CN102961811A - Trachea intubating system and method based on remotely operated mechanical arm - Google Patents
Trachea intubating system and method based on remotely operated mechanical arm Download PDFInfo
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- CN102961811A CN102961811A CN2012104429587A CN201210442958A CN102961811A CN 102961811 A CN102961811 A CN 102961811A CN 2012104429587 A CN2012104429587 A CN 2012104429587A CN 201210442958 A CN201210442958 A CN 201210442958A CN 102961811 A CN102961811 A CN 102961811A
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Abstract
The invention discloses a trachea intubating system and method based on a remotely operated mechanical arm. The system comprises an emergency field central controller, an emergency field network transmission device, a mechanical arm, a trachea intubating apparatus module, a rear network transmission device, a rear central controller, an image display and a remotely operated master manipulator module. A network transmission channel is established between the emergency field and the rear side, medical staff on the rear side operate according to information returned from the emergency field, the operation is converted into a command which can control movement of the mechanical arm in the emergency field and the command is returned to the emergency field to control the mechanical arm to rescue. According to the system and method provided by the invention, emergency measure of trachea intubation can be carried out by controlling the mechanical arm in a remotely operated manner, and rescue by trachea intubation is directly carried out on the ambulance or in the accident field directly in the condition that professional emergency medical staff cannot arrive at the accident field to rescue, so that a smooth air passage is created for the injured for wining time for further rescue.
Description
Technical field
The present invention relates to teleoperation of robot technology and medical first aid field, relate in particular to a kind of endotracheal intubation system based on the distant arm of operating machine and method.
Background technology
In the disaster scene such as battlefield or earthquake, contingency, the wounded needs emergent management in critical condition, and the time of one minute and one second will affect the treatment of life.Practical experience as can be known, in the rescue process, set up the rescue means such as unobstructed air flue is even more important for saving life by tracheal intubation, but because some action need has medical professional to implement, lack or the expert can't reach the spot in the situation of implementing to rescue for the Medical Technologist, development is special-purpose, and to rescue robot significant.
The ambulance of China present stage does not have the function of vehicle-mounted surgical operation platform substantially, and " operating room " reached the first aid scene, perhaps directly rescues on ambulance, will greatly shorten the time of help.Therefore utilize the method for teleoperation robot to carry out emergent operation at first aid scene or ambulance, have very important significance.And nuclear pollution regional machine people and space robotics's remote tele-operation technology is all ripe, provides technical foundation for medical treatment realizes distant operation first aid.
Summary of the invention
For the technical problem that exists in the above-mentioned prior art, the invention provides a kind of endotracheal intubation system based on the distant arm of operating machine and method, the emergency treatment of tracheal intubation is carried out at the scene of realization, for the wounded sets up air flue the very first time, farthest saves the wounded's life.
The present invention is achieved by the following technical solutions:
A kind of endotracheal intubation system based on the distant arm of operating machine, this system comprises: the on-the-spot central controller of first aid, first aid field network transmission equipment, mechanical arm, tracheal intubation apparatus module, rear web-transporting device, rear central controller, image display, the main fingerprint piece of distant operation, wherein, the main fingerprint piece of described distant operation is used for gathering medical personnel's surgical action, and this action is sent to the rear central controller; After described rear central controller receives medical personnel's surgical action, by the network transmitter, this action is sent to the first aid scene; Described image display is used for providing the on-the-spot the wounded's tracheogram of first aid picture; It is on-the-spot to first aid that described rear web-transporting device is used for sending rear medical personnel's surgical action, receives the status information and the image information that send back from the first aid scene; The on-the-spot central controller of described first aid is used for converting the surgical action that receives to can control manipulator motion order, and sends this order to mechanical arm; Described mechanical arm receives the on-the-spot central controller instruction of first aid, finishes the tracheal intubation action; Described tracheal intubation apparatus module is fixed in mechanical arm tail end, is comprised of the medical apparatus and instruments that is used for tracheal intubation; Described first aid field network transmission equipment is used for receiving rear medical personnel's surgical action instruction, sends first aid presence states information and image information.
Further, described mechanical arm has the space six-freedom degree.
Further, the main fingerprint piece of described distant operation has the space six-freedom degree, adopts parallel connection or cascaded structure.
Further, described rear web-transporting device and first aid field network transmission equipment have the high speed data transfer ability, can the real-time Transmission image information.
Further, described tracheal intubation apparatus module comprises that all finish the required instrument apparatus of tracheal intubation.In order to realize the action of tracheal intubation by remote tele-operation, be to be equipped with the visible laryngoscope camera system in the tracheal intubation apparatus module at mechanical arm tail end, in order in operating process, airway images is transferred to the rear operator, the rear operator observe airway images by described image display, thereby carry out correct intubate action.
