CN114224498A - Master-slave control system for complex airway multi-mode tracheal intubation robot - Google Patents

Master-slave control system for complex airway multi-mode tracheal intubation robot Download PDF

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CN114224498A
CN114224498A CN202111523188.4A CN202111523188A CN114224498A CN 114224498 A CN114224498 A CN 114224498A CN 202111523188 A CN202111523188 A CN 202111523188A CN 114224498 A CN114224498 A CN 114224498A
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information
matrix
module
master
soft lens
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CN114224498B (en
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罗静静
王家玮
王洪波
程绮颖
潘琪琪
周昊宇
贾晓旭
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Fudan University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M16/00—Devices for influencing the respiratory system of patients by gas treatment, e.g. mouth-to-mouth respiration; Tracheal tubes
    • A61M16/04—Tracheal tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention relates to a master-slave control system for a complex airway multi-modal endotracheal intubation robot, which comprises: the master control end: the device comprises a control handle, a mouse and a keyboard which are respectively connected with an industrial personal computer; from the hand-executed end: the system comprises a soft lens delivery device for controlling the functional action of the tail end of the trachea cannula robot and a multi-mode environmental information acquisition device for acquiring operation site information; an industrial personal computer: the soft lens delivery device is used for reading and processing the motion increment information generated by the control handle, converting the motion increment information of the control handle into pose increment information of the tail end of the slave hand execution end, and sending the pose increment information of the tail end to the soft lens delivery device; a visualization assisting unit: the operation site information acquired by the multi-mode environmental information acquisition device is visually displayed; a communication module: for enabling communication between the respective components. Compared with the prior art, the method has the advantages of being easy to cooperate with multi-mode information monitoring, improving operation feeling and the like.

Description

Master-slave control system for complex airway multi-mode tracheal intubation robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a master-slave control system of a multi-mode navigation trachea cannula robot for a complex airway.
Background
Endotracheal intubation is an operation usually performed by medical professionals before and after surgery in hospital operating rooms, for establishing an artificial airway for assisting the patient's breathing with a ventilator after the patient has not breathed spontaneously. What is more troublesome in the actual anesthesia is the clinical situation of complex airways, i.e. congenital dysplasia, structural changes of airways due to physiological or pathological causes. In the face of complex airway intubation surgery, because the treatment difficulty is high, a common hospital is difficult to provide a medical solution, so that a patient is gathered to a few large hospitals, and common doctors are more difficult to contact and learn to handle the situation, and therefore, the tracheal intubation robot system suitable for the complex airway is designed, and the medical pain point can be effectively relieved.
Considering the requirements of intuition and convenience for the operation of medical staff, the automatic intubation technology using multi-modal navigation is a better medical solution. The method is characterized in that the method assists a doctor to operate through visual assistance, target recognition, image splicing, depth information, three-dimensional reconstruction and other methods, and the intuitive feeling of the doctor operation can be improved; the trachea cannula operation is carried out by the cooperation of master-slave operation control and the soft lens propelling device to assist a doctor to remotely control, so that the defects that the operation does not conform to the habit of the doctor, the learning process is long, the popularization is difficult and the like caused by the insufficient ergonomic direction design of the conventional medical instrument can be improved.
And the master-slave control is that master hand equipment is introduced into the control end of the trachea cannula robot, the control end of the master hand is directly controlled by medical staff, the master hand sends an instruction to the slave hand execution end according to the operation of an operator to enable the slave hand to operate, and meanwhile, the slave hand feeds back field information such as vision, touch, hearing and the like to the medical staff through a sensor. By introducing the computer system into the control system, the design of the master hand and the slave hand can be considered according to the respective functions and special requirements, the design is different in structural design, the actual operation control is in a master-slave mode with isomorphic effect, so that the robot system not only better conforms to the operation habit of medical care personnel, but also can better complete the operation task, but the prior trachea cannula device is generally lack of a teleoperation system, or a control system aiming at the tracheal intubation operation under the condition of a complex airway is lacked, and aiming at the background, a master-slave control system of a tracheal intubation robot which can flexibly control the tail end of a soft lens module and has master-slave isomerism is needed, is used for clinical situations such as complex airways and the like, so as to reduce the working difficulty of medical staff and solve the problem of low treatment success rate caused by lack of related operation experience of the medical staff.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a master-slave control system for a complex airway multi-modal endotracheal intubation robot.
