无创正压通气机械臂的研究

发布时间：2018-12-17 21:06

【摘要】：无创正压通气相对于传统通气方法，具有无创伤、患者痛苦小、产生相关并发症几率小和恢复周期短等特点。临床研究发现，，使用面罩进行无创正压通气适应于一部分全身麻醉的患者。但是手术期间，医生需要长时间托住患者头部，这需要付出很大的体力劳动，并且容易导致通气不稳定，从而限制了面罩通气的使用。因此很有必要设计一款机械臂，用于辅助医生固定患者头部，使其可以采用面罩进行无创通气。对于这种辅助医疗机械臂，国内外还未出现相关研究，这更增加了研究的迫切性。本文根据临床医生提出的需求，研究了国内外关于手术麻醉期间气道护理的现状以及几款主动式和被动式医疗机械臂。在此基础上，设计了一款用于辅助医生对患者进行面罩通气的被动式机械臂。该机械臂具有3+1个自由度，被动式控制，各关节锁紧方便、安全、可靠。作者首先进行机械臂总体方案、机械结构和各关节锁紧方式的设计。根据医生的操作过程和需求，确定机械臂的设计要求和控制方式。通过构型综合，确定机械臂为三自由度串联构型。综合国内外现有的关节锁紧方式，最终确定第一关节锁紧方式为电动锁紧，其余三个关节为电磁锁紧。根据机械臂工作空间确定机械臂各杆长。针对第一关节电动锁紧机构进行了巧妙的设计，最终完成所有关节元器件的选型。对整套机械臂的机械结构进行了详细的设计，并对关键零部件进行强度校核。针对第一关节的电动锁紧方式进行计算。根据Hertz接触理论和摩擦理论应用材料力学和弹性力学相关知识对摩擦面的斜度进行理论计算。在Workbench中建立摩擦面接触的二维模型，进行有限元分析。推导适合本课题锁紧模型的锁紧力矩公式，获取接触面上一定数量点的摩擦应力值，计算锁紧力矩。最后对单只机械臂的控制系统进行总体方案设计和相关实验研究。根据需求，确定无线遥控锁紧方式，完成各控制单元的设计选型。采用大功率驱动器驱动三个电磁离合器，设计第一关节锁紧力可调。通过实验验证机械臂能否完成相应的设计功能，完成了机械臂各关节锁紧力实验，锁紧等级标定实验以及临床实验。
[Abstract]:Compared with traditional ventilation, noninvasive positive pressure ventilation (NIPPV) has the characteristics of no trauma, little pain, low incidence of related complications and short recovery period. Clinical studies have found that the use of masks for non-invasive positive pressure ventilation is suitable for patients under partial general anesthesia. But during the operation, doctors need to hold the patient's head for a long time, which requires a lot of physical labor, and easily lead to unstable ventilation, which limits the use of mask ventilation. Therefore, it is necessary to design a mechanical arm to assist the doctor in fixing the patient's head so that it can be ventilated with a mask. For this kind of auxiliary medical manipulator, there is no related research at home and abroad, which increases the urgency of research. According to the demands of clinicians, the present situation of airway nursing and some active and passive medical manipulators at home and abroad were studied. On this basis, a passive manipulator is designed to assist doctors in ventilating patients with mask. The manipulator has 31 degrees of freedom, passive control, convenient locking of joints, safety and reliability. At first, the author designs the general scheme, mechanical structure and locking mode of each joint. According to the operation process and requirements of the doctor, determine the design requirements and control mode of the manipulator. Through configuration synthesis, it is determined that the manipulator is in series configuration of three degrees of freedom. The first joint locking mode is electric locking and the other three joints are electromagnetic locking. The length of each arm rod is determined according to the workspace of the manipulator. The first joint electric locking mechanism is designed skillfully, and all the joint components are selected. The mechanical structure of the whole manipulator is designed in detail, and the strength of the key parts is checked. The electric locking mode of the first joint is calculated. According to Hertz contact theory and friction theory, the slope of friction surface is calculated by applying the knowledge of mechanics of materials and elasticity. The two-dimensional contact model of friction surface is established in Workbench and finite element analysis is carried out. The locking torque formula suitable for the locking model of this subject is derived, the friction stress values of a certain number of points on the contact surface are obtained, and the locking torque is calculated. Finally, the control system of single manipulator is designed and tested. According to the demand, the wireless remote control locking mode is determined to complete the design and selection of each control unit. Three electromagnetic clutches are driven by high power driver, and the locking force of the first joint is adjustable. The corresponding design function of the manipulator is verified by experiments. The locking force experiment, the calibration experiment of locking grade and the clinical experiment of the joint locking force of the manipulator are completed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP241

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