Robotic Ventilator Mask Placement for Leak-Free PAP Therapy
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Solution Overview
Problem
Non-compliance with positive airway pressure (PAP) therapies due to issues such as mask leakage, discomfort, claustrophobia, anxiety, and semi-conscious mask removal is a significant health concern, leading to conditions like chronic daytime sleepiness, daytime fatigue, cognitive dysfunction, hypertension, heart attacks, and strokes.
Innovation Solution
A robotic arm system with computer vision and biometric sensors automatically places and maintains a ventilator mask on a user's face during sleep, adjusting to ensure a proper seal and force application, using RFID for identification, and transitioning between sleep states to optimize therapy delivery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mask is used for PAP therapy, then gas delivery to the user's airway is achieved, but mask leakage and improper fit occur leading to non-compliance
Solution Approach 1:
The robotic arm system automatically performs mask placement, positioning, and fit adjustment without requiring manual user intervention. The system self-corrects mask position and applies appropriate sealing force automatically, enabling the therapy system to serve itself in the critical task of proper mask application.
Solution Approach 2:
The patent replaces manual mechanical mask placement with an automated robotic arm system that uses computer vision and force sensing. The robotic system substitutes human manual operation with automated mechanical positioning and force application, achieving more consistent and reliable mask fit.
2Reliability
If head straps are used to secure the mask, then sealing force is applied, but discomfort and claustrophobia increase
Solution Approach 1:
The robotic arm system dynamically adjusts the sealing force parameter applied by the mask, replacing the fixed compression from head straps. The system monitors and modifies force parameters in real-time to achieve adequate seal while minimizing discomfort and claustrophobic sensations.
Solution Approach 2:
The patent extracts the sealing function from the head strap system and transfers it to the robotic arm-controlled mask. By removing the head straps and using the robotic arm to apply precise sealing force directly, the system eliminates the source of discomfort while maintaining seal integrity.
3Ease of operation
If the mask is placed manually, then the user can position it, but semi-conscious removal and improper placement occur
Solution Approach 1:
The robotic arm system automatically performs mask placement without user intervention, and continuously maintains proper positioning throughout the therapy session. The system self-corrects any displacement that occurs during sleep, ensuring consistent and reliable mask placement throughout the night.
Solution Approach 2:
The system uses computer vision and force sensing feedback to continuously monitor mask position and contact force. This feedback loop enables the robotic arm to detect and correct improper placement or displacement in real-time, ensuring consistent therapeutic effectiveness throughout the therapy session.
4Object-affected harmful factors
If nasal plugs are used instead of a mask, then the device is smaller and less intrusive, but they do not work well for users who breathe via their mouth
Solution Approach 1:
The robotic arm system with full-face mask provides universal applicability for both nasal and oral breathers. The system can adapt the mask positioning and sealing force to accommodate different breathing patterns and anatomical variations, making it versatile for all user types regardless of their primary breathing route.
Data Source
AI summary
A robotic arm system can include a robot including a robot flange, a mask coupled to the robot flange, a ventilator coupled to the mask, and one or more controllers operable to change a pose of the robot flange. The controllers are further operable to deliver gas from the ventilator to the mask. The robot can include the ventilator. The robotic arm system can include a gas tube coupled to the mask and the ventilator, wherein the gas tube is configured to carry gas between the ventilator and the mask. The robotic arm system can include a computer vision system, one or more biometric sensor systems, and/or a sensing system. The ventilator can be a positive airway pressure ventilator. The mask can be a nasal mask, a mouth mask, or a face mask.