Research On The Key Technology And System Of Anesthesia Airway Management Robot

Establish artificial airway is a necessary airway management technology in the process of general anesthesia,diverse attempts have been dedicated to building artificial airway with invasive airway management methodology.However,artificial airway stimulation response and airway injury risk are two fundamental yet challenging clinical problems.Particularly,the ideal airway management technology is in requirement of non-invasive.Mask ventilation is a common noninvasive artificial ventilation technology in clinical operating room to avoid the risk of airway injury,however the mask cannot provide support and isolation for airway,non-invasive mask ventilation technology is usually only suitable for awake patients.After the loss of consciousness,the mask ventilation will suffer from the upper airway obstruction due to the pharyngeal tissue relaxation.The clinical mask airway management technique is to manually relieve the upper airway obstruction and press the closed mask.However,the manual mask ventilation technology has the limitation of operating difficulties,it is generally only suitable for a short time.Recent studies have confirmed that the device-assisted mandibular lifting methodology can effectively relieve the upper airway obstruction state of patients,which is significant to continuously maintain the airway patency of patients with spontaneous breathing ability,improving the safety of anesthetic airway management.However,existing mandibular lifting device is only employed to realize the mandibular lifting function and such device can not completely replace the manual mask airway management,it is not suitable to serve as an airway management method during the mechanical ventilation of patients.There is no research report on using medical robots to replace surgeon manual-assisted mask ventilation technology.In order to mitigate the existing challenges of general anesthesia airway management technology,this work demonstrates a methodology of using robot to replace manual airway management technology based on bionics principle,an innovatively robotic-assisted anesthetic airway management system has been developed.Aiming to optimize the general anesthesia management path and reduce the incidence of adverse events in general anesthesia airway management,the proposed system has explored to keep the patient’s airway unobstructed and the mask closed in terms of manipulating the robot’s jaw lifting mechanism and mask closing mechanism,realizing a robotic-assisted general anesthesia noninvasive ventilation technology.The robot airway management technology is expected to create a new non-invasive ventilation technology for general anesthesia and change the traditional anesthesia airway management mode.In this work,the ventilation technology of anesthesia mask,the design of robot system,the design and analysis of key components,and the prototype experiment have been studiedThe technical points of keeping the upper respiratory tract unobstructed have been clarified by analyzing the human respiratory anatomy.The mechanical analysis,common failure causes and risk analysis of manual mask airway management technology provide a theoretical basis for the structural design of anesthesia airway management robot system.A comparative study on the clinical application of manual mask ventilation and laryngeal mask ventilation has been conducted,demonstrating the feasibility and clinical value of continuous manual mask positive pressure ventilation in general anesthesia patients.Based on the technical points of manual mask ventilation,the functional requirements of the anesthetic airway management robot have been proposed.The comparative study of four robot design schemes has been represented.Through computer simulation analysis and simulation experiments,the spatial layout of the anesthesia airway management robot and the motion trajectories of key components such as flexible arm are given,and the robot design scheme with the basic structure of jaw lifting snake arm,mask pulling mechanism and headrest base is determined.A flexible robotic arm with 6 degrees of freedom is proposed to control the flexible and rigid state of the snake arm,adjust and fix the holding position.Through the tentacles airbag pressure control,the support point is locally converted to prevent the crush of the jaw.An automatic pulling mechanism is proposed to control the tension of the mask by electric winding structure.A curved headrest base mechanism is proposed.The flexible surface of the headrest is provided with a groove structure corresponding to the patient’s pillow,which can limit the patient’s head position in the process of airway management.The control scheme of anesthesia airway management robot is proposed,and the control system hardware is designed based on ARM chip.The ID coding and timing information storage mechanism are determined,the software program of the control system is developed,the motor drive,timing and display information functions are realized,and the software design of the robot control system is completed.The design and analysis of key components such as snake arm bowl parts,snake arm power mechanism parts and mask pull mechanism parts are conducted.The bowl shape with central hole and limit edge structure is proposed,and the reasonable z-direction force model is determined.The shape of the bowl parts has been optimized according to the direct analysis methodology to complete the size design of the bowl parts meeting the load requirements.After determining the material and size of each component,the bowl material was determined by Ansys simulation,and the bowl optimization analysis of the material was carried out.The analysis of the snake arm transmission assembly is completed by calculating the minimum locking tension of the snake arm.The theoretical model of mask pulling mechanism is established,and the analysis of mask pulling assembly is completed.Finally,the analysis design and prototype of key components of the robot are formed.The system integration and prototype processing of anesthesia airway management robot were completed,the operation method and use requirements of the robot were represented,and the experimental research of anesthesia airway management robot system was carried out.Based on the performance analysis experimental platform of the prototype,the performance experiments of the snake arm jaw lifting system and the mask pulling system were carried out to verify the reliability and electrical safety of the robot.The effectiveness of mechanical ventilation assisted by anesthesia airway management robot was verified by simulating human airway management ventilation experiment.The airway management efficiency,comfort and shortcomings of the robot were evaluated.The results of this study confirm that the robot system can safely and effectively replace the technique of surgeon mask airway management and implement the mechanical ventilation technique with noninvasive airway management.The robot system can realize the continuous non-invasive ventilation mode of general anesthesia,which is expected to be of great significance for overcoming the risk of airway management in the existing general anesthesia airway management technology and reducing anesthesia complications.The work has significant application prospect and clinical promotion value for general anesthesia patients within its application scope.