control Ironman GroupTsinghua Yike Qiu qyk18mailstsinghuaeducn Han Hao haoh19mailstsinghuaedu cn Background Why and How should we perform robotics medicine ID: 930063
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Slide1
Automated intubation robot - control
Ironman Group-TsinghuaYike Qiu: qyk18@mails.tsinghua.edu.cnHan Hao: haoh19@mails.tsinghua.edu.cn
Slide2BackgroundWhy and How should we perform “robotics + medicine”?
Slide3PANDEMICEpidemic in 2003 Pandemic in 2020 Pandemic in 20XX?
Global eventPreparation neededSystematic approach
Slide4A dilemmaIntubation in emergency -close observation -no time for preparation
-extremely dangerous -extremely importantWhat could technology offer?
Slide5Non-contact clinicAutomation of crucial operations
Epidemic-targeted Non-contact clinicsDoctors-in-charge automationStarting from AI intubation
Slide6Project Introduction
Our goal, team, and problems
Slide7Ultimate Goal &
Temporary GoalAutomatic intubation
Able to switch to manualComplete on
a dummy -approach with a laryngoscope🔈
-contact with the tongue
-open the airway
-insert the endotracheal tube
🔈
//no time restrictions
//lab environment
Slide8Control ClubExtract pattern through visionFeed in our control algorithm
Process1: open the airway-Step1: model the process-Step2: trajectory algorithm design-Step3: control algorithm designProcess2: insert the tube
Slide9Major problems-Process1
trajectory planning & hybrid control-tight space for vision & control-avoid the dangerous singularities-careful contact with soft tissue-deformation in real time
Slide10Major problems-Process2
Cooperation of dual-arm-avoid collision-gain manipulabilityDynamics and control of the tube-vibration-force feed back
Slide11Major problems-beyond the lab
Monster of efficiencyNon-standard situations-abnormal airway-the puzzle of tube size-failure in the processSimultaneous control of two armsSwitch to manual-interface design
Slide12Our team
Two students Yike Qiu👨 Han Hao👨Instructors BRILLIANT developers robotics experience
Slide13Plan & ScheduleHow to reach our goal
Slide14ScheduleOctober-November:-literature research
-system designing and modellingNovember-January:-trajectory planning algorithm of one arm-force controlJanuary-March:-trajectory planning algorithm of two arms