The purpose of the invention can be realized by the following technical scheme:
a master-slave control system for a complex airway multi-modal endotracheal intubation robot, the system comprising:
the master control end: the device comprises a control handle, a mouse and a keyboard which are respectively connected with an industrial personal computer, wherein the control handle is used as a main controller and used for generating motion increment information which enables a slave hand execution end to realize space motion in three motion freedom degrees;
from the hand-executed end: the system comprises a soft lens delivery device and a multi-mode environmental information acquisition device, wherein the soft lens delivery device is used for controlling the tail end of the trachea cannula robot to perform propelling, bending and rotating functional actions, and the multi-mode environmental information acquisition device is used for acquiring operation site information;
an industrial personal computer: the main processor is used for reading and processing the motion increment information generated by the control handle, converting the motion increment information of the control handle into pose increment information of the tail end of the control slave hand execution end according to an increment mapping rule, and sending the pose increment information of the tail end to the soft lens delivery device;
a visualization assisting unit: the operation site information acquisition device is connected with an industrial personal computer and used for visually displaying the operation site information acquired by the multi-mode environment information acquisition device and displaying an operation interface, so that medical personnel and engineers can perform operation control on the upper computer through a mouse and a keyboard;
a communication module: the wireless communication system comprises a wired communication module and a wireless communication module which are used for realizing communication among all the parts respectively.
The soft lens delivery device comprises a main control board, and a propelling mechanism, a rotating mechanism, a twisting mechanism and a soft lens module which are respectively connected with the main control board, wherein the main control board is connected with the multi-mode environmental information acquisition device through a wireless communication module.
The propulsion mechanism and the rotating mechanism are respectively and correspondingly driven by a linear module servo motor and an integrated joint servo motor, the two servo motors are respectively connected with a D2 driver on the main control board, and the D2 driver is communicated with an industrial personal computer by adopting an RS485 extension line and carries out parameter reading and writing through a Modbus serial communication protocol.
The torsion mechanism is driven by an integrated steering engine, and the integrated steering engine is directly connected with an industrial personal computer to realize the control of the steering engine.
The operation site information collected by the multi-mode environmental information collection device comprises image information, depth information, sound information and carbon dioxide concentration information, wherein the image information is obtained by a depth camera arranged at the tail end of a soft lens module, the sound information is obtained by a sound detection module arranged at the tail end of the soft lens module, and the carbon dioxide concentration information is obtained by a carbon dioxide micro-sidestream monitoring module.
When carrying out complicated tracheal cannula operation, trachea cannula robot debugs to initial position and disposes soft mirror module, accomplish the preparation before teleoperation trachea cannula operation, after formally beginning to carry out teleoperation trachea cannula operation, the terminal degree of depth camera of soft mirror module and the real-time incessant environmental information of gathering soft mirror module of sound detection module, including image information, degree of depth information and sound information, provide medical personnel and carry out vision navigation assistance and incessant anatomical structure tracking assistance after handling and the integration, medical personnel are under vision navigation assistance information's assistance and are through the brake valve lever of control master hand operation end, control the soft mirror module of following the hand execution end and constantly impel to the trachea.
