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Acting force-displacement-vision hybrid control method for robot tracheal intubation

A technology of tracheal intubation and mixed control, applied in the field of medical devices, can solve the problems of direct mixed use of visual images and force, and achieve the effect of efficient insertion and accuracy.

Active Publication Date: 2021-09-17
TSINGHUA UNIV
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Problems solved by technology

For example, in the patent "Robot Control Device, Robot System, Robot and Robot Control Method", both image acquisition and force detection are used to control the movement of the robot, but the obtained visual image and force are not directly mixed, and the mechanical information is more It is more forceful to guide movement as a safe detection rather than proactive

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  • Acting force-displacement-vision hybrid control method for robot tracheal intubation

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Embodiment Construction

[0020] Intubation robot proposed by the present invention, the force - displacement - visual hybrid control method, firstly oral intubation and mechanical model of the standard path, the standard path to give the corresponding point by visual image map, respectively, according to the robot apparatus, the standard path, and mechanical model, read theory and practice of displacement and force information, using the method of determining the virtual clip area safety the safety partition using parallel PID speed regulation of the regulatory manipulator movement.

[0021] The robot intubation force - displacement - visual hybrid control method flow diagram as figure 1 Shown, includes the following steps:

[0022] (1) based on historical data robotic intubation, the establishment of forces mouth - displacement - mapping between visual;

[0023] Force (2) Step (1) - Displacement - visual mapping between the path and the set input standard robot;

[0024] (3) during intubation robot, robo...

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Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to an acting force-displacement-vision hybrid control method for robot tracheal intubation. The acting force-displacement-vision hybrid control method comprises the following steps that firstly, corresponding points in a standard path are obtained through visual image mapping by utilizing the standard path of intubation and an oral cavity mechanical model, theoretical and actual displacement and force information is respectively read according to a robot device, the standard path and the mechanical model, the safety of a region is judged by using a virtual clamp method, and the movement speed of a mechanical arm is regulated and controlled through parallel PID regulation and control according to the safe partition. Force, displacement and visual information in tracheal intubation are used in a combined mode, safe and efficient insertion of a laryngoscope and a catheter is achieved through a virtual clamp, parallel PID control and threshold value control methods, the accuracy of the intubation posture is guaranteed, and a solid foundation is provided for automatic tracheal intubation of a robot.

Description

Technical field [0001] The present invention belongs to the technical field of medical devices, and particularly relates to a force of a robot intubation - displacement - visual hybrid control method. Background technique [0002] Traditional laryngoscopy surgical operation due to lack of real-time image of the oral cavity, doctors rely mainly on the oral and respiratory tract grasp and feel, empirically intubation action, time consuming and there is a certain danger, for the treatment of respiratory diseases surgeon, this species close operation is facing the risk of cross infection. And image processing, robotics and other automation control force feedback technology integrated force, displacement and visual information accurately grasp the "feel" to protect the patient by the doctor. Therefore, we hope to establish a method of controlling a robot intubation. [0003] At present, the robot control method are mostly dependent on the individual visual, mechanical or remote operat...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J18/00
CPCB25J9/1697B25J9/1664B25J9/1602B25J18/00
Inventor 程奥华丘铱可郝瀚徐奕舟聂宇轩蒋玉骅杨翛然郑钢铁
Owner TSINGHUA UNIV
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