The invention also discloses a kind of tracheal intubation method based on the distant arm of operating machine, the method comprises the steps:
S1. at first the paraprofessional personnel at the first aid scene is placed on operating-table with the wounded, and the wounded oral cavity is placed open state, and mechanical arm is guided in the wounded oral cavity.
S2. after the on-the-spot paraprofessional personnel of first aid finishes preparation, visible laryngoscope by described tracheal intubation apparatus module transfers to the on-the-spot central controller of described first aid with the wounded's oral cavity image, after the on-the-spot central controller of described first aid obtains image, by described first aid field network transmission equipment and described rear web-transporting device with image transmitting to described rear central controller, described rear central controller shows the image that receives in described image display, check for rear medical care operator; The image that medical care operator in rear pass back according to the first aid scene that shows in the image display carries out the intubate action by the main hands of described distant operation; The main hands of described distant operation transfers to described rear central controller with medical personnel's action, and by described rear web-transporting device and described first aid field network transmission equipment action is sent to the on-the-spot central controller of described first aid, the on-the-spot central controller of first aid is controlled described mechanical arm according to the series of acts that receives and is moved, thereby carries out the tracheal intubation action.
S3. in motor process, the visible laryngoscope photographic head of described tracheal intubation apparatus module transfers to the on-the-spot central controller of described first aid with real time imaging, and by described first aid field network transmission equipment and described rear web-transporting device image is sent to described rear central controller, and check for rear medical care operator by described image display, and judge whether to insert trachea, if do not insert trachea, then continue to control distant operation master according to the image information of passing back and manually do; If inserted trachea through judging, then notify the on-the-spot paraprofessional personnel of first aid to put into the oxygen supply pipe, recall described mechanical arm, finish tracheal intubation work.
Further, more than in each step the speed of first aid field network transmission equipment and rear web-transporting device guarantee real-time, i.e. rear medical care operator control the first aid scene in real time by observing image on the image display mechanical arm moves.
The present invention realizes tracheal intubation by the distant arm of operating machine, and in the situation that lacks the first aid expert, guarantees in the scene of the accident in time to race against time for redemption life for the wounded sets up unobstructed air flue, is the developing direction in medical first aid field from now on.
Description of drawings
Fig. 1 is that embodiment of the invention system forms structural representation;
Fig. 2 is that the tracheal intubation workflow diagram is carried out in the distant operation of the embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is implemented under take technical solution of the present invention as prerequisite, has provided detailed embodiment, but protection scope of the present invention is not limited to following embodiment.
Fig. 1 is that the described system of the embodiment of the invention forms module frame chart, comprising: the on-the-spot central controller 1 of first aid, first aid field network transmission equipment 2, mechanical arm 3, tracheal intubation apparatus module 4, rear web-transporting device 5, rear central controller 6, image display 7, the main fingerprint piece 8 of distant operation; Wherein to be in the scene of the accident be that first aid is on-the-spot for the on-the-spot central controller 1 of first aid, first aid field network transmission equipment 2, mechanical arm 3, tracheal intubation apparatus module 4, and rear web-transporting device 5, rear central controller 6, image display 7, the main fingerprint piece 8 of distant operation are in medical rear.
The main fingerprint piece 8 of described distant operation is used for gathering medical personnel's surgical action at medical rear, and this action is sent to rear central controller 6; After described rear central controller 6 receives medical personnel's surgical action, by the network transmitter, this action is sent to the first aid scene; Described image display 7 is used for providing the on-the-spot the wounded's tracheogram of first aid picture; It is on-the-spot to first aid that described rear web-transporting device 5 is used for sending rear medical personnel's surgical action, receives the status information and the image information that send back from the first aid scene; The on-the-spot central controller 1 of described first aid is used for converting the surgical action that receives to can control mechanical arm 3 motions order, and sends this order to mechanical arm 3; Described mechanical arm 3 receives on-the-spot central controller 1 instruction of first aid, finishes the tracheal intubation action; Described tracheal intubation apparatus module 4 is fixed in mechanical arm 3 ends, is comprised of the medical apparatus and instruments that is used for tracheal intubation; Described first aid field network transmission equipment 2 is used for receiving rear medical personnel's surgical action instruction, sends first aid presence states information and image information.
Further, described tracheal intubation apparatus module 4 comprises that all finish the required instrument apparatus of tracheal intubation.Realize the action of tracheal intubation for remote tele-operation, be to be equipped with the visible laryngoscope camera system in the tracheal intubation apparatus module at mechanical arm 3 ends, in order in operating process, airway images is transferred to the rear operator, the rear operator observe airway images by described image display 7, thereby carry out correct intubate action.