The front-back pitch angle theta of the control handle1The left-right inclination angle theta of the handle is controlled corresponding to the up-down pitch angle at the tail end of the soft lens module2Corresponding to the left and right bending degree of the tail end of the soft lens module, the advancing and retreating depths of the control handle key correspond to the advancing speed of the tail end of the soft lens module, wherein the key depth of the control handle is x1The depth of the forward key is positive, the depth of the backward key is negative, the industrial personal computer generates a main hand end operation matrix A after motion increment information generated by the control handle is obtained, the main hand end operation matrix A is mapped to an expected tail end displacement matrix B through a transformation matrix T, and B is T multiplied by A, the industrial personal computer transmits the expected tail end displacement matrix B to a visual auxiliary unit in real time for display, decomposes the expected tail end displacement matrix B into products of three matrixes, respectively corresponds to the twisting, bending and propelling actions of the soft mirror delivery device, the integrated steering engine, the integrated joint servo motor and the linear module servo motor feed back actual displacement information through the encoder and transmit the actual displacement information to the main control board through the wireless communication module, the obtained actual displacement information is filtered and combined to generate an actual motion matrix C, and a feedback adjustment matrix D and a main control board at the next moment are obtained by comparing the expected tail end displacement matrix B and the actual motion matrix C, and then the feedback adjustment matrix D and the main control board at the next moment are combined to obtain the feedback adjustment matrix D Hand-end operation matrix AtCombined and mapped to the next time desired end displacement matrix B through the transformation matrix Tt。
The industrial computer transmits the expected terminal displacement matrix B to the visual auxiliary unit in real time for display and decomposes the expected terminal displacement matrix B into products of three matrixes, and then the products have the following functions:
B＝X×Y×Z
X＝k1X0
Y＝k2Y0
Z＝k3Z0
wherein X is a desired tip twist matrix, Y is a desired tip displacement matrix, Z is a desired tip advance matrix, X0As an integrated steering engine motion matrix, Y0As an integral joint servo motor motion matrix, Z0Is a linear module servo motor motion matrix, k1，k2，k3Respectively coefficient matrices.
When the surgery condition is more complicated, medical personnel further analyze and process the current environment condition through the visual field expanding navigation module and the three-dimensional airway environment construction module of the industrial personal computer, wherein, the visual field expanding navigation module widens the visual field obtained by the medical personnel through image splicing so that the medical personnel can judge and process, the three-dimensional airway environment construction module carries out three-dimensional reconstruction of the environment in the airway according to the visual information and the depth information in the adjacent time period so as to enable the medical personnel to know the environment condition in the airway more intuitively.
When the operation condition is further complicated, when meetting the operation condition that visual information can't the auxiliary treatment completely promptly, medical personnel obtain carbon dioxide partial pressure concentration information and show its waveform in the display through carbon dioxide little by-pass flow monitoring module, if observe continuous stable carbon dioxide square wave, it is glottic direction to explain this direction very probably, and medical personnel obtain the sound information near soft mirror module end through sound detection module, when soft mirror module end aims at the air current direction, if the air current sends clear sharp whistle sound when the terminal gas passage of soft mirror module, then explain this direction very probably is glottic direction.
Compared with the prior art, the invention has the following advantages:
the master-slave control system of the tracheal intubation surgical robot is used for the clinical situations of complex airways and the like, can assist a doctor to remotely control a tracheal intubation operation by matching master-slave operation control with the soft lens propelling device, and can improve the defect that the operation does not conform to the habit of the doctor due to the insufficient ergonomic direction design of the existing medical equipment. In addition, the method can assist the doctor in operating by combining visual assistance, target recognition, image splicing, depth information, three-dimensional reconstruction, carbon dioxide assisted positioning and other methods, and effectively improves the visual feeling of the doctor in operating.
Drawings
Fig. 1 is a schematic view of a usage scenario of a multi-modal navigation intubation robot system for complex airways.
Fig. 2 is a functional module diagram of a master-slave control system of the trachea cannula robot.
Fig. 3 is a control flow chart of the master-slave control system of the trachea cannula robot.
Fig. 4 is a schematic structural diagram of the appearance of the control end of the main hand.
Fig. 5 is a schematic diagram of the external structure of the slave hand-operated end.
The notation in the figure is:
1000. the robot comprises a master hand control end, 1100, a display screen, 1200, a control handle, 1300, an industrial personal computer, 1400, universal wheels, 1500, a mouse keyboard, 2000, a breathing machine, 3000, an operating table, 4000, a slave hand execution end, 4100, a delivery device, 4200, an electric cabinet, 4300, a six-degree-of-freedom cooperative mechanical arm, 4400 and a navigation instrument box.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, 4 and 5, the present invention provides a master-slave control system for a complex airway multi-modal endotracheal intubation robot, which includes a master hand control end 1000, a display screen 1100, a control handle 1200, an industrial personal computer 1300, a universal wheel 1400, a mouse keyboard 1500, a ventilator 2000, an operating table 3000, a slave hand execution end 4000, a delivery device 4100, an electric cabinet 4200, a six-degree-of-freedom cooperative mechanical arm 4300 and a navigation instrument box 4400.
