A robotic system to simulate child birth design and development of the Pneumatic Artificial Muscle (PAM) birthing simulator

摘要

Often regarded as a mystery and a miracle, little is known about the quantifiable aspects of childbirth. This paper explores the use of robotics to replicate a segment of the child birthing process through the development of the Pneumatic Artificial Muscle (PAM) Birthing Simulator. This simulator has been developed as a tool to effectively train obstetricians and midwives in incidences of malposition, allowing for delicate hands-on procedures, such as manual rotation, to be practiced and reported on. Due to its purpose the PAM Birthing Simulator is required to present a lifelike birthing experience entailing a lifelike feel of foetal head and movements within the birth canal which is achieved through a combination of components and programing. The Simulator consists of a full pelvis housed in a maternal cover. The foetal head is fitted with sensors and is able to pass through the pelvis by following a curved trajectory like that experienced in real childbirth. The addition of a pelvic floor and silicone cap on the foetal skull increase the accuracy in replicating the childbirth experience. The PAM Birthing Simulator provides a foundation for further work in birth simulation, both for different stages of the birthing process and for the multitude of other complications that can arise during the birthing process.