Fig. 2 is that the tracheal intubation workflow diagram is carried out in the distant operation of the embodiment of the invention, and the paraprofessional personnel at the first aid scene is placed on operating-table with the wounded, and the wounded oral cavity is placed open state, and mechanical arm is guided in the wounded oral cavity.After the on-the-spot paraprofessional personnel of first aid finishes preparation, visible laryngoscope photographic head by described tracheal intubation apparatus module 4 transfers to the on-the-spot central controller 1 of described first aid with the wounded's oral cavity image, after the on-the-spot central controller 1 of described first aid obtains image, by described first aid field network transmission equipment 2 and described rear web-transporting device 5 with image transmitting to described rear central controller 6, described rear central controller 6 shows the image that receives in described image display 7, check for rear medical care operator; The image that medical care operator in rear pass back according to the first aid scene that shows in the image display 7 carries out the intubate action by the main fingerprint piece 8 of described distant operation; The main fingerprint piece 8 of described distant operation transfers to described rear central controller 6 with medical personnel's action, and by described rear web-transporting device 5 and described first aid field network transmission equipment 2 action is sent to the on-the-spot central controller 1 of described first aid, the on-the-spot central controller 1 of first aid is controlled described mechanical arm 3 according to the series of acts that receives and is moved, thereby carries out the tracheal intubation action.In course of action, the visible laryngoscope photographic head of described tracheal intubation apparatus module 4 transfers to the on-the-spot central controller 1 of described first aid with real time imaging, and by described first aid field network transmission equipment 2 and described rear web-transporting device 5 image is sent to described rear central controller 6, and check for rear medical care operator by described image display 7, and judge whether to insert trachea, if do not insert trachea, then continue to control main fingerprint piece 8 actions of distant operation according to the image information of passing back; If inserted trachea through judging, then notify the on-the-spot paraprofessional personnel of first aid to put into the oxygen supply pipe, recall described mechanical arm 3, finish tracheal intubation work.
Compared with prior art, outstanding feature of the present invention is to control the emergency treatment that mechanical arm carries out tracheal intubation by the mode of distant operation, can't arrive in the situation of rescuing the scene of the accident professional emergency medical personnel, on ambulance or the scene of the accident directly carry out the rescue of tracheal intubation, for the wounded sets up unobstructed air flue, gain time for further implementing to rescue.
Below only be described for specific embodiments of the invention.The present invention is not limited to above-mentioned particular implementation, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect protection scope of the present invention.
Claims (7)
1. endotracheal intubation system based on the distant arm of operating machine, it is characterized in that, this system comprises: the on-the-spot central controller (1) of first aid, first aid field network transmission equipment (2), mechanical arm (3), tracheal intubation apparatus module (4), rear web-transporting device (5), rear central controller (6), image display (7), the main fingerprint piece of distant operation (8), wherein, the main fingerprint piece of described distant operation (8) is used for gathering medical personnel's surgical action at medical rear, and this action is sent to described rear central controller (6), after described rear central controller (6) receives medical personnel's surgical action, by the network transmitter, this action is sent to the first aid scene; Described image display (7) is used for providing the on-the-spot the wounded's tracheogram of first aid picture; Described first aid field network transmission equipment (2) and rear web-transporting device (5) are used for the transfer of data between first aid scene and the rear; The on-the-spot central controller of described first aid (1) is used for converting the surgical action that receives to can control described mechanical arm (3) motion order, and send this order to described mechanical arm (3), described mechanical arm (3) receives on-the-spot central controller (1) instruction of first aid, carries out the tracheal intubation action; Described tracheal intubation apparatus module (4) is fixed in mechanical arm (3) end, is comprised of the medical apparatus and instruments that is used for tracheal intubation.
2. the endotracheal intubation system based on the distant arm of operating machine according to claim 1, it is characterized in that it is that first aid is on-the-spot that the on-the-spot central controller (1) of described first aid, first aid field network transmission equipment (2), mechanical arm (3), tracheal intubation apparatus module (4) are in the scene of the accident; Described rear web-transporting device (5), rear central controller (6), image display (7), the main fingerprint piece of distant operation (8) are in medical rear.
3. the endotracheal intubation system based on the distant arm of operating machine according to claim 1 is characterized in that, described mechanical arm (3) has the space six-freedom degree.
4. the endotracheal intubation system based on the distant arm of operating machine according to claim 1 is characterized in that, the main fingerprint piece of described distant operation (8) has the space six-freedom degree, adopts parallel connection or cascaded structure.
5. the endotracheal intubation system based on the distant arm of operating machine according to claim 1, it is characterized in that, in the described tracheal intubation apparatus module (4) the visible laryngoscope camera system is installed, in order in operating process, airway images is transferred to the rear operator, the rear operator observe airway images by described image display (7), thereby carry out correct intubate action.