As shown in fig. 2, the master-slave control system is in a manual and semi-automatic dual control mode, in the manual mode, medical staff operate the control handle to send a control command to the industrial personal computer according to the position information and navigation auxiliary information of the end of the soft lens module on the display screen, and after the industrial personal computer processes the information, the execution mechanism is directly controlled through the control command, or the execution mechanism is controlled through the control command of the slave control system; in the semi-automatic mode, part of control instructions are sent by the main control system to complete the control of the execution mechanism.
Specifically, the operation process of the master-slave control system in the manual mode is as follows:
medical personnel debug hose robot to initial position according to the operation requirement to dispose soft mirror module, begin afterwards to formally carry out teleoperation trachea cannula operation.
Firstly, the depth camera and other sensors at the tail end of the soft lens module continuously provide visual information, depth information, sound and other environment information of the tail end environment of the soft lens module, and the obtained information is directly transmitted to the industrial personal computer through the data line/wireless module. After the industrial personal computer obtains information, the information is processed by the internal anatomy structure uninterrupted tracking module, the vision field expanding navigation module and the three-dimensional airway environment construction module to obtain auxiliary navigation information, and the auxiliary navigation information is transmitted to the display screen through the data line and is provided for medical personnel to operate and reference.
When a complex operation condition is met, the medical staff can control the visual field expanding navigation module and the three-dimensional airway environment construction module to further analyze and process the current environment condition, wherein the visual field expanding navigation module can widen the visual field obtained by the medical staff through an image splicing method, and the medical staff can conveniently judge and process. The three-dimensional airway environment construction module can carry out three-dimensional reconstruction of the environment in the airway according to visual information and depth information in adjacent time periods, and can more intuitively help medical workers to know the environment condition in the airway.
When a particularly complex operation condition is met, namely the operation condition that visual information can not be assisted completely is met, the medical personnel can also control the modules for detecting the environmental information in a multi-mode manner, such as carbon dioxide detection, sound detection and the like. The carbon dioxide detection module can acquire partial pressure concentration information of CO2 through the CO2 micro bypass flow monitoring module and display the waveform of the partial pressure concentration information on a display, and if a continuous stable CO2 square wave is observed, the direction is most likely to be the glottic direction. The sound detection module can acquire sound information near the tail end of the soft lens, when the tail end of the soft lens is aligned to the direction of the airflow, the airflow can generate larger whistle when passing through a narrow air channel at the tail end of the soft lens, and if the clearer whistle is acquired, the direction is probably the glottis direction.
Subsequently, as shown in fig. 3, the medical staff operates the displacement of the end of the soft lens module by controlling the control handle of the control end of the main hand with the aid of the navigation information. The front and back pitching of the control handle corresponds to the up and down pitching of the tail end of the soft lens module, the left and right inclination of the control handle corresponds to the left and right bending of the tail end of the soft lens module, and the depth of the control handle key corresponds to the propelling speed of the tail end of the soft lens module. Wherein the front-back pitch angle of the control handle is theta1The left and right inclination angle of the control handle is theta2The depth of the key of the control handle is x1The forward key depth is recorded as positive, and the backward key depth is recorded as negative.
Meanwhile, the control handle transmits the obtained displacement information of the main hand end to an industrial personal computer of the main control system through a data line, and the industrial personal computer performs filtering processing on the obtained displacement information and combines the information to generate a main hand end operation matrix A. And then the industrial personal computer maps the main hand end operation matrix A to an expected end displacement matrix B through a transformation matrix T according to requirements, wherein B is T multiplied by A.
And after the expected terminal displacement matrix B is obtained, the industrial personal computer transmits the obtained expected terminal displacement matrix B to the monitoring module in real time and carries out visual display through a designed interface. Meanwhile, the industrial personal computer decomposes the expected terminal displacement matrix B into products of three matrixes according to requirements, and the products respectively correspond to the torsion, bending (rotation) and propulsion of the soft lens delivery device, namely the integrated steering engine, the integrated joint servo motor and the linear module servo motor, namely B is X is multiplied by Y and Z, and X is multiplied by k1X0，Y＝k2Y0，Z＝k3Z0Where B is a desired tip displacement matrix, X is a desired tip twist matrix, Y is a desired tip displacement matrix, Z is a desired tip advance matrix, X is a desired tip twist matrix0As an integrated steering engine motion matrix, Y0As an integral joint servo motor motion matrix, Z0Is a linear module servo motor motion matrix, k1，k2，k3Is a matrix of coefficients. And obtaining the driving data of the motor according to the coefficient matrix, and further driving the motor to move.
