Sleep Apnea Ron, Laura, and Ryan. Problem Sleep apnea affects 1 in 4 men and 1 in 9 women, obstructs...
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Sleep Apnea Ron, Laura, and Ryan
Sleep Apnea Ron, Laura, and Ryan. Problem Sleep apnea affects 1 in 4 men and 1 in 9 women, obstructs breathing during sleep Can be fatal Noninvasive treatments
Problem Sleep apnea affects 1 in 4 men and 1 in 9 women,
obstructs breathing during sleep Can be fatal Noninvasive
treatments do not work for everyone Robots need to be used for
surgery to help get to the base of the throat without further
obstructing the airway
Slide 3
Sleep Apnea Interruption of breathing during sleep People with
untreated sleep apnea stop breathing repeatedly during their sleep,
sometimes hundreds of times. This means the brain -- and the rest
of the body -- may not get enough oxygen. (Source:
http://www.webmd.com/sleep-disorders/sleep-apnea/sleep-apnea) Could
increase a person's risk for heart disease, high cholesterol and
diabetes Obstructive Sleep Apnea Most common form Blockage caused
by soft tissue in the throat collapsing in sleep
Slide 4
Treatment Commonly treated with a C-Pap to keep airways open,
but this doesnt always work and surgery may be needed
Uvulophalatopharyngoplasty (UPPP) Removes excess tissue to get rid
of the obstruction Cuts away tissue from the back of the throat or
the base of the tongue, then removes it for a wider airway Robots
used: "We're at the base of the tongue, the airways is going to be
down here and we're resecting all this tissue that's falling back,
blocking the airway," Dr. D'Agnostino said. Hard to access by hand
without hurting the patient Source:
http://www.wtnh.com/dpp/news/health/innovative-robotic-surgical-procedure-for-sleep-apnea
Slide 5
Real Procedure Robotic lance approaches the base of the throat
where the obstruction is located Cut excess tissue from the base of
the throat to widen the airway Remove the excess tissue from the
throat by lifting it out without allowing any to fall into the
trachea and obstruct the airway Dispose of excess tissue
Development Part 1 Construction of Cutting Arm Worm Gear
Constructed to change rotary to linear motion Support added to keep
rod in line Final Construction of Worm Gear Apparatus
Slide 8
Development Part 2 - Connections Worm Gear Apparatus attached
to second motor to lift excess tissue out Connection of second
motor to back of basic robot Added to try to balance weight
Slide 9
Model Procedure Lance rod on worm gear apparatus approaches
paper towel tube trachea covered with excess tissue cloth Rod
separates cloth from tube by cutting it away from underneath Second
motor lifts rod up and away so that the cloth does not fall into
the tube and obstruct the airway Cloth deposited outside the
throat
Slide 10
Realization Worm gear apparatus Second Motor Second brick
Trachea Tissue Disposal Tray Rubber band to keep everything
working
Slide 11
Program (Worm Gear Apparatus) (Second Motor) (Motor to move
lance forward)
Slide 12
Trials One Result: death Tissue fell into trachea Suspected
user error in setup Two Result: inconclusive lance failed to
completely eradicate tissue, patient lived but their problem was
not solved Three Result: success! Tissue eradicated and disposed of
Four Result: success! Tissue eradicated and disposed of Five
Result: success! Tissue eradicated and disposed of
Slide 13
Evaluation Worm gear construction worked perfectly in advancing
the lance towards the throat Robot successfully lanced under the
cloth, but sometimes had difficulty lifting it up Result of weight
of the apparatus on a single motor with limited space to move up
More efficient design with fewer parts would allow for easier
movement of the lance up and down Robot successfully deposited the
material, but had a hard time moving due to the construction with
the additional brick Would have been more effective to connect the
brick directly to the other brick for added weight than to connect
though the wheel Would have increased mobility
Slide 14
Problems and Inconsistencies Worm gear apparatus wouldnt always
stay put in the beginning of construction rod bowed out around the
gear The weight of the apparatus on the back left of the robot was
immense we had to connect another brick just to keep the robot from
tipping In pre-trials, the testing apparatus, especially the fabric
tissue, seemed flimsy. A sturdier construction from heavier
materials would likely have made trials more effective and
eliminated common problems More of a foam-type material, perhaps
attached to a stronger/weightier base with Velcro or the like Due
to the construction of the robot, it was impossible to move the
entire apparatus forward or backward, although pivot turns
worked