Master-slave control system for complex airway multi-mode tracheal intubation robot

Abstract

The invention relates to a master-slave control system for a complex airway multi-mode tracheal intubation robot. The system comprises a master hand control end and a slave hand control end, wherein the master hand control end comprises a control handle, a mouse and a keyboard which are respectively connected with an industrial personal computer; the slave hand execution end comprises a flexible lens delivery device used for controlling the tail end function action of the tracheal intubation robot and a multi-mode environment information collection device used for collecting operation site information; the industrial personal computer is used for reading and processing the motion increment information generated by the control handle, converting the motion increment information of the control handle into pose increment information for controlling the tail end of the slave hand execution end, and sending the pose increment information of the tail end to the soft lens delivery device; the visualization auxiliary unit is used for visually displaying the operation site information acquired by the multi-mode environment information acquisition device; and the communication module is used for respectively realizing communication among the components. Compared with the prior art, the method has the advantages of being easy to cooperate with multi-mode information monitoring, improving the operation feeling and the like.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a master-slave control system for a multimodal navigation trachea intubation robot for complex airways. Background technique [0002] Endotracheal intubation is usually an operation performed by medical experts before surgery and after anesthesia in the operating room of a hospital. It is used to establish an artificial airway, and a ventilator is used to assist the patient to breathe after the patient fails to breathe spontaneously. What is more difficult in the actual anesthesia process is the clinical situation of complex airways, that is, congenital abnormalities, structural changes in the airway caused by physiological or pathological reasons. In the face of complex airway intubation surgery, due to the high difficulty of treatment, it is difficult for ordinary hospitals to provide medical solutions, resulting in more patients congregating to a few large hospitals, m...

AI Technical Summary

Problems solved by technology

By introducing a computer system into the control system, the design of the master and the slave can be considered according to their respective functions and special requirements, which shows that the structural design is heterogeneous, while the actual operation control is a master-slave with isomorphic effect The form makes the robot system not only more in line with the operating habits of medical staff, but also can better complete the operation tasks, but the existing endotracheal intubation devices generally lack the remote operating system, or the lack of endotracheal intubation for complex airway conditions In view of the above background, a master-slave control system for endotracheal intubation robots that can flexibly control the end of the soft mirror module and master-slave heterogeneity is needed, which is used in clinical situations such as complex airways to reduce the work difficulty of medical staff , to solve the problem of low success rate of treatment due to the lack of relevant surgical experience of medical staff

Images