Tracheal intubation robot

Abstract

The present application relates to the technical field of medical devices, and discloses a tracheal intubation robot. The robot comprises a first driving unit, a second driving unit, an auxiliary assembly and a mounting assembly. The first driving unit is used to drive the second unit to move in a first direction; the second driving unit comprises a second output, a rotating assembly and a mirror holder, the second output is capable of moving in a second direction relative to the first output, the rotating assembly is connected to the second output, and the mirror holder is connected to the rotating assembly; the mounting assembly comprises a mounting frame connecting rod and a mounting frame, one end of the mounting frame connecting rod is connected to the second driving unit, and the other end is connected to the mounting frame; the auxiliary assembly comprises a roller connecting rod and a roller frame, one end of the roller connecting rod is connected to the first driving unit, and the other end is connected to the roller frame, and the roller frame is provided with first rollers and second rollers which are parallel to each other. The present application realizes tracheal intubation without contacting the patient, reduces the risk of cross infection, ensures the safety of medical staff, and guarantees the treatment effect and intubation effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a tracheal intubation robot. BACKGROUND

[0002] Tracheal intubation is an important medical technology in the process of treating patients, and tracheal intubation refers to a treatment operation of artificially inserting a catheter through the oral cavity or nasal cavity to replace the patient's breathing. At present, there is no special intubation equipment, and doctors need to manually complete the insertion of the trachea under the assistance of a bronchoscope. The intubation is set on the distal end of the bronchoscope, and the doctor needs to hold the handle part of the bronchoscope with one hand to make the distal end of the bronchoscope advance or rotate, and at the same time, the other hand advances or rotates the intubation, so that the intubation inserts the bronchoscope along the catheter until the intubation reaches the desired position. In the process of intubation, the doctor needs to be in close contact with the patient, and during the opening of the patient's airway, it is easy to cause cross infection between the doctor and the patient, and if the doctor wears a three-level protective clothing to perform tracheal intubation, the best rescue time is easily missed.

[0003] Therefore, there is an urgent need for a tracheal intubation robot to solve the above-mentioned problems. SUMMARY

[0004] The purpose of the present application is to provide a tracheal intubation robot to realize tracheal intubation, without the need for medical personnel to contact the patient, to be able to rescue the patient in time, to reduce the risk of cross infection, to ensure the safety of medical personnel, and to ensure the treatment effect and intubation effect.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] A tracheal intubation robot, comprising:

[0007] A first drive unit comprising a first output member capable of moving in a first direction;

[0008] A second drive unit connected to the first output member, the second drive unit comprising a second output member, a rotating assembly and a mirror holder, the second output member being capable of moving in a second direction relative to the first output member, the second direction being parallel to the first direction, the rotating assembly being connected to the second output member, and the mirror holder being connected to the rotating assembly;

[0009] A mounting assembly comprising a mounting bracket connecting rod and a mounting bracket, the mounting bracket connecting rod extending in the second direction, and one end of the mounting bracket connecting rod being connected to one end of the second drive unit in the second direction, and the mounting bracket being connected perpendicularly to the other end of the mounting bracket connecting rod;

[0010] The auxiliary assembly comprises a roller connecting rod and a roller frame, the roller connecting rod extends along the first direction, one end of the roller connecting rod is connected to one end of the first driving unit along the first direction, and the other end of the roller connecting rod is connected to the roller frame, and the roller frame is located on the side of the mounting frame facing the patient, and the roller frame is provided with a first roller and a second roller with parallel rotation axes;

[0011] When the cannula is configured to be mounted on the mounting frame and the handle part of the bronchoscope is configured to be mounted on the mirror frame, the first roller and the second roller sandwich the cannula, the cannula is coaxially arranged with the handle part, and the rotating assembly can drive the mirror frame to rotate around the axis of the handle part.

[0012] As an optional technical solution of the tracheal intubation robot, the rotating assembly comprises a rotating frame, a rotating part and a connecting frame, the rotating frame is connected to the second output part, the rotating part is rotationally connected to the rotating frame, the rotating part and the mirror frame are respectively connected to the connecting frame, and when the handle part is configured to be mounted on the mirror frame, the rotation axis of the rotating part is collinear with the axis of the handle part.

[0013] As an optional technical solution of the tracheal intubation robot, the rotating assembly further comprises a driven gear, a brake and a connecting shaft, the rotating part is provided as a gear, the rotating part is engaged with the driven gear, the connecting shaft is rotationally connected to the rotating frame and coaxially connected to the driven gear, and the brake is arranged on the rotating frame and can brake the connecting shaft.

[0014] As an optional technical solution of the tracheal intubation robot, the auxiliary assembly further comprises an adapter, the first roller and the second roller are arranged on the adapter, and the adapter is detachably connected to the roller frame; and / or,

[0015] The auxiliary assembly further comprises a roller driving part, and the roller driving part can drive the first roller or the second roller to rotate.

