A fully automatic double-flexible arm intubation system

Abstract

The present invention discloses a fully automatic double-flexible arm intubation system, comprising a medical bed and a supporting calibration pillow arranged on the medical bed, the supporting calibration pillow being arranged in cooperation with a controller, and a double-flexible arm intubation robot being arranged outside the medical bed in cooperation with the human head on the supporting calibration pillow; the double-flexible arm intubation robot being arranged in cooperation with the controller; the present invention realizes the coarse positioning and fine positioning of the human oral cavity by the fully automatic double-flexible arm intubation robot through the supporting calibration pillow on the medical bed and an external environment camera.

Description

Technical Field

[0001] The invention belongs to the field of medical equipment, and in particular relates to a fully automatic double-flexible arm intubation system. Background Art

[0002] Currently, intubation is an important measure taken during the rescue process of critically ill patients undergoing cardiopulmonary resuscitation or with respiratory dysfunction, and intubation operations require people with relevant professional training experience to be competent.

[0003] As intubation situations are relatively complicated, existing robotic intubation methods are all remotely controlled, which is much less efficient than direct control by doctors and is not very manipulable. In addition, since there is no one-time replacement design, the cost of use is too high. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic double-flexible arm intubation system to solve the problems of low automation, low working efficiency and high use cost of the existing intubation robots in the background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A fully automatic double-flexible-arm intubation system comprises a medical bed and a supporting calibration pillow arranged on the medical bed, the supporting calibration pillow being arranged in cooperation with a controller, and a double-flexible-arm intubation robot is arranged outside the medical bed in cooperation with the human head on the supporting calibration pillow; the double-flexible-arm intubation robot is arranged in cooperation with the controller; the double-flexible-arm intubation robot comprises a six-degree-of-freedom mechanical arm arranged in cooperation with the controller, and a double-flexible-arm tongue depressor mechanism is fixedly connected to one end of the six-degree-of-freedom mechanical arm through a fixed flange; a fixed bracket is arranged on the fixed flange, and an intubation mechanism is arranged on the fixed bracket in cooperation with the double-flexible-arm tongue depressor mechanism, and an external environment camera is also installed on the fixed bracket; the external environment camera, the intubation mechanism and the double-flexible-arm tongue depressor mechanism are all arranged in cooperation with the controller; the intubation mechanism comprises a connecting rod sub-mechanism fixedly connected to the fixed bracket at one end, a pipe inlet mechanism is arranged at the other end of the connecting rod sub-mechanism, and the pipe inlet mechanism is cooperated with an elastic ventilation pipe, and the elastic ventilation pipe is connected to the The double-flexible-arm tongue depressor mechanism is arranged in cooperation; the double-flexible-arm tongue depressor mechanism comprises a tongue depressor body detachably connected to a fixing flange, the lower part of the tongue depressor body is arranged in cooperation with an elastic ventilation tube, a front through hole and a rear through hole are arranged inside the tongue depressor body, a front binocular support flexible arm is fixedly connected to the front through hole on the fixing flange, and a rear support flexible arm is fixedly connected to the rear through hole on the fixing flange; a transparent lens is arranged at one end of the front through hole to cooperate with the front binocular support flexible arm; corresponding flexible arm driving groups are arranged on the fixing flange to cooperate with the front binocular support flexible arm and the rear support flexible arm respectively; the connecting rod sub-mechanism comprises a front transmission connecting rod and a rear transmission connecting rod, one end of the front transmission connecting rod and the rear transmission connecting rod are respectively fixedly connected to the fixing bracket, and a transmission connecting rod driving assembly is arranged on the fixed bracket to cooperate with the front transmission connecting rod and the rear transmission connecting rod; the other ends of the front transmission connecting rod and the rear transmission connecting rod are fixedly connected to the mounting plate, and the mounting plate is arranged in cooperation with the pipe inlet mechanism.

