Affiliation:
1. Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing China
2. State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Nanjing China
Abstract
ABSTRACTBackgroundMaster–slave remote control technology allows patients to be treated promptly during transport and also reduces the risk of contagious infections. Endotracheal intubation, guided by endoscopy and a master–slave system, enables doctors to perform the procedure efficiently and accurately.MethodsIn this paper, we present the development of a master–slave controlled endotracheal intubation robot (EIR). It is based on operation incremental mapping, a weighted recursive average filtering method to reduce vibration, and a virtual fixture designed to reduce mishandling in minimally invasive surgery.ResultsSimulation analysis of the master–slave control demonstrates that the weighted recursive average filtering method effectively reduces vibration, while the virtual fixture assists in confining the operator's movement within a delimited area. Experimental validation confirms the validity of the robot's structural design and control method.ConclusionsThe developed robot successfully achieves the necessary motion for endotracheal intubation surgery through master–slave control.
Funder
Fundamental Research Funds for the Central Universities