[0016] As an optional technical solution of the tracheal intubation robot, the auxiliary assembly further comprises an adapter, the adapter is connected to the roller frame, one end of the first roller is rotationally connected to one end of the adapter along a third direction, the adapter is provided with an adjusting part, the second roller is rotationally connected to the adjusting part, the adjusting part can slide along the third direction to make the second roller close to or away from the first roller, and the third direction is perpendicular to the rotation axes of the first roller and the second roller.

[0017] As an optional technical scheme of the tracheal intubation robot, the application further comprises a poking assembly connected to the rotating assembly, wherein the poking assembly comprises a rotatingly arranged poking piece, and the rotating axis of the poking piece is perpendicular to the axis of the handle part.

[0018] As an optional technical scheme of the tracheal intubation robot, the poking piece is detachably connected to the rotating assembly.

[0019] As an optional technical scheme of the tracheal intubation robot, a containing groove is arranged on the poking piece, and the steering handle can be placed in the containing groove.

[0020] As an optional technical scheme of the tracheal intubation robot, the tracheal intubation robot further comprises a mechanical arm connected to the first driving unit.

[0021] As an optional technical scheme of the tracheal intubation robot, the tracheal intubation robot further comprises a moving vehicle connected to the mechanical arm, and the bottom of the moving vehicle is rollingly provided with moving wheels.

[0022] The application has the following beneficial effects:

[0023] The embodiment provides a tracheal intubation robot, which comprises a first driving unit, a second driving unit, a mounting assembly and an auxiliary assembly. The first driving unit can drive the second driving unit to move in a first direction, the second driving unit comprises a second output member capable of moving in a second direction relative to the first output member, a mirror frame and a rotating assembly are connected to the second output member, the mirror frame is used for mounting a bronchoscope, and the rotating assembly is used for rotating the bronchoscope around a handle axis. The mounting assembly is connected to the second driving unit and is used for mounting one end of a tracheal tube, and the auxiliary assembly is connected to the first driving unit and is used for clamping the other end of the tracheal tube. When tracheal intubation is performed, the first driving unit drives the bronchoscope and the tracheal tube to approach the patient at the same time, the second output member drives the bronchoscope to advance relative to the tracheal tube, the bronchoscope is inserted into the patient's oral cavity, and finally the first driving unit drives the tracheal tube and the bronchoscope to advance at the same time, so that tracheal intubation is realized, the practicability of the tracheal intubation mechanism is improved, the situation that a rescue opportunity is missed due to replacement of a protective garment is avoided, the contact opportunity between medical staff and the patient is reduced, the risk of cross infection is reduced, and the safety of the medical staff is ensured. Moreover, one end of the tracheal tube is mounted on the mounting assembly, and the other end of the tracheal tube is clamped on the auxiliary assembly, the auxiliary assembly can assist the tracheal tube to maintain a posture, the tracheal tube is prevented from bending downward due to gravity, and the position of the bronchoscope is prevented from being adjusted again by the medical staff. Moreover, when the front end of the bronchoscope is bent, the rotating assembly can also rotate the bronchoscope, so that the advancing direction of the bronchoscope is adjusted, the bronchoscope can be ensured to be inserted into a target position, and the tracheal tube can be ensured to be inserted into a suitable position along the bronchoscope. The embodiment also ensures the advancing directions of the tracheal tube and the bronchoscope. The tracheal tube effect and the treatment effect are ensured, secondary damage to the patient is avoided, the position of the tracheal tube is prevented from being adjusted again by the medical staff, and the infection risk is further reduced. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 FIG. 1 is a structural schematic diagram of a tracheal intubation mechanism provided by an embodiment of the present application;

[0025] Figure 2 FIG. 5 is a sectional view of a first driving unit provided by the embodiment one of the present application;

[0026] Figure 3 FIG. 6 is a structural schematic diagram of the first driving unit provided by the embodiment one of the present application;

[0027] Figure 4 FIG. 9 is a structural schematic diagram of an auxiliary assembly provided by the embodiment one of the present application;

[0028] Figure 5 FIG. 10 is a partial structural schematic diagram of the auxiliary assembly provided by the embodiment one of the present application;

[0029] Figure 6 FIG. 11 is a sectional view of a partial structure of the tracheal intubation mechanism provided by the embodiment one of the present application;

[0030] Figure 7 is Figure 6 is a partial enlarged view of A in FIG. 1;

[0031] Figure 8 is a sectional view of the frame provided by the embodiment one of the present application;

[0032] Figure 9 is an exploded view of the partial structure of the tracheal intubation mechanism provided by the embodiment one of the present application;

[0033] Figure 10 is a structural schematic view of the tracheal intubation robot provided by the embodiment one of the present application;

[0034] Figure 11 is a structural schematic view of the auxiliary assembly provided by the embodiment two of the present application;

[0035] Figure 12 is a partial structural schematic view of the auxiliary assembly provided by the embodiment two of the present application.

