2A1-M10 緊張性気胸患者の搬送時救命治療を支援する胸部装着型自動穿刺ロボットAIDEDの開発

概要

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Thoracentesis is an emergency measure for tension pneumothorax that is a life-threatening condition resulting from the unswollen lung due to the air leaked into the thoracic cavity. To save patients getting to fall into tension pneumothorax in transit, we've newly developed a tele-operated thoracentesis-supporting robot: AIDED for emergency care in transit, which can be mounted on patient's chest by a paramedic. The robot has three linear actuators that enable tracking a correct position for thoracentesis and also to indwell a needle into the thoracic cavity. We adopted vacuum suckers enabling easy and robust fitting onto patient's chest and a mass flow sensor to allow the robot to detect when needle penetrates the chest wall for automatic stop of insertion. In addition, AIDED is designed to use a one-way clutch to enable pulling inner needle out while outer needle indwelled with one actuator only. Evaluation experiments indicating it enables automatic thoracentesis confirm the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2009-05-25