[0007] Preferably, the front transmission link and the rear transmission link both include two symmetrically arranged link groups, any link group includes a fixed rod, one of which is fixedly connected to a fixed bracket, and two ends of any fixed rod are respectively hinged to a first movable long rod and a first movable short rod, the first movable long rod and the first movable short rod are parallel to each other, one end of the first movable short rod is hinged to a second movable long rod parallel to the fixed rod, and the second movable long rod is hinged to the first movable long rod; one end of the two second movable long rods are hinged; one end of one of the first movable long rods is hinged to a second movable short rod parallel to the second movable long rod, and the other end of the second movable short rod is hinged to the corresponding second movable long rod; one end of the other first movable long rod is hinged to a third movable short rod parallel to the corresponding second movable long rod, and the other end of the third movable short rod is hinged to the second movable short rod. Preferably, the transmission connecting rod driving assembly includes a connecting rod driving motor fixedly mounted on a fixed bracket, the connecting rod driving motor is cooperated with a controller, the end of the rotating shaft of the connecting rod driving motor is fixedly connected to a first bevel gear, the front and rear sides of the first bevel gear are respectively meshed with second bevel gears, and the two second bevel gears are respectively fixedly connected to the corresponding first movable long rod.

[0008] Preferably, the pipe feeding mechanism includes a pipe feeding stepper motor arranged in cooperation with the controller, the pipe feeding stepper motor is fixedly arranged on a mounting plate between the front transmission connecting rod and the rear transmission connecting rod, the rotating shaft of the pipe feeding stepper motor passes through the mounting plate, the end of the rotating shaft of the pipe feeding stepper motor is fixedly connected with a pipe feeding driving wheel, and a pipe feeding driven wheel assembly is provided on the feed mounting plate in cooperation with the pipe feeding driving wheel.

[0009] Preferably, the pipe inlet driven wheel assembly includes a pipe inlet driven wheel arranged in cooperation with the pipe inlet driving wheel, the rotating shaft of the pipe inlet driven wheel is fixedly connected to the mounting buckle, one end of the mounting buckle is hinged to the mounting plate, a movable limit groove is provided on the mounting plate to cooperate with the rotating shaft of the pipe inlet driven wheel, and an electromagnetic switch is provided on the mounting plate to cooperate with the mounting buckle; a reset spring is provided between the mounting plate and the mounting buckle.

[0010] Preferably, the support calibration pillow comprises a headrest, and a nine-axis sensor is arranged inside the headrest.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] The present invention realizes the coarse and fine positioning of the human oral cavity by the fully automatic dual-flexible arm intubation robot through the support calibration pillow on the medical bed and the external environment camera; the movement trajectories of the fully automatic supporting flexible arm mechanism and the elastic ventilation tube during the intubation process have the repetitive characteristics, and they move synchronously on their common trajectory, thereby realizing parallel processing of the intubation tasks, reducing the movement steps, and improving the overall movement efficiency; the fully automatic supporting flexible arm mechanism optimizes the structural force transmission performance; the intubation function mechanism formed by the tube feeding mechanism and the connecting rod mechanism cooperates with the six-degree-of-freedom mechanical arm to realize high-precision position control, thereby achieving a fully automatic effect.

[0013] The elastic ventilation tube and the tongue depressor body extending into the oral cavity are both disposable appliances and can be discarded after use, thereby improving the utilization rate of the full-automatic double-flexible arm intubation robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention.

[0015] Figure 2 This is a usage state diagram of the present invention.

[0016] Figure 3 It is a structural schematic diagram of the full-automatic flexible arm tongue depressor body mechanism and the intubation mechanism in the present invention.

[0017] Figure 4 It is a schematic diagram of the disassembled structure of the full-automatic flexible arm tongue depressor body mechanism of the present invention.

[0018] Figure 5 for Figure 3 A partial enlarged view of middle A.

[0019] Figure 6 for Figure 3 Bottom view of .

[0020] Figure 7 This is a state diagram of pressing the epiglottis according to the present invention.

[0021] Figure 8 It is a state diagram of the cannula in the present invention.

[0022] Fig. 9 This is a state diagram of evacuation in the present invention. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Reference Figure 1-6 A fully automatic double-flexible arm intubation system comprises a medical bed and a supporting calibration pillow arranged on the medical bed, the supporting calibration pillow is arranged in cooperation with a controller, and a double-flexible arm intubation robot is arranged outside the medical bed in cooperation with the human head on the supporting calibration pillow, and the double-flexible arm intubation robot is arranged in cooperation with the controller.

[0025] The double-flexible-arm intubation robot comprises a six-degree-of-freedom robotic arm arranged in cooperation with the controller, one end of the six-degree-of-freedom robotic arm is fixedly connected to a fully-automatic double-flexible-arm tongue depressor mechanism via a fixed flange 2; a fixed bracket 21 is provided on the fixed flange 2, and an intubation mechanism is provided on the fixed bracket 21 in cooperation with the fully-automatic double-flexible-arm tongue depressor mechanism; an external environment camera 10 is also provided on the fixed bracket 21, and both the external environment camera 10 and the intubation mechanism are arranged in cooperation with the controller.

