IntuBot: Design and Prototyping of a Robotic Intubation Device
Xiangyi Cheng, Gaojun Jiang, Kiju Lee, Yehoshua N. Laker
Abstract
Endotracheal intubation is one of the most common procedures performed worldwide in emergency departments and operating rooms. It is a highly complicated procedure susceptible to failure. This paper presents a robotic prototype, called IntuBot, designed to automate this procedure. The hardware system consists of a stepper motor to steer the stylet in forward and backward motions and two servo motors to generate bending at the stylet tip to navigate through a patient's airway. A real-time vision-based navigation algorithm is also presented to guide the stylet to localize the vocal cords, which is the tubes ultimate target. For pre-clinical testing, we 3D printed and then molded a silicone model of the airway from the mouth to the vocal cords based on a series of actual CT scan images. The prototype was tested for its steering capabilities.
BibTeX
@inproceedings{icra2018_intubotdesignand,
title = {IntuBot: Design and Prototyping of a Robotic Intubation Device},
author = {Xiangyi Cheng and Gaojun Jiang and Kiju Lee and Yehoshua N. Laker},
booktitle = {ICRA 2018},
year = {2018}
}