6. the tracheal intubation method based on the distant arm of operating machine is characterized in that, adopts such as arbitrary described endotracheal intubation system in the claim 1 to 5, and the method comprises the steps:
S1. at first the paraprofessional personnel at the first aid scene is placed on operating-table with the wounded, and the wounded oral cavity is placed open state, and mechanical arm (3) is guided in the wounded oral cavity;
S2. after the on-the-spot paraprofessional personnel of first aid finishes preparation, visible laryngoscope by described tracheal intubation apparatus module (4) transfers to the on-the-spot central controller (1) of described first aid with the wounded's oral cavity image, after the on-the-spot central controller of described first aid (1) obtains image, by described first aid field network transmission equipment (2) and described rear web-transporting device (5) with image transmitting to described rear central controller (6), described rear central controller (6) shows the image that receives in described image display (7), check for rear medical care operator; The image that medical care operator in rear pass back according to the first aid scene that shows in the image display (7) carries out the intubate action by the main fingerprint piece of described distant operation (8); The main fingerprint piece of described distant operation (8) transfers to described rear central controller (6) with medical personnel's action, and by described rear web-transporting device (5) and described first aid field network transmission equipment (2) action is sent to the on-the-spot central controller (1) of described first aid, the on-the-spot central controller of first aid (1) is controlled described mechanical arm (3) according to the series of acts that receives and is moved, thereby carries out the tracheal intubation action;
S3. in motor process, the visible laryngoscope photographic head of described tracheal intubation apparatus module (4) transfers to the on-the-spot central controller (1) of described first aid with real time imaging, and by described first aid field network transmission equipment (2) and described rear web-transporting device (5) image is sent to described rear central controller (6), and check for rear medical care operator by described image display (7), and judge whether to insert trachea, if do not insert trachea, then continue to control the main fingerprint piece of distant operation (8) action according to the image information of passing back; If inserted trachea through judging, then notify the on-the-spot paraprofessional personnel of first aid to put into the oxygen supply pipe, recall described mechanical arm (3), finish tracheal intubation work.
7. the tracheal intubation method of the distant arm of operating machine according to claim 6, it is characterized in that, described rear web-transporting device (5) and first aid field network transmission equipment (2) have the high speed data transfer ability, can the real-time Transmission image information, so that controlling the mechanical arm (3) at first aid scene in real time by observing image on the image display (7), medical care operator in rear move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104429587A CN102961811A (en) | 2012-11-07 | 2012-11-07 | Trachea intubating system and method based on remotely operated mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104429587A CN102961811A (en) | 2012-11-07 | 2012-11-07 | Trachea intubating system and method based on remotely operated mechanical arm |
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| CN102961811A true CN102961811A (en) | 2013-03-13 |
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| CN2012104429587A Pending CN102961811A (en) | 2012-11-07 | 2012-11-07 | Trachea intubating system and method based on remotely operated mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105413034A (en) * | 2015-12-31 | 2016-03-23 | 上海交通大学 | Flexible manipulator mechanism and remote control system for tracheal intubation |
| CN107363831A (en) * | 2017-06-08 | 2017-11-21 | 中国科学院自动化研究所 | The teleoperation robot control system and method for view-based access control model |
| CN111759257A (en) * | 2020-07-30 | 2020-10-13 | 极限人工智能有限公司 | Laryngoscope device |
| CN112169104A (en) * | 2020-09-28 | 2021-01-05 | 南通市第一人民医院 | 5G-based severe patient apnea rescue device and use method thereof |
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| CN102143706A (en) * | 2005-12-30 | 2011-08-03 | 直观外科手术操作公司 | Medical robotic system providing three-dimensional telestration |
| US20120059519A1 (en) * | 2010-09-07 | 2012-03-08 | Olympus Corporation | Master-slave manipulator |
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Patent Citations (3)
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| CN1561923A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted bone setting operation medical system with lock marrow internal nail |
| CN102143706A (en) * | 2005-12-30 | 2011-08-03 | 直观外科手术操作公司 | Medical robotic system providing three-dimensional telestration |
| US20120059519A1 (en) * | 2010-09-07 | 2012-03-08 | Olympus Corporation | Master-slave manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105413034A (en) * | 2015-12-31 | 2016-03-23 | 上海交通大学 | Flexible manipulator mechanism and remote control system for tracheal intubation |
| CN107363831A (en) * | 2017-06-08 | 2017-11-21 | 中国科学院自动化研究所 | The teleoperation robot control system and method for view-based access control model |
| CN107363831B (en) * | 2017-06-08 | 2020-01-10 | 中国科学院自动化研究所 | Teleoperation robot control system and method based on vision |
| CN111759257A (en) * | 2020-07-30 | 2020-10-13 | 极限人工智能有限公司 | Laryngoscope device |
| CN112169104A (en) * | 2020-09-28 | 2021-01-05 | 南通市第一人民医院 | 5G-based severe patient apnea rescue device and use method thereof |
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Application publication date: 20130313 |