And then, the integrated steering engine, the integrated joint servo motor and the linear module servo motor are respectively provided with an encoder for feeding back the actual motion condition of the motor, and the encoder transmits the obtained actual displacement information to the main control board and transmits the actual displacement information to the industrial personal computer through the wireless module. And the industrial personal computer performs filtering processing on the obtained actual displacement information and combines the actual displacement information to generate an actual motion matrix C. Obtaining a feedback adjustment matrix D by comparing the expected terminal displacement matrix B with the actual motion matrix C, and then comparing the feedback adjustment matrix D with the next primary hand-end operation matrix AtCombined and mapped to the next time desired end displacement matrix B through the transformation matrix Tt。
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (10)

1. A master-slave control system for a complex airway multi-modal endotracheal intubation robot, the system comprising:
the master control end: the device comprises a control handle, a mouse and a keyboard which are respectively connected with an industrial personal computer, wherein the control handle is used as a main controller and used for generating motion increment information which enables a slave hand execution end to realize space motion in three motion freedom degrees;
from the hand-executed end: the system comprises a soft lens delivery device and a multi-mode environmental information acquisition device, wherein the soft lens delivery device is used for controlling the tail end of the trachea cannula robot to perform propelling, bending and rotating functional actions, and the multi-mode environmental information acquisition device is used for acquiring operation site information;
an industrial personal computer: the main processor is used for reading and processing the motion increment information generated by the control handle, converting the motion increment information of the control handle into pose increment information of the tail end of the control slave hand execution end according to an increment mapping rule, and sending the pose increment information of the tail end to the soft lens delivery device;
a visualization assisting unit: the operation site information acquisition device is connected with an industrial personal computer and used for visually displaying the operation site information acquired by the multi-mode environment information acquisition device and displaying an operation interface, so that medical personnel and engineers can perform operation control on the upper computer through a mouse and a keyboard;
a communication module: the wireless communication system comprises a wired communication module and a wireless communication module which are used for realizing communication among all the parts respectively.
2. The master-slave control system for the complex airway multi-modal tracheal intubation robot according to claim 1, wherein the soft lens delivery device comprises a master control board, and a propelling mechanism, a rotating mechanism, a twisting mechanism and a soft lens module which are respectively connected with the master control board, and the master control board is connected with the multi-modal environmental information acquisition device through a wireless communication module.
3. The master-slave control system for the complex airway multi-modal endotracheal intubation robot according to claim 2, wherein the propulsion mechanism and the rotation mechanism are respectively driven by a linear module servo motor and an integrated joint servo motor, the two servo motors are respectively connected with a D2 driver on the master control board, and the D2 driver is communicated with an industrial personal computer by an RS485 extension line and performs parameter reading and writing through a Modbus serial communication protocol.
4. The master-slave control system for the complex airway multi-modal tracheal intubation robot according to claim 2, wherein the torsion mechanism is driven by an integrated steering engine, and the integrated steering engine is directly connected with an industrial personal computer to realize the control of the steering engine.
5. The master-slave control system for the complex airway multi-modal endotracheal intubation robot according to claim 2, wherein the operation site information collected by the multi-modal environment information collection device comprises image information, depth information, sound information and carbon dioxide concentration information, the image information is obtained by a depth camera arranged at the tail end of the soft lens module, the sound information is obtained by a sound detection module arranged at the tail end of the soft lens module, and the carbon dioxide concentration information is obtained by a carbon dioxide micro-sidestream monitoring module.
