RESUMO
Driven by the demand to largely mitigate nosocomial infection problems in combating the coronavirus disease 2019 (COVID-19) pandemic, the trend of developing technologies for teleoperation of medical assistive robots is emerging. However, traditional teleoperation of robots requires professional training and sophisticated manipulation, imposing a burden on healthcare workers, taking a long time to deploy, and conflicting the urgent demand for a timely and effective response to the pandemic. This paper presents a novel motion synchronization method enabled by the hybrid mapping technique of hand gesture and upper-limb motion (GuLiM). It tackles a limitation that the existing motion mapping scheme has to be customized according to the kinematic configuration of operators. The operator awakes the robot from any initial pose state without extra calibration procedure, thereby reducing operational complexity and relieving unnecessary pre-training, making it user-friendly for healthcare workers to master teleoperation skills. Experimenting with robotic grasping tasks verifies the outperformance of the proposed GuLiM method compared with the traditional direct mapping method. Moreover, a field investigation of GuLiM illustrates its potential for the teleoperation of medical assistive robots in the isolation ward as the Second Body of healthcare workers for telehealthcare, avoiding exposure of healthcare workers to the COVID-19.
RESUMO
After the High Frequency Oscillatory Ventilation (HFOV) has been applied in the invasive ventilator, the new technique of noninvasive High Frequency Oscillatory Ventilation (nHFOV) which does not require opening the patient's airway has attracted much attention from the field. This paper proposes the design of an experimental positive pressure-controlled nHFOV ventilator which utilizes a blower and a special valve and has three ventilation modes: spontaneous controlled ventilation combining HFOV, time-cycled ventilation combining HFOV (T-HFOV), and continuous positive airway pressure ventilation combining HFOV. Experiments on respiratory model are conducted and demonstrated the feasibility of using nHFOV through the control of fan and valve. The experimental ventilator is able to produce an air flow with small tidal volume (VT) and a large minute ventilation volume (MV) using regular breath tubes and nasal mask (e.g., under T-HFOV mode, with a maximum tidal volume of 100 ml, the minute ventilation volume reached 14,400 ml). In the process of transmission, there is only a minor loss of oscillation pressure. (Under experimental condition and with an oscillation frequency of 2-10 Hz, peak pressure loss was around 0%-50% when it reaches the mask.).
