Surgical Robotic System for Endotracheal Intubation Based on Laryngeal Mask

摘要

Considering the current teleoperation robot technology, this article provided a solution to accomplish the task of endotracheal intubation operation. An intubation mechanism is designed based on laryngeal mask, which is attached to the end of the robot. A corresponding robot teleoperation control system is established according to the characteristics of the mechanism design. This system is expected to have good performance in solving the problems of the current endotracheal intubation robots, including the difficulty of intubation movements; the high risk to cause secondary injury; the dependency of manual assistance in close distance, and the difficulty to achieve teleoperation. In order to test its performance, virtual environment simulation and corresponding experiments on human model are carried out. The results showed that surgeries using our system consumed shorter intubation time while keeping high intubation success rate, which met the needs of endotracheal intubation surgery.