[0026] In the present invention, the support calibration pillow comprises a headrest, and a nine-axis attitude sensor is arranged inside the headrest.

[0027] The present invention establishes spatial coordinates and presets a mark position on the spatial coordinates, and a controller controls a six-degree-of-freedom robotic arm to move to the mark position; because the patient's lying posture on the medical bed may be slightly different, and the fully automatic intubation robot needs to enter the human oral cavity, the present invention obtains human posture information through a nine-axis sensor in a support calibration pillow and feeds it back to the controller, and the controller controls the six-degree-of-freedom robotic arm to adjust the posture according to the human posture information, so that the fully automatic dual-flexible arm intubation robot can enter the human mouth at a later stage; a human facial image is obtained through a binocular recognition camera and fed back to the controller, and the controller controls the six-degree-of-freedom robotic arm to move according to the human facial image, so that the tongue depressor body is above the human mouth.

[0028] The intubation mechanism includes a connecting rod sub-mechanism with one end fixedly connected to the fixed bracket 21, and a tube inlet mechanism is provided at the other end of the connecting rod sub-mechanism. The tube inlet mechanism is cooperated with an elastic ventilation tube, and the elastic ventilation tube 6 is cooperated with the double-flexible arm tongue depressor mechanism.

[0029] In the present invention, a six-degree-of-freedom mechanical arm is provided to drive the fully automatic double-flexible-arm tongue depressor mechanism and the intubation mechanism to move as a whole; the tube inlet mechanism is used to install and convey the elastic ventilation tube 6, and the connecting rod mechanism is used to adjust the relative position of the elastic ventilation tube 6 and the double-flexible-arm tongue depressor mechanism; the double-flexible-arm tongue depressor mechanism cooperates with the elastic ventilation tube 6, and the double-flexible-arm tongue depressor mechanism can be controlled and adjusted by a controller to press the epiglottis, thereby facilitating the insertion of the elastic ventilation tube 6 into the pharyngeal tract of the human body, such as Figure 7As shown. The double-flexible-arm tongue depressor mechanism, the tube inlet mechanism, and the connecting rod mechanism are all electrically connected to the controller to realize the automatic intubation function of the robot. Those skilled in the art should know that how the controller controls the double-flexible-arm tongue depressor mechanism, the tube inlet mechanism, and the connecting rod mechanism is common knowledge in the field, and those skilled in the art can set it according to actual conditions. It should also be noted that the elastic ventilation tube is a bent structure in the initial state.

[0030] The double-flexible-arm tongue depressor mechanism comprises a tongue depressor body 34 detachably connected to a fixed flange 2, the lower part of the tongue depressor body 34 is cooperated with an elastic ventilation tube 6, a front through hole and a rear through hole are arranged inside the tongue depressor body 34, a front binocular support flexible arm is fixedly connected to the front through hole on the fixed flange 2, and a rear support flexible arm 32 is fixedly connected to the rear through hole on the fixed flange 2; a transparent lens 35 is arranged at one end of the front through hole to cooperate with the front binocular support flexible arm; corresponding flexible arm drive groups are arranged on the fixed flange 2 to cooperate with the front binocular support flexible arm and the rear support flexible arm 32, respectively.

[0031] The tongue depressor body 34 includes an end portion 341, a bending deformation portion 342 and a support portion 343 which are connected in sequence. The front through hole and the rear through hole both penetrate the support portion 343 and the bending deformation portion 342. The bending deformation portion 342 is provided with a semi-enclosed tool guide groove 3421, and one end of the elastic ventilation tube 6 is cooperatively arranged in the semi-enclosed tool guide groove 3421.

[0032] The front binocular supporting flexible arm comprises a front supporting flexible arm 31, one end of the front supporting flexible arm 31 is fixedly connected to a binocular camera, and a transparent lens 35 arranged at the end of the front through hole is arranged in cooperation with the binocular camera.

