Research On Cooperative Motion Analysis And Configuration Of Dual Arms Of Tracheal Intubation Robot

During the treatment of respiratory diseases,medical personnel must be skilled in the operation of tracheal intubation to buy time for the treatment of patients and effectively reduce mortality.At present,tracheal intubation surgery still requires skilled medical personnel to operate manually,and major public health emergencies and shortage of medical personnel have resulted in patients with respiratory diseases not being treated in a timely manner,posing a great threat to public health safety and the health of the public.The tracheal intubation robot,with a two-armed seven-degree-of-freedom configuration,realizes autonomous operation of tracheal intubation surgery and can effectively respond to major public health risks.In this thesis,we take the tracheal intubation robot configuration design and collaborative operation as the research object,and the research contents include mechanical arm configuration design and motion research;kinematic modeling and collaborative work space analysis;dynamics modeling and joint configuration optimization;dual-arm constraint relationship analysis and intubation operation strategy research;tracheal intubation simulation experimental research,etc.The main work and research contents are as follows.(1)Human upper limb structure and motion research.According to the system anatomy and biomechanics,the skeletal structure of human upper limbs and the movement mode and range of each joint are analyzed,the linkage parameters and joint configuration of the robot arm are designed,and based on the tracheal intubation operation scenario,the double arm configuration of the tracheal intubation robot and the joint transmission mode of the robot arm are designed with reference to the movement characteristics and structural features of human upper limbs to provide the basis for kinematic modeling.(2)Kinematic analysis and workspace analysis.The kinematic model of the double-arm tracheal intubation robot with single arm and seven degrees of freedom was established using Matlab,and the forward and reverse kinematics of the robot arm was solved and verified.To ensure that the intubation operation space meets the design requirements,the workspace of single arm and the workspace of double-arm collaboration are analyzed,the workspace is simulated and verified by using Monte Carlo random number method,and the double-arm configuration scheme of the tracheal intubation robot is demonstrated.(3)Dynamics study and configuration optimization.Based on the demand of tracheal intubation,the single-arm kinetic equations were derived according to Newton’s law and Euler’s equation,and the forces and moments on the connecting rod were obtained.Using the extrapolation method,the velocity and acceleration of the connecting rod are calculated,and the correctness of the robot arm dynamics is verified by simulation analysis using ADAMS tool software,and the global optimal configuration of the robot arm is obtained through the optimization of various indexes such as SLI structural efficiency and operability.(4)Analysis of bilateral arm constraint relationship and study of intubation strategy.With reference to the intubation technique and intubation operation characteristics of medical personnel,the end constraint relationship between the two arms was derived according to two operation modes: coordinated and uncoordinated.An optical motion capture method was used for tracheal intubation experiments to obtain data on the change of the end position of both arms.A strategy for tracheal intubation in a nonstructural environment was proposed using an anthropomorphic approach to intubation.The highlights and features of this work include the anthropomorphic configuration of the two-armed seven-degree-of-freedom tracheal intubation robot,the use of optical motion capture to obtain the parameters of the intubation process of medical personnel,and the proposed operation strategy to adapt to the non-structural environment.