ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.14

Noh, Yohan (Waseda University), Ebihara, Kazuki (Waseda University), Segawa, Masanao (Waseda University), Sato, Kei (Waseda University), Wang, Chunbao (Waseda University), ISHII, Hiroyuki (Waseda University), Solis, Jorge (Waseda University), Takanishi, Atsuo (Waseda University), Hatake, Kazuyuki (KYOTOKAGAKU co., Ltd.), Shoji, Satoru (KYOTOKAGAKU co., Ltd.)

Development of the Airway Management Training System WKA-4 : Improved High-Fidelity Reproduction of Real Patient Conditions and Improved Tongue and Mandible Mechanisms

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Medical Robots and Systems, Humanoid Robots, Force and Tactile Sensing


Recently, in medical field, the advanced robot technology assists developing efficient medical training system. Such training system following characteristics: providing quantitative information, simulating real-world conditions of the task, and assuring training effectiveness. In order to fulfill each of the characteristics, we developed Waseda Kyotokagaku Airway series. The developed WKA series does not consider external appearance such as patient skin, and internal appearance such as pharynx, larynx, and esophagus. Moreover, the tongue mechanism of the previous system can not measure precisely the applied force by the medical device and can not simulate stiffness of the muscle. In addition, the mandible mechanism of the previous system also has deficiency in reproducing the various cases of airway difficulties and applying force control. For these reasons, we are proposing WKA-4 which has highly fidelity of the simulated anatomy of the human, and we also improve the mechanism compared with the previous system. Furthermore, we also attach a lung to the proposed system for the real-world condition of the task. In this paper, we present how to design several organs to embed the various sensor and actuators into conventional patient model for high fidelity of the simulated humanís anatomy. We also present control system of the WKA-4. Finally, a set of the experiments are carried out to the doctorís subjects, and they gave their valuable opinions about our system.



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