[0033] A transparent lens, a binocular camera, and a front supporting flexible arm are arranged in sequence from left to right in the front through hole; the front supporting flexible arm 31 and the rear supporting flexible arm 32 are symmetrically arranged; the front supporting flexible arm and the rear supporting flexible arm are used to adjust the degree of freedom of the tongue depressor body 34 along the vertical direction of the tongue depressor body 34; it should be noted that the front supporting flexible arm and the rear supporting flexible arm are of equal length to prevent the front supporting flexible arm 31 and the rear supporting flexible arm 32 from having different movement strokes under the same driving action; the binocular camera cooperates with the transparent lens 35 to obtain the environmental image inside the human oral cavity in real time, so that the controller can control the movement path of the double-support flexible arm tongue depressor mechanism, and at the same time can control the movement of the connecting rod mechanism to achieve the purpose of fitting the elastic ventilation tube with the semi-wrapped tool guide groove; it should be noted that the right surface of the transparent lens 35 cooperates with the binocular camera, and the left surface of the transparent lens 35 is connected to the outside to obtain the image inside the oral cavity.

[0034] In the present invention, since the end portion 341 is to realize the pressing function, the end portion 341 is a hard long plate, and the end portion 341 is inclined to the bending deformation portion 342, and the inclination angle is an obtuse angle, which is more compatible with the inside of the human oral cavity; the bending deformation portion 342 is made of flexible material to realize the up and down adjustment function of the front supporting flexible arm 31 and the rear supporting flexible arm 32 on the bending deformation portion 342, and the bending deformation portion 342 is a U-shaped structure with an opening downward, and the opening position of the bending deformation portion is a semi-enclosed tool guide groove 3421, and one end of the elastic ventilation tube 6 is cooperatively arranged in the semi-enclosed tool guide groove 3421 The semi-wrapped tool guide groove 3421 facilitates the front and rear elastic ventilation tube 6 to enter the human mouth during the deformation process, and the elastic ventilation tube 6 can be left in the human mouth at the end, and the entire device can be evacuated; a number of V-shaped grooves are arranged at both ends of the bending deformation part 342 to facilitate the bending deformation part 342 to bend with the front supporting flexible arm 31 and the rear supporting flexible arm 32; the supporting part 343 is also a hard long plate, which is convenient for the installation of the front binocular supporting flexible arm and the rear supporting flexible arm 32; the double flexible arm design formed by the front supporting flexible arm 31 and the rear supporting flexible arm 32 improves the force transmission performance of the overall structure.

[0035] Furthermore, a six-dimensional force sensor is fixedly connected between the fixed flange and the six-degree-of-freedom mechanical arm, and the six-dimensional force sensor is arranged in cooperation with the controller; since the front supporting flexible arm and the rear supporting flexible arm are arranged horizontally front to back, when the wire rope is tightened, the tongue depressor body only has the degree of freedom of plane bending, and when the end 341 touches the human oral cavity, the contact force can be transmitted along the front supporting flexible arm and the rear supporting flexible arm to the fixed flange, and the six-dimensional force sensor obtains the force and torque components in more than two directions and feeds back to the controller, thereby realizing real-time detection of the interaction force between the tongue depressor body and the human body; the controller controls the corresponding flexible arm drive group to adjust the movement path of the double flexible arms.

[0036] In the present invention, V-shaped brackets are fixedly connected to the front and rear sides of the lower surface of the fixed flange 2 respectively; both ends of any V-shaped bracket are fixedly connected to the lower surface of the fixed flange 2, and the tip of one of the V-shaped brackets is provided with a mounting hole for mounting the front binocular support flexible arm, and the right end of the front binocular support flexible arm is fixedly set in the mounting hole; the tip of the other V-shaped bracket is provided with a mounting hole for mounting the rear support flexible arm, and the right end of the rear support flexible arm is fixedly set in the mounting hole.

[0037] Furthermore, a slot is provided at the corresponding position of the support portion 343 and the V-shaped bracket, and a buckle is provided on the V-shaped bracket. The buckle and the slot are common knowledge in the art, and those skilled in the art can set them according to actual conditions. By setting the buckle and the slot, the tongue depressor body 34 can be fixed on the support arm to prevent the tongue depressor body 34 from falling off in the oral cavity. At the same time, the buckle and the slot facilitate the removal of the tongue depressor body 34 and facilitate replacement. The elastic vent 6 has a certain bending elasticity. When it is in Figure 2 When in the position, it can be attached to the semi-wrapped tool guide groove 3421 of the tongue depressor body 34 by relying on the rebound elastic force.

