Design and Motion Control of Master-Slave Control Endotracheal Intubation Robot.

Area of Science:

• Robotics
• Minimally Invasive Surgery
• Medical Devices

Background:

• Master-slave remote control technology enhances prompt patient treatment during transport and reduces infection risks.
• Endotracheal intubation guided by endoscopy and master-slave systems improves procedural efficiency and accuracy.

Purpose of the Study:

• To develop a master-slave controlled endotracheal intubation robot (EIR).
• To enhance safety and precision in minimally invasive endotracheal intubation procedures.

Main Methods:

• Development of a master-slave controlled endotracheal intubation robot (EIR).
• Implementation of operation incremental mapping.
• Application of a weighted recursive average filtering method to reduce vibration.
• Integration of a virtual fixture to minimize mishandling during surgery.

Main Results:

• Simulation analysis confirmed that the weighted recursive average filtering method effectively reduces vibration.
• The virtual fixture successfully confined operator movements within a defined area.
• Experimental validation verified the robot's structural design and control method.

Conclusions:

• The developed endotracheal intubation robot (EIR) successfully performs necessary motions for the procedure.
• Master-slave control enables efficient and accurate endotracheal intubation.
• The robot demonstrates potential for improving patient outcomes in emergency and transport settings.