Analysis of Differential Mechanisms for a Robotic Head Stabilization System

摘要

This paper presents a robotic system intended to help automate the head and neck stabilization process performed on trauma patients through application of a differential apparatus, a device that distributes an input between multiple output channels. A system to streamline the head stabilization process can save valuable time in a life and death scenario, as well as play a key role in future work on a mobile stretcher robot. This investigation focuses on finding the most suitable device to accommodate multiple possible head positions while maintaining a steady force in order to provide secure motion restriction. After an initial review of current emergency medical services standards, a comparison of potential differential mechanisms is undertaken. Static analysis as well as dynamic modeling is performed in order to determine the most appropriate mechanisms. An initial prototype design incorporating a differential pulley, the most mechanically advantageous mechanism, is then introduced.