[0038] In the present invention, the front supporting flexible arm and the rear supporting flexible arm are formed by connecting a plurality of snake bone units front to back. The front snake bone unit can rotate a certain angle relative to the rear snake bone unit. An upper steel wire mounting groove and a lower steel wire mounting groove are provided at the upper and lower ends of the inner wall of any snake bone unit. One end of the steel wire passes through all the upper steel wire mounting grooves and is fixedly connected to the upper steel wire mounting groove at the end, and the other end of the steel wire passes through all the lower steel wire mounting grooves and is fixedly connected to the lower steel wire mounting groove at the end. This is common knowledge in the art, and technicians in this field can set it according to actual conditions.

[0039] In the present invention, the front side and the rear side of the fixed flange extend toward the upper right to obtain a mounting portion, and a mounting portion is arranged in cooperation with a flexible arm driving group; any of the flexible arm driving groups includes a wire transmission wheel a, and the wire transmission wheel shaft is connected to a transmission turbine c-4, the wire transmission wheel a and the transmission turbine c-4 are rotatably connected to the corresponding mounting portion, and the transmission turbine c-4 is provided with a transmission vortex layer c-3, and the power transmission vortex c-3 is fixedly connected to the servo motor c-1 through a reducer c-2, and the servo motor c-1 is arranged in cooperation with a controller; the controller controls the servo motor to rotate, thereby driving the transmission vortex to rotate, and the transmission turbine matched with the transmission vortex rotates, so that the wire transmission wheel rotates synchronously, then one end of the wire is in a tightened state, and the other end is in an extended state, then the corresponding supporting flexible arm will bend to the upper left or lower right.

[0040] Furthermore, the steel wire transmission wheel is connected to the b-axis of the magnetic encoder, and the actual movement length of the steel wire rope can be obtained, so that the corresponding curve between the actual movement length of the steel wire and the movement stroke of the tongue depressor can be obtained, so that real-time position control can be achieved to ensure the movement accuracy of the tongue depressor. For example, the corresponding steel wire transmission wheel is rotated by a certain angle through the rotation of the two servo motors, and the actual movement length of the corresponding steel wire is obtained through the corresponding magnetic encoder, such as the steel wire rope at the upper part of the two flexible arms is extended by 1 cm, and the steel wire rope at the lower part is contracted by 1 cm; and the tongue depressor moves downward by 0.8 cm.

[0041] Furthermore, a transition wheel group is provided on any mounting part to cooperate with the corresponding flexible arm driving group, and any transition wheel group includes two transition wheels f, and the distance between the two transition wheels is smaller than the diameter of the wire transmission wheel. The axis of the transition wheel is fixedly provided on the mounting part, and the transition wheel can rotate relative to the corresponding mounting part. A transition wheel is provided in cooperation with the steel wire on the wire transmission wheel to play the role of tensioning and transition, and at the same time prevent the steel wire from escaping from the wire transmission wheel. A steel wire sleeve e is provided on the outer surface of the steel wire rope between the front supporting flexible arm and the corresponding transition wheel, and between the rear supporting flexible arm and the corresponding transition wheel. Since the steel wire is hard, the steel wire sleeve is provided so that the steel wire under the action of the wire transmission wheel can be normally transmitted in a bent state.

[0042] The connecting rod sub-mechanism includes a front transmission connecting rod and a rear transmission connecting rod, one end of the front transmission connecting rod and the rear transmission connecting rod are respectively fixedly connected to the fixed bracket 21, and a transmission connecting rod driving assembly is provided on the fixed bracket 21 to cooperate with the front transmission connecting rod and the rear transmission connecting rod; the other ends of the front transmission connecting rod and the rear transmission connecting rod are fixedly connected to the mounting plate 9, and the mounting plate 9 is arranged in cooperation with the pipe feeding mechanism.

[0043] In the present invention, the front transmission connecting rod and the rear transmission connecting rod drive the tube feeding mechanism to move through the mounting plate 9; the tube feeding mechanism is used to install and transport the elastic ventilation tube 6 into the human oral cavity.

[0044] The front transmission link and the rear transmission link both include two symmetrically arranged link groups, any link group includes a fixed rod 41, one of which is fixedly connected to the fixed bracket 21, and the two ends of any fixed rod 41 are respectively hinged to a first movable long rod 42 and a first movable short rod 43, the first movable long rod 42 and the first movable short rod 43 are parallel to each other, one end of the first movable short rod 43 is hinged to a second movable long rod 44 parallel to the fixed rod 41, and the second movable long rod 44 is hinged to the first movable long rod 42; one end of the two second movable long rods 44 are hinged; one end of one of the first movable long rods 42 is hinged to a second movable short rod 45 parallel to the second movable long rod 44, and the other end of the second movable short rod 45 is hinged to the corresponding second movable long rod 44; one end of the other first movable long rod 42 is hinged to a third movable short rod 46 parallel to the corresponding second movable long rod 44, and the other end of the third movable short rod 46 is hinged to the second movable short rod 45.

