磁导航气管插管机器人关键技术研究

新冠肺炎属于呼吸系统烈性传染病，危重症治疗中气管插管被视为最高感染风险的职业暴露，因此，进行气管插管机器人的研究十分必要且紧迫。本项目拟采用磁导航原理实现机器人气管插管操作。具体研究内容包括，研究颈前区体外磁体引导气管导管之引航导条尖端磁体，实现准确进入声门；研究基于磁跟踪技术的磁性传感器阵列设计，实现引航导条尖端实时位置和方向的无线跟踪；研究滚轮驱动技术，实现引航导条在非接触力下柔顺深入目标部位；研究共融机器人相关技术，实现机器人柔顺控制，减少气管插管过程中的组织损伤；研究磁耦联技术，实现一次性耗材与机器人驱动部分之间的非接触式连接；进行磁导航气管插管机器人系统集成及工作性能验证。本项目的研究将攻克磁导航、磁跟踪、机器人气管插管损伤控制关键技术，制成临床可用的磁导航气管插管机器人，极大降低医护人员气管插管被感染风险，提高院外突发医疗事件的救治水平，促进我国生命急救体系高水平发展。

Corona virus disease 19 (COVID-19) is severe respiratory system infectious disease, endotracheal intubation for critically ill patients is the highest risk of infection to medical staff. So far, there is rare research on the development of endotracheal intubation robots. Based on the principle of magnetic navigation, this project will research a new mode of endotracheal intubation technology, to realize the operation of robot endotracheal intubation. In detail, this project includes the following parts: Under the navigation of an external magnet at the anterior cervical region, the magnet at the tip of the guide bar of the tracheal tube is entered the glottis accurately. Real-time wireless monitoring and feedback of the motion path of the guide bar using magnetic sensor array based on magnetic tracking technology. The guide bar and tracheal tube are inserted into the target position by roller-driven pipe feeding technology. Through the technology innovation of Tri-Co robots，realize robot flexible action control to reduce the tissue damage during endotracheal intubation. To meet the requirement of disinfection and sterilization of medical equipment, disposable consumables are assembled on robot by magnetic coupling linkage. Finally, realizing the system integration of magnetic navigation endotracheal intubation robot, animal experiment and clinical trial will be conducted to verify the working performance. This project will overcome the key technology of magnetic navigation technology, magnetic tracking technology, and tissue damage control during robot endotracheal intubation, will realize the integration of magnetic navigation endotracheal intubation robot, to reduce the risk of infection and medical staff’s physical and mental overload during endotracheal intubation, to improve the treatment ability of out of hospital medical emergency, to promote the development of high-level life support system in China.