6. The master-slave control system for the complex airway multi-modal endotracheal intubation robot according to claim 5, it is characterized in that when the trachea cannula operation of a complex trachea is carried out, the trachea cannula robot is debugged to an initial position and is provided with a soft lens module to complete the preparation before the trachea cannula operation of teleoperation, after formally starting to carry out teleoperation trachea cannula operation, the terminal degree of depth camera of soft mirror module and the terminal environmental information of sound detection module real-time incessant collection soft mirror module, including image information, degree of depth information and sound information, provide medical personnel after handling and the integration and carry out vision navigation assistance and incessant anatomical structure tracking assistance, medical personnel are under vision navigation assistance information's assistance and through the brake valve lever of control master hand operation end, control the soft mirror module of follow hand execution end and constantly impel to the trachea.
7. The master-slave control system for the complex airway multi-modal endotracheal intubation robot according to claim 6, wherein the control handle has a front-back pitch angle θ1The left-right inclination angle theta of the handle is controlled corresponding to the up-down pitch angle at the tail end of the soft lens module2Corresponding to the left and right bending degree of the tail end of the soft lens module, the advancing and retreating depths of the control handle key correspond to the advancing speed of the tail end of the soft lens module, wherein the key depth of the control handle is x1The depth of the forward key is positive, the depth of the backward key is negative, the industrial personal computer generates a main hand end operation matrix A after motion increment information generated by the control handle is obtained, the main hand end operation matrix A is mapped to an expected tail end displacement matrix B through a transformation matrix T, and B is T multiplied by A, the industrial personal computer transmits the expected tail end displacement matrix B to a visual auxiliary unit in real time for display, decomposes the expected tail end displacement matrix B into products of three matrixes, respectively corresponds to the twisting, bending and propelling actions of the soft mirror delivery device, the integrated steering engine, the integrated joint servo motor and the linear module servo motor feed back actual displacement information through the encoder and transmit the actual displacement information to the main control board through the wireless communication module, the obtained actual displacement information is filtered and combined to generate an actual motion matrix C, and a feedback adjustment matrix D and a main control board at the next moment are obtained by comparing the expected tail end displacement matrix B and the actual motion matrix C, and then the feedback adjustment matrix D and the main control board at the next moment are combined to obtain the feedback adjustment matrix D Hand-end operation matrix AtCombined and mapped to the next time desired end displacement matrix B through the transformation matrix Tt。
8. The master-slave control system for the complex airway multi-modal endotracheal intubation robot according to claim 7, wherein the industrial personal computer transmits the desired tip displacement matrix B to the visualization auxiliary unit for display in real time and decomposes the desired tip displacement matrix B into the product of three matrices, then:
B＝X×Y×Z
X＝k1X0
Y＝k2Y0
Z＝k3Z0
wherein X is a desired tip twist matrix, Y is a desired tip displacement matrix, Z is a desired tip advance matrix, X0As an integrated steering engine motion matrix, Y0As an integral joint servo motor motion matrix, Z0Is a linear module servo motor motion matrix, k1，k2，k3Respectively coefficient matrices.
9. The master-slave control system for the complex airway multi-modal tracheal intubation robot according to claim 6, wherein when the surgical situation is complex, medical staff further analyzes and processes the current environmental situation through a vision field expansion navigation module and a three-dimensional airway environment construction module of an industrial personal computer, wherein the vision field expansion navigation module expands the vision field obtained by the medical staff through image splicing so that the medical staff can judge and process the vision field, and the three-dimensional airway environment construction module performs three-dimensional reconstruction of the environment in the airway according to the visual information and the depth information in adjacent time periods so that the medical staff can know the environmental situation in the airway more intuitively.
10. The master-slave control system for the complex airway multi-modal endotracheal intubation robot according to claim 6, characterized in that when the surgery condition is further complicated, that is, when the surgery condition that the visual information cannot be handled with assistance at all is encountered, the medical staff obtains the information of the partial pressure and concentration of carbon dioxide through the carbon dioxide micro-bypass flow monitoring module and displays the waveform thereof on the display, if a continuous and stable carbon dioxide square wave is observed, the direction is most likely to be the glottic direction, and the medical staff obtains the sound information near the end of the soft lens module through the sound detection module, and when the end of the soft lens module is aligned with the direction of the airflow, if the airflow emits a clear whistling sound when passing through the gas channel at the end of the soft lens module, the direction is most likely to be the glottic direction.
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