[0045] In the present invention, the fixed bracket 21 is a right-angled triangle structure, the short side of the fixed bracket 21 is fixedly connected to the fixed flange 2, and the fixed rod 41 is fixedly arranged on the long side of the fixed bracket 21. Since the first movable long rod 42 and the first movable short rod 43 hinged at both ends of the fixed rod 41 are parallel to each other, and the second movable long rod 44 is parallel to the fixed rod 41, the fixed rod 41, the first movable long rod 42, the second movable long rod 44 and the first movable short rod 43 cooperate to form a parallelogram structure; the second movable short rod 45 and the third movable short rod 46 are hinged to form a "human" shape structure; two fixed rods 41 that are not fixedly connected to the fixed bracket 21 are extended and fixedly arranged on the front and rear sides of the top of the mounting plate 9.

[0046] The transmission connecting rod driving assembly includes a connecting rod driving motor 47 fixedly set on the fixed bracket 21, and the end of the rotating shaft of the connecting rod driving motor 47 is fixedly connected with a first bevel gear 48, and the front and rear sides of the first bevel gear 48 are respectively meshed with second bevel gears 49, and the two second bevel gears 49 are respectively fixedly connected to the corresponding first movable long rod 42.

[0047] In the present invention, the connecting rod drive motor 47 is arranged in conjunction with the controller. The connecting rod drive motor 47 is used to drive the first bevel gear 48. The rotating shaft of the connecting rod drive motor 47 is arranged downward and meshes with the two second bevel gears 49 to drive the second bevel gear 49 to rotate. The second bevel gear 49 arranged in conjunction with the front side of the first bevel gear 48 is fixedly connected to the first movable long rod 42 located at the upper part of the front transmission connecting rod. The second bevel gear 49 arranged in conjunction with the rear side of the first bevel gear 48 is fixedly connected to the first movable long rod 42 located at the upper part of the rear transmission connecting rod; the rotation of the second bevel gear 49 drives the corresponding first movable connecting rod to rotate, so that the corresponding movable rod rotates, thereby adjusting the angle of the elastic ventilation tube 6, so that it can always be attached to the semi-wrapped tool guide groove 3421 of the tongue depressor body 34 during operation.

[0048] The pipe feeding mechanism includes a pipe feeding stepper motor 51 which is arranged in cooperation with the controller. The pipe feeding stepper motor 51 is fixedly arranged on the mounting plate 9 between the front transmission connecting rod and the rear transmission connecting rod. The rotating shaft of the pipe feeding stepper motor 51 passes through the mounting plate 9. The end of the rotating shaft of the pipe feeding stepper motor 51 is fixedly connected with a pipe feeding driving wheel 52. A pipe feeding driving wheel assembly is provided on the feeding mounting plate 9 to cooperate with the pipe feeding driving wheel 52.

[0049] The pipe inlet driven wheel assembly includes a pipe inlet driven wheel 56 that is arranged in cooperation with the pipe inlet driving wheel 52. The rotating shaft of the pipe inlet driven wheel 56 is fixedly connected to the mounting buckle 54. One end of the mounting buckle 54 is hinged to the mounting plate 9. A movable limiting groove is provided on the mounting plate to cooperate with the rotating shaft of the pipe inlet driven wheel. An electromagnetic switch 55 is provided on the mounting plate 9 to cooperate with the mounting buckle 54 at the other end; a reset spring 53 is provided between the mounting plate 9 and the mounting buckle 54.

[0050] In the present invention, it should be noted that the front end of the rotating shaft of the pipe inlet driven wheel 56 is connected to the mounting clip 54, and since the mounting clip is hinged to the mounting plate 9, the mounting clip can move relative to the mounting plate, thereby driving the pipe inlet driven wheel to move, and the movable limit groove cooperates with the moving stroke of the pipe inlet driven wheel to facilitate the movement of the pipe inlet driven wheel.

