Design and Control of a Mechatronic Tracheostomy Tube for Automated Tracheal Suctioning

Nho, Thanh; Seah, Tian En Timothy; Phee, Soo Jay

doi:10.1109/tbme.2015.2491327

Cited by 31 publications

(22 citation statements)

References 47 publications

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“…Simulated hematemesis and vomitus settings should be created on manikin in the next step. An automated tracheal suctioning system has been developed in previous study 24 . A washing and suction device related to RRAIS should be developed in new upgrade product.…”

Section: Discussionmentioning

confidence: 99%

An original design of remote robot-assisted intubation system

Wang

Tao

et al. 2018

Sci Rep

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The success rate of pre-hospital endotracheal intubation (ETI) by paramedics is lower than physicians. We aimed to establish a remote robot-assisted intubation system (RRAIS) and expected it to improve success rate of pre-hospital ETI. To test the robot’s feasibility, 20 pigs were intubated by direct laryngoscope or the robot system. Intubation time, success rate, airway complications were recorded during the experiment. The animal experiment showed that participants achieved a higher success rate in absolute numbers by the robot system. In summary, we have successfully developed a remote robot-assisted intubation system. It is promising for RRAIS to improve the success rate of pre-hospital ETI and change the current rescue model.

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Section: Discussionmentioning

confidence: 99%

An original design of remote robot-assisted intubation system

Wang

Tao

et al. 2018

Sci Rep

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“…This scheme is recommended for repetitive tasks as it is not able to deal with the variable payloads of flexible systems. [301][302][303][304] 2) "Boundary control" which is suitable for trajectory tracking tasks where the value range of model parameters are well defined. This control approach can deal with variable payloads or nonlinear dynamic systems.…”

Section: Advanced Control Algorithm For Surgical Robotsmentioning

confidence: 99%

Advanced Intelligent Systems for Surgical Robotics

Thai

Phan

Hoang

et al. 2020

Advanced Intelligent Systems

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Surgical robots have had clinical use since the mid‐1990s. Robot‐assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for patients. The past few decades have shown many emerging surgical robotic platforms that can work in complex and confined channels of the internal human organs and improve the cognitive and physical skills of the surgeons during the operation. Advanced technologies for sensing, actuation, and intelligent control have enabled multiple surgical devices to simultaneously operate within the human body at low cost and with more efficiency. Despite advances, current surgical intervention systems are not able to execute autonomous tasks and make cognitive decisions that are analogous to those of humans. Herein, the historical development of surgery from conventional open to robotic‐assisted approaches with discussion on the capabilities of advanced intelligent systems and devices that are currently implemented in existing surgical robotic systems is reviewed. Also, available autonomous surgical platforms are comprehensively discussed with comments on the essential technologies, existing challenges, and suggestions for the future development of intelligent robotic‐assisted surgical systems toward the achievement of fully autonomous operation.

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“…It is assumed that F 1 , F 2 , F 3 , and F 4 are the minimum value of objective functions for (10), (15), (16) and (17), respectively. λ 1 , λ 2 , λ 3 and λ 4 are respectively the solution of QP problems (10), (15), (16) and (17), respectively. Then, a corollary about the proposed approach is provided as follows:…”

Section: Appendixmentioning

confidence: 99%

“…The available force feedback during catheter insertion is an important strategy to avoid damaging the blood vessel by applying excessive force. The contact forces that the catheter tip applies on the blood vessel can be measured by an embedded force sensor [14], [15] or by an indirect force measurements [16], [17], [18] (like the image-based force sensing). However, none of the available strategies is capable of providing the catheter-tissue interaction forces along the entire catheter.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of Cable-Driven Continuum Catheter Robot Through Contacts

Zhang

Dequidt

Back

et al. 2019

IEEE Robot. Autom. Lett.

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Catheter-based intervention plays an important role in minimally invasive surgery. For the closed-loop control of catheter robot through contacts, the loss of contact sensing along the entire catheter might result in task failure. To deal with this problem, we propose a decoupled motion control strategy which allows to control insertion and bending independently. We model the catheter robot and the contacts using the Finite Element Method. Then, we combine the simulated system and the real system for the closed-loop motion control. The control inputs are computed by solving a quadratic programming (QP) problem with a linear complementarity problem (LCP). A simplified method is proposed to solve this optimization problem by converting it into a standard QP problem. Using the proposed strategy, not only the control inputs but also the contact forces along the entire catheter can be computed without using force sensors. Finally, we validate the proposed methods using both simulation and experiments on a cabledriven continuum catheter robot for the real-time motion control through contacts.

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Design and Control of a Mechatronic Tracheostomy Tube for Automated Tracheal Suctioning

Abstract: The results demonstrate a significant contribution and potential benefits to the mechanical ventilation areas.

Cited by 31 publications

References 47 publications

An original design of remote robot-assisted intubation system

An original design of remote robot-assisted intubation system

Advanced Intelligent Systems for Surgical Robotics

Motion Control of Cable-Driven Continuum Catheter Robot Through Contacts

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