摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的新研究是一份报告的主旨。据NewsRx记者从中国北京发回的新闻报道，研究表明：“气管插管是保护气道的黄金标准，是紧急医疗干预中常用的关键救生技术。因此，本文设计了一套自动执行气管插管任务的系统，为医生提供了一个更安全、更有效的解决方案，减轻了医生的负担。”记者从清华大学的研究中得到一句话：“该系统包括前端可弯曲的气管导管、驱动系统、软致动器为精确定位提供了两个自由度。软致动器由变硬度硅树脂制成，并由纤维和螺旋钢丝制成，以保持灵活性和安全性。液压致动系统和管子进料机构可控制弯曲和输送。关键解剖特征的目标检测指导机械臂和软致动器。控制策略包括视觉伺服控制，以协调一致摘要:介绍了机械臂和软作动器的运动,保证了准确、安全的气管插管。采用恒电流模型建立了软作动器的运动学,并对其工作空间进行了仿真。通过实验,验证了软作动器的运动学ACTUAR可弯曲90°，左右弯曲20°，导管最大插入力2N，在训练假人上进行自主气管插管实验，10次试验均成功。实验结果表明，基于软执行器的机器人气管插管系统能够安全、稳定、自动地完成气管插管。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on Robotics is the subjec t of a report. According to news reporting from Beijing, People's Republic of Ch ina, by NewsRx journalists, research stated, "Tracheal intubation is the gold st andard of airway protection and constitutes a pivotal life-saving technique freq uently employed in emergency medical interventions. Hence, in this paper, a syst em is designed to execute tracheal intubation tasks automatically, offering a sa fer and more efficient solution, thereby alleviating the burden on physicians." The news correspondents obtained a quote from the research from Tsinghua Univers ity, "The system comprises a tracheal tube with a bendable front end, a drive sy stem, and a tip endoscope. The soft actuator provides two degrees of freedom for precise orientation. It is fabricated with varying-hardness silicone and reinfo rced with fibers and spiral steel wire for flexibility and safety. The hydraulic actuation system and tube feeding mechanism enable controlled bending and deliv ery. Object detection of key anatomical features guides the robotic arm and soft actuator. The control strategy involves visual servo control for coordinated ro botic arm and soft actuator movements, ensuring accurate and safe tracheal intub ation. The kinematics of the soft actuator were established using a constant cur vature model, allowing simulation of its workspace. Through experiments, the act uator is capable of 90° bending as well as 20° deflection on the left and right sides. The maximum insertion force of the tube is 2 N. Autonomous tracheal intub ation experiments on a training manikin were successful in all 10 trials, with a n average insertion time of 45.6 s. Experimental validation on the manikin demon strated that the robot tracheal intubation system based on a soft actuator was a ble to perform safe, stable, and automated tracheal intubation."
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