[0051] In the present invention, the inlet pipe stepper motor 51 is fixedly arranged on the top of the mounting plate 9, the rotating shaft of the inlet pipe stepper motor 51 is perpendicular to the mounting plate 9 and penetrates the mounting plate 9, the rotating shaft end 341 of the inlet pipe stepper motor 51 is fixedly connected to the driving wheel, and the inlet pipe stepper motor 51 is arranged in cooperation with the controller to drive the driving wheel to rotate. In the initial state, the mounting buckle 54 is in an open state, and the elastic vent pipe 6 can be directly installed on the inlet pipe driving wheel. The controller controls the electromagnetic switch to open, and the mounting buckle 54 is inserted into the electromagnetic switch 55 so that the inlet pipe driven wheel moves relative to the mounting plate to the left side of the elastic vent pipe, and the elastic vent pipe is arranged between the inlet pipe driving wheel and the inlet pipe driven wheel, completing the installation process of the elastic vent pipe. During the working process, the feeding wheel stepper motor can drive the feeding driving wheel to complete the process of the elastic vent pipe being transported to the airway inside the human oral cavity.

[0052] Working process:

[0053] Movement of the tongue depressor body: The patient wears an open mouth device to ensure that the patient's mouth is in an open state, and the mouth opening space is larger than the device size. The binocular camera is used to detect the mouth opening position. Since the binocular camera is connected to the controller, the controller can obtain the feedback information of the internal oral environment of the binocular camera, and then control the six-degree-of-freedom mechanical arm to extend the tongue depressor body into the human oral cavity; the binocular camera detects the internal oral environment and feeds back to the controller, and the controller controls the servo motor to rotate so that the end of the tongue depressor body is extended into the mark point in the human body. The connecting rod sub-mechanism always moves in coordination with the position of the tongue depressor during the movement of the tongue depressor to ensure that the trachea can always fit the tongue depressor. In the present invention, the mark point in the human body is the throat or other pre-set position, and technical personnel in this field can set it according to actual conditions.

[0054] Intubation: Figure 8 As shown, after reaching the mark point, the fully automatic double-flexible arm tongue depressor mechanism stops moving, and the controller controls the tube inlet stepper motor 51 to rotate, so that the elastic ventilation tube 6 moves toward the tongue depressor body 34, and the lower end of the elastic ventilation tube 6 can be cooperated and set in the semi-enclosed tool guide groove 3421 of the tongue depressor body 34; during the driving process of the tube inlet stepper motor 51, the controller also needs to adjust the connecting rod driving stepper motor to make the transmission connecting rod move and ensure that the elastic ventilation tube 6 can always be attached to the semi-enclosed tool guide groove 3421 of the tongue depressor body 34 during this process.

[0055] Evacuation: If Fig. 9 As shown, after the binocular camera determines that the elastic ventilation tube has reached the designated intubation position, the electromagnetic switch 55 loses power, the mounting buckle 54 is released, the elastic ventilation tube 6 is separated from the tube entry mechanism, and then the six-degree-of-freedom mechanical arm and the fully automatic binocular flexible arm tongue depressor cooperate to return to the original path and exit the human oral cavity to complete the intubation process. The designated intubation position is generally the airway, or other predetermined positions, and those skilled in the art can set it according to actual conditions.

[0056] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0057] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A fully automatic dual-flexible arm intubation system, characterized in that: It comprises a medical bed and a support calibration pillow arranged on the medical bed, the support calibration pillow is arranged in cooperation with a controller, a double-flexible-arm intubation robot is arranged outside the medical bed in cooperation with the human head on the support calibration pillow, and the double-flexible-arm intubation robot is arranged in cooperation with the controller; The dual-flexible arm intubation robot comprises a six-degree-of-freedom mechanical arm arranged in cooperation with the controller, one end of the six-degree-of-freedom mechanical arm is fixedly connected to a dual-flexible arm tongue depressor mechanism via a fixed flange (2); a fixed bracket (21) is provided on the fixed flange (2), an intubation mechanism is arranged on the fixed bracket (21) in cooperation with the dual-flexible arm tongue depressor mechanism, and an external environment camera (10) is also installed on the fixed bracket (21); the external environment camera (10), the intubation mechanism and the dual-flexible arm tongue depressor mechanism are all arranged in cooperation with the controller; the intubation mechanism comprises a connecting rod sub-mechanism fixedly connected to the fixed bracket at one end, a pipe inlet mechanism is arranged at the other end of the connecting rod sub-mechanism, the pipe inlet mechanism is arranged in cooperation with an elastic ventilation pipe (6), and the elastic ventilation pipe (6) is arranged in cooperation with the dual-flexible arm tongue depressor mechanism; The double-flexible-arm tongue depressor mechanism comprises a tongue depressor body (34) detachably connected to a fixed flange (2); the lower portion of the tongue depressor body (34) is arranged in cooperation with an elastic ventilation tube (6); a front through hole and a rear through hole are arranged inside the tongue depressor body (34); a front binocular support flexible arm is fixedly connected to the front through hole on the fixed flange (2); and a rear support flexible arm (32) is fixedly connected to the rear through hole on the fixed flange (2); a transparent lens (35) is arranged at one end of the front through hole in cooperation with the front binocular support flexible arm; the fixed flange ( 2) corresponding flexible arm drive groups are provided on the front binocular support flexible arm and the rear support flexible arm (32) respectively; the connecting rod sub-mechanism comprises a front transmission connecting rod and a rear transmission connecting rod, one end of the front transmission connecting rod and the rear transmission connecting rod are respectively fixedly connected to the front and rear sides of the fixed bracket (21), and a transmission connecting rod drive assembly is provided on the fixed bracket (21) to cooperate with the front transmission connecting rod and the rear transmission connecting rod; the other ends of the front transmission connecting rod and the rear transmission connecting rod are fixedly connected to a mounting plate (9), and the mounting plate (9) is arranged in cooperation with the tube feeding sub-mechanism.

