机器人辅助气管输液系统在重症监护病房的手术前定位
Randolph Osivue Odekhe1, Huiping Shi2, Hongji Xia3
1School of Mechanical Engineering, Shanghai Jiaotong University, 800 Dongchuan Road, Minhang District, Shanghai, 200240, China. randolphodekhe@sjtu.edu.cn.
Journal of robotic surgery
|May 25, 2025
概括
一个自主移动机器人协助在传染病隔离病房内进行内管道输入. 这种机器人系统导航到患者,定位输内管装置,并允许远程操作员控制,提高安全性和效率.
科学领域:
- 医学中的机器人和自动化
- 医疗设备工程 医疗设备工程
- 传染病管理 传染病管理
背景情况:
- 患有传染病的患者经常经历严重的呼吸困扰,需要气管管道输管.
- 医疗保健提供者在个人防护设备中的手动输管会带来感染风险.
- 需要先进的解决方案来提高隔离环境中输管过程中的安全性和效率.
研究的目的:
- 介绍一个自主移动输管机器人的开发和验证.
- 为了实现远程控制的输管程序,最大限度地减少医疗保健提供者的直接暴露.
- 为了提高导航和手术前定位准确度,用于内内管道输入.
主要方法:
- 移动基地导航使用R3实时多传感器融合 (lidar,IMU,RGB-D摄像头),YOLOv5s用于对象回避,以及A*与TEB路径规划.
- 通过使用RetinaFace和6DRepNet算法估计面部姿势进行术前定位.
- 通过模拟和物理实验进行系统验证.
主要成果:
- 自主机器人成功地导航到患者的床边,并定位了输内管装置.
- 与传统方法相比,观察到明显改善的导航时间和定位精度.
- 该系统展示了抵达,定位和离开的独立运动.
结论:
- 自主移动输管机器人为在传染性环境中安全高效的内管道输管提供了一个有前途的解决方案.
- 开发的导航和定位模块实现了高精度和高性能.
- 这项技术有可能在关键程序期间降低医疗保健专业人员的感染风险.
相关概念视频
01:17Endotracheal Intubation II: Nursing Management
2.4K
Endotracheal intubation is a critical procedure that can be lifesaving for many patients with respiratory distress or failure. The role of nursing in managing endotracheal tubes is pivotal, as it involves pre-intubation preparation, assisting during the procedure, and post-extubation care.
1. Nursing Care of Patients Before Intubation
Before the endotracheal intubation procedure, nurses play an essential role in ensuring the process goes smoothly. The nurses must be familiar with intubation...
1. Nursing Care of Patients Before Intubation
Before the endotracheal intubation procedure, nurses play an essential role in ensuring the process goes smoothly. The nurses must be familiar with intubation...
2.4K
01:15Endotracheal Intubation I: Procedure
7.6K
Endotracheal or ET intubation is a critical medical procedure used to secure a patient's airway, often in acute respiratory distress, apnea, upper airway obstruction, ineffective clearance of secretions, high risk for aspiration, or during general anesthesia.
The ET tube comprises various components, including a standard adaptor to attach a bag-valve-mask (BVM) or ventilator, a cuff, a pilot balloon, and radiopaque markings along its length to measure the insertion distance. The tube sizes...
The ET tube comprises various components, including a standard adaptor to attach a bag-valve-mask (BVM) or ventilator, a cuff, a pilot balloon, and radiopaque markings along its length to measure the insertion distance. The tube sizes...
7.6K
01:16Tracheostomy Care I: Pre-procedural Steps
999
A tracheostomy is a surgical technique that involves making an incision in the neck to provide access to the trachea. It is frequently used in medical conditions such as airway obstruction and prolonged mechanical ventilation. Effective nursing management is crucial for the long-term success of a tracheostomy.
Required Equipment
The equipment necessary for tracheostomy care includes:
Required Equipment
The equipment necessary for tracheostomy care includes:
999
01:26Tracheostomy Suctioning I: Pre-Procedural Steps
2.1K
Tracheostomy suctioning is a critical procedure healthcare professionals perform to maintain a patent airway in patients with a tracheostomy tube. This procedure is necessary when secretions accumulate in the airway, causing respiratory distress. Here is a step-wise procedural guide for performing tracheostomy suctioning using an open system.
Equipment Required
First, gather all necessary equipment: a sterile suction catheter, a sterile disposable container, sterile gloves, a towel or...
Equipment Required
First, gather all necessary equipment: a sterile suction catheter, a sterile disposable container, sterile gloves, a towel or...
2.1K
01:24Endotracheal Tube Extubation
3.7K
Endotracheal tube extubation is a critical procedure in weaning patients from mechanical ventilation. It involves physically removing the oral or nasal endotracheal (ET) tube, marking the final step in liberating a patient from ventilatory support.
Procedure
Extubation removes the endotracheal tube (ETT) from the patient on mechanical ventilation. It requires a well-coordinated, multidisciplinary approach involving physicians, nurses, respiratory therapists, and other healthcare professionals....
Procedure
Extubation removes the endotracheal tube (ETT) from the patient on mechanical ventilation. It requires a well-coordinated, multidisciplinary approach involving physicians, nurses, respiratory therapists, and other healthcare professionals....
3.7K
01:30Cardiopulmonary Resuscitation V: Advanced Airway Management Techniques
480
Airway management is essential in emergency and surgical medicine, ensuring ventilation and oxygenation in patients who cannot maintain their own airway. Clinicians use a range of techniques and devices to secure the airway, depending on the patient’s condition and the clinical context. Key methods include endotracheal intubation, rapid sequence intubation (RSI), supraglottic airway devices, and advanced visualization aids. In cases where these approaches fail, surgical airway...
480