TY - JOUR
T1 - Development of the airway management training system WKA-2 Designed to reproduce different cases of difficult airway
AU - Noh, Yohan
AU - Segawa, Masanao
AU - Shimomura, Akihiro
AU - Ishii, Hiroyuki
AU - Solis, Jorge
AU - Takanishi, Atsuo
AU - Hatake, Kazuyuki
N1 - Funding Information:
Manuscript received September 15, 2008. This work was supported by the Knowledge Cluster Initiative, a project from the Ministry of Education, Culture, Sports, Science and Technology of Japan. Finally, we would like to thank the doctors from the Department of Anesthesiology at the Tokyo Women’s Medical University for their valuable time in providing medical knowledge for our new system
Funding Information:
Manuscript received September 15, 2008. This work was supported by the Knowledge Cluster Initiative, a project from the Ministry of Education, Culture, Sports, Science and Technology of Japan. Finally, we would like to thank the doctors from the Department of Anesthesiology at the Tokyo Women's Medical University for their valuable time in providing medical knowledge for our new system
Publisher Copyright:
© 2009 IEEE.
PY - 2009
Y1 - 2009
N2 - The emerging field of medical robotics aims to introduce intelligent tools to assist a physician. The main challenges for developing efficient medical robotic training systems are simulating real-world conditions of the task and assuring training effectiveness. High anatomic fidelity has been achieved in current systems. However, those training systems are designed to reproduce specific conditions of the task (passive training). In this research, we are focusing in developing an airway management training systems designed to reproduce various cases of difficult airway. Such difficulties (i.e. restricted mouth opening, various shapes of oral cavity including tongue swallowing, etc) may provoke traumas on different organs of the patient during an emergency situation. For this purpose, the authors have proposed the development of more advanced training tools. For this purpose, we have focused in embedding sensors and actuators to a conventional patient model towards the development of a patient robot (in previous research, authors have presented the evaluation model which embeds sensors). In this paper, we present an airway training system which embeds actuators into a mannequin. In particular, the mechanism design of the Waseda Kyotokagaku Airway No.2 (WKA-2) is detailed. The WKA-2 is composed of twelve active and one passive degrees of freedom; which are designed to reproduce the various cases of difficult airway. For this purpose, the WKA-2 reproduces the human muscles around the upper airway based on a wire driving mechanisms (a total of sixteen wires are used). In particular, the head of the model is composed of a tongue and mandible with translational and rotational movements around kinematic axis. In addition, we present the details of the kinematic model of WKA-2 which enable the robot to reproduce the airway difficulties. Finally, we presented the design of a tension sensor designed to measure the applied tension on each of the wire driving mechanism of WKA-2. As preliminary experiments, we reproduce several cases of difficult airways using WKA-2.
AB - The emerging field of medical robotics aims to introduce intelligent tools to assist a physician. The main challenges for developing efficient medical robotic training systems are simulating real-world conditions of the task and assuring training effectiveness. High anatomic fidelity has been achieved in current systems. However, those training systems are designed to reproduce specific conditions of the task (passive training). In this research, we are focusing in developing an airway management training systems designed to reproduce various cases of difficult airway. Such difficulties (i.e. restricted mouth opening, various shapes of oral cavity including tongue swallowing, etc) may provoke traumas on different organs of the patient during an emergency situation. For this purpose, the authors have proposed the development of more advanced training tools. For this purpose, we have focused in embedding sensors and actuators to a conventional patient model towards the development of a patient robot (in previous research, authors have presented the evaluation model which embeds sensors). In this paper, we present an airway training system which embeds actuators into a mannequin. In particular, the mechanism design of the Waseda Kyotokagaku Airway No.2 (WKA-2) is detailed. The WKA-2 is composed of twelve active and one passive degrees of freedom; which are designed to reproduce the various cases of difficult airway. For this purpose, the WKA-2 reproduces the human muscles around the upper airway based on a wire driving mechanisms (a total of sixteen wires are used). In particular, the head of the model is composed of a tongue and mandible with translational and rotational movements around kinematic axis. In addition, we present the details of the kinematic model of WKA-2 which enable the robot to reproduce the airway difficulties. Finally, we presented the design of a tension sensor designed to measure the applied tension on each of the wire driving mechanism of WKA-2. As preliminary experiments, we reproduce several cases of difficult airways using WKA-2.
UR - http://www.scopus.com/inward/record.url?scp=85113898853&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85113898853&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152315
DO - 10.1109/ROBOT.2009.5152315
M3 - Conference article
AN - SCOPUS:85113898853
SN - 1050-4729
SP - 3833
EP - 3838
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
M1 - 5152315
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -