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首页> 外文会议>IEEE International Conference on Cybernetics and Intelligent Systems;IEEE International Conference on Robotics, Automation and Mechatronics >Design and control of a novel mechatronic tracheostomy tube-inserted suction catheter for automated tracheal suctioning
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Design and control of a novel mechatronic tracheostomy tube-inserted suction catheter for automated tracheal suctioning

机译：一种用于气管自动抽吸的新型机电一体化气管切开插管抽吸导管的设计和控制

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Mechanical ventilation is required to aid patients with breathing difficulty to breathe more comfortably. A tracheostomy tube is inserted through an opening in the patient neck into the trachea, below the vocal cords. This opening is either created surgically or using a percutaneous dilatational technique. The inserted tube sits in the trachea, above the carina, and before the airways branch into the left and right main bronchi. In mechanical ventilation, the tube is connected to a ventilator and air is moved in and out of the lungs via positive pressure. In this process, mucus will accumulate at the point of branching into the branchi. Currently, this mucus is manually removed half-hour by inserting a suction tube via the tracheostomy to reach the point of branching. Nurses spend millions of person-hours to perform this task yearly. To save significant person-hours, an automated system is needed. This system also allows the patient to recover at home, rather stay in hospital solely for nurses to remove mucus periodically. In this paper, we present a novel mechatronic device to perform automatic tracheal suctioning in conjunction with a tracheostomy tube. A new suctioning catheter is also developed. It is known that nonlinear friction and backlash between the suctioning catheter and its conduit as well as in the gear system of the actuator cause difficulties to accurately control the position of catheter tip. To enhance the system performances, a novel direct inverse of backlash-like hysteresis model-based feedforward is also developed. The designed device and proposed compensation scheme are experimentally validated. The results demonstrate a significant contribution and potential benefits to the mechanical ventilation works.
机译：需要机械通气以帮助呼吸困难的患者更舒适地呼吸。气管切开术管通过患者颈部的开口插入到声带下方的气管中。该开口可以通过外科手术或使用经皮扩张技术来创建。插入的导管位于气管中，位于隆突上方，在气管分支成左右主支气管之前。在机械通风中，管子连接到呼吸机，空气通过正压从肺中流入和流出肺。在此过程中，粘液会在分支到分支的点处积聚。目前，通过气管切开术插入吸引管以到达分支点，手动将粘液去除半小时。护士每年花费数百万个人小时来执行此任务。为了节省大量的工时，需要一个自动化系统。该系统还使患者能够在家中康复，而不必留在医院中，仅由护士定期清除粘液。在本文中，我们提出了一种新颖的机电一体化装置，结合气管造口术管进行自动气管抽吸。还开发了一种新的抽吸导管。众所周知，抽吸导管与其导管之间以及致动器的齿轮系统中的非线性摩擦和间隙会导致难以精确地控制导管尖端的位置。为了提高系统性能，还开发了一种新颖的基于反冲样滞后模型的前馈直接逆算法。设计的装置和提出的补偿方案在实验上得到了验证。结果表明，该机械通风工程具有显着贡献，并具有潜在的优势。

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