ABSTRACT
Objective:To establish a motion planning method for avoiding singularities for manipulator-assisted puncture surgery navigation, and design the corresponding computer program.Methods:According to the actual operation and the need of clinicians, the puncture needle sleeve installed at the end of the UR3 robotic arm was designed, and the kinematics analysis and simulation verification of the robotic arm were performed. A calculation program for solving the movement pose when the puncture needle at the end of the robotic arm reaches the target position, and a motion planning program for avoiding singularities through small-angle rotation were programmed.Results:Six groups of joint angles were randomly selected, and the theoretical coordinates calculated by the program were compared with the actual coordinates. The result showed that the error between the theoretical value and the actual value was small, which proved the correctness of the kinematics model. In the verification experiment, 3 sets of initial poses at random were simulated, the best pose was obtained by the program. Then the pose was transmitted into the control system to control the movement of the robotic arm. The verification experiment results showed that the puncture needle can reach the target point, and the singularity can be effectively avoid by the small-angle rotation of the fixed central axis.Conclusions:The singular point avoidance method based on end posture rotation can effectively avoid the failure of initial target posture motion planning, and it has reference value for the application of manipulator in puncture surgery.
ABSTRACT
Objective To develop a thyrocricoid puncture device to study its cure effect in rescuing patients who suffer from the obstruction of upper respiratory tract caused by war wounds,traffic accidents and pharyngolaryngeal tumor.Methods The clinical emergency cure effect of 268 cases of upper respiratory tract obstruction and 33 cases of sudden death were taken retrospective analysis,who received puncture and intubation through cricothyriod membrane ventilation and high-frequency oxygen supply.Results The achievement ratios in puncture and catheterization,oxygen supply,sputum suction and intratracheal administration on all the patients were very high.Conclusion The thyrocricoid puncture device is safe,easy to carry and operate,of mini-wound and effective in rescuing patients suffering from serious upper respiratory tract obstruction and cardiopulmonary resuscitation(CPR),can adapt to the scene of the wounded in war and peace and can be applied in clinic.