&ENT Hospital of Fudan University,Shanghai 200031,China)

机构地区：[1]复旦大学工程与应用技术研究院,上海200433 [2]上海智能机器人工程技术研究中心,上海200433 [3]智能机器人教育部工程研究中心,上海200433 [4]复旦大学附属眼耳鼻喉科医院麻醉科,上海200031

出　　处：《中国科技论文》2023年第8期921-926,共6页China Sciencepaper

基　　金：国家重点研发计划项目(2019YFB1311701);上海市科技创新行动计划高新技术领域项目(21511102000);复旦大学医工结合项目(YG2021-0008)。

摘　　要：针对目前气管插管手术机器人控制精度和灵巧度不足的问题,设计了一种适配可视化软镜、用于气管插管术的软镜递送机器人操作平台。平台在结构设计的基础上,使用stm32主控板配合ps2手柄实现了对系统的远程控制。随后对软镜末端进行运动学特性分析,探究了系统的主从端映射关系。为解决实际应用过程中存在误差的情况,提出了一套误差修正方法,并给出实例计算结果。为进一步评估平台系统的运动性能,在仿真环境下进行了气管插管复杂运动模拟实验。结果表明,机器人平台控制精度优于2 mm,配合可视化软镜能满足气管插管手术相关技术操作要求。In the context of the epidemic,robotic endotracheal intubation can be automated and standardized to improve intubation success and reduce the risk of infection for physicians.In order to meet the accompanying requirements for control precision and dexterity,we designed a flexible mirror delivery robot operating platform for endotracheal intubation that can match the visual soft mirror.On the basis of the structure design,the platform uses stm32 main control board and ps2 handle to realize the remote control of the system.Then the kinematic characteristics of the end of the soft mirror are analyzed to explore the mapping relationship between the primary and secondary ends of the system.In order to solve the problem of error in the practical application process,a set of error correction methods are proposed in this study,and the calculation results of an example are given.To further evaluate the motion performance of the platform system,a complex motion simulation experiment of endotracheal intubation was carried out in the simulation environment.The experimental results show that the robot platform control accuracy is better than 2 mm,and robot platform combined with the visualized soft lens can meet the requirements of related technical operations of endotracheal intubation.

关 键 词：气管插管术 智能机器人 远程操作 误差修正 内窥镜 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]