会厌吸附手敏感单元阵列设计

Design of Sensitive Cell Array on Epiglottis Adsorption Hands

在气管插管机器人会厌吸附手执行“抬起会厌”任务时,针对其需要实时感知手指接触状态的问题,提出了一种覆盖在操作手手指上的触觉感知阵列的方案。首先,根据人工气管插管操作步骤,推理出适用于插管机器人的技法,参照人手的结构和功能,拟定了会厌吸附手构型方案。其次,分析会厌吸附手工作中的接触状态,得出了接触力特征。选用PVDF压电薄膜作为敏感元件,基于PVDF压电效应构建了敏感单元阵列。通过敏感单元输出信号解算出接触面上法向力和切向力信号进而判定会厌吸附手与人体软组织间接触状态。最后,选用ANYSY软件,验证敏感阵列探测接触状态的可行性,仿真结果表明,敏感单元阵列可以检测状态的主要特征。

When the epiglottis adsorption hand of the endotracheal intubation robot performs the task of"lifting the epiglottis",a solution of tactile sensing array covering the fingers of the operating hand is proposed for the problem that it needs to sense the contact state of the fingers in real time.First of all,according to the artificial tracheal intubation operation steps,the technique suitable for the intubation robot is deduced,and the configuration scheme of the epiglottis adsorption hand is drawn up with reference to the structure and function of the human hand.Secondly,analyze the contact state of the epiglottis in the work of adsorbing the hand,and get the characteristics of contact force.The PVDF piezoelectric film is selected as the sensitive element,and the sensitive unit array is constructed based on the PVDF piezoelectric effect.The normal force and tangential force signals on the contact surface are calculated through the output signal of the sensitive unit to determine the contact state between the epiglottis adsorption hand and the soft tissue of the human body.Finally,the ANYSY software is selected to verify the feasibility of the sensitive array to detect the contact state.The simulation results show that the sensitive cell array can detect the main features of the state.