2. A fully automatic dual-flexible arm intubation system as claimed in claim 1, characterized in that: The front transmission link and the rear transmission link both comprise two symmetrically arranged link groups, each link group comprising a fixed rod (41), the two ends of the fixed rod (41) being respectively hinged to a first movable long rod (42) and a first movable short rod (43), the first movable long rod (42) and the first movable short rod (43) being parallel to each other, one end of the first movable short rod (43) being hinged to a second movable long rod (44) parallel to the fixed rod (41), the second movable long rod (44) being hinged to the first movable long rod (42); the two One end of the second movable long rod (44) is hinged; one end of one of the first movable long rods (42) is hinged with a second movable short rod (45) which is parallel to the corresponding second movable long rod (44), and the other end of the second movable short rod (45) is hinged with the corresponding second movable long rod (44); another first movable long rod (42) is hinged with a third movable short rod (46) which is parallel to the corresponding second movable long rod (44), and the other end of the third movable short rod (46) is hinged with the second movable short rod (45).

3. A fully automatic dual-flexible arm intubation system as claimed in claim 2, characterized in that: The transmission connecting rod driving assembly comprises a connecting rod driving motor (47) fixedly mounted on a fixed bracket (21), the connecting rod driving motor (47) being arranged in cooperation with a controller, the end of a rotating shaft of the connecting rod driving motor (47) being fixedly connected to a first bevel gear (48), the front and rear sides of the first bevel gear (48) being respectively meshed with second bevel gears (49), and the two second bevel gears (49) being respectively fixedly connected to corresponding first movable long rods (42).

4. The fully automatic dual-flexible arm intubation system according to claim 1, further characterized in that: The pipe feeding mechanism comprises a pipe feeding stepping motor (51) arranged in cooperation with the controller. The pipe feeding stepping motor (51) is fixedly arranged on a mounting plate (9) between a front transmission connecting rod and a rear transmission connecting rod. The rotating shaft of the pipe feeding stepping motor (51) passes through the mounting plate (9). The end of the rotating shaft of the pipe feeding stepping motor (51) is fixedly connected to a pipe feeding driving wheel (52). The feeding mounting plate (9) is provided with a pipe feeding driven wheel assembly in cooperation with the pipe feeding driving wheel (52).

5. A fully automatic dual-flexible arm intubation system as claimed in claim 4, characterized in that: The pipe inlet driven wheel assembly comprises a pipe inlet driven wheel (56) arranged in cooperation with the pipe inlet driving wheel (52); the rotating shaft of the pipe inlet driven wheel (56) is fixedly connected to the mounting buckle (54); one end of the mounting buckle (54) is hinged to the mounting plate (9); a movable limiting groove is provided on the mounting plate to cooperate with the rotating shaft of the pipe inlet driven wheel; an electromagnetic switch (55) is provided on the mounting plate (9) to cooperate with the mounting buckle (54); and a return spring (53) is provided between the mounting plate (9) and the mounting buckle (54).

6. A fully automatic dual-flexible arm intubation system as claimed in claim 1, characterized in that: The support calibration pillow comprises a headrest, and a nine-axis sensor is arranged inside the headrest.

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