[0036] in the figure:

[0037] 100, bronchoscope; 101, handle part; 102, steering handle; 200, intubation tube; 201, tube joint; 202, tube body; 203, convex ring edge;

[0038] 10, mechanical arm; 20, moving vehicle; 30, moving wheel;

[0039] 1, first driving unit; 11, first output; 12, first frame body; 131, first screw rod; 132, first guide rail; 133, first motor; 134, first brake; 135, first brake shaft; 136, first coupling; 14, L plate; 15, mechanical arm connecting piece;

[0040] 2, second driving unit; 21, second output; 22, rotating assembly; 221, rotating frame; 222, rotating piece; 223, connecting frame; 224, driven gear; 225, brake; 226, rotating motor; 23, frame; 231, connecting seat; 2311, blind hole; 232, dismounting button; 233, through hole; 234, L frame; 24, second frame body; 251, second screw rod; 252, second guide rail; 253, second motor; 254, second brake;

[0041] 3, mounting assembly; 31, mounting frame connecting rod; 32, mounting frame; 321, insertion slot;

[0042] 4, auxiliary assembly; 41, roller connecting rod; 42, roller frame; 421, supporting rod; 43, first roller; 431, limiting disc; 44, second roller; 45, roller driving member; 451, first bevel gear; 452, second bevel gear; 46, adapter; 47, adjusting member; 471, adjusting groove; 48, steering joint; 49, limiting piece; 491, protruding part; 492, blocking piece; 410, spring;

[0043] 5, dial assembly; 51, dial member; 52, dial motor; 53, detachable cover; 54, lower shell; 55, driving bevel gear; 561, adapter; 57, driven bevel gear;

[0044] 6, ring groove. DETAILED DESCRIPTION

[0045] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] In the description of the present application, unless explicitly defined and limited otherwise, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] In the present application, unless explicitly defined and limited otherwise, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0048] The technical solutions of the present application will be further described below with reference to the drawings and through specific embodiments.

[0049] Embodiment one

[0050] This embodiment provides an endotracheal intubation robot. Specifically, the endotracheal intubation robot includes an endotracheal intubation mechanism. For example... Figures 1-10 As shown, the endotracheal intubation mechanism includes a first drive unit 1, a second drive unit 2, a mounting assembly 3, and an auxiliary assembly 4. The first drive unit 1 includes a first output component 11 movable along a first direction; the second drive unit 2 is connected to the first output component 11 and includes a second output component 21, a rotating assembly 22, and a lens frame 23. The second output component 21 is movable relative to the first output component 11 along a second direction, which is parallel to the first direction. The rotating assembly 22 is connected to the second output component 21, and the lens frame 23 is connected to the rotating assembly 22. The mounting assembly 3 includes a mounting bracket connecting rod 31 and a mounting bracket 32. The mounting bracket connecting rod 31 extends along the second direction, and one end of the mounting bracket connecting rod 31 is connected to one end of the second drive unit 2 along the second direction. The mounting bracket 32 ​​is perpendicularly connected to the other end of the mounting bracket connecting rod 31. The auxiliary assembly... Component 4 includes a roller connecting rod 41 and a roller frame 42. The roller connecting rod 41 extends along a first direction, with one end connected to one end of the first drive unit 1 along the first direction and the other end connected to the roller frame 42. The roller frame 42 is located on the side of the mounting frame 32 facing the patient. The roller frame 42 is provided with a first roller 43 and a second roller 44 whose rotation axes are parallel to each other. When the endotracheal tube 200 is configured to be mounted on the mounting frame 32 and the handle portion 101 of the bronchoscope 100 is configured to be mounted on the frame 23, the first roller 43 and the second roller 44 clamp the endotracheal tube 200. The endotracheal tube 200 and the handle portion 101 are coaxially arranged, and the rotating component 22 can drive the frame 23 to rotate around the axis of the handle portion 101. In the prior art, the bronchoscope 100 has functions such as imaging, sputum suction, and medication spraying.

[0051] The embodiment provides a tracheal intubation robot, which comprises a first driving unit 1, a second driving unit 2, a mounting assembly 3 and an auxiliary assembly 4. The first driving unit 1 can drive the second driving unit 2 to move in a first direction, the second driving unit 2 comprises a second output member 21 capable of moving in a second direction relative to a first output member 11, a mirror frame 23 for mounting a bronchoscope 100 and a rotating assembly 22 for rotating the bronchoscope 100 around an axis of a handle part 101 are connected to the second output member 21. The mounting assembly 3 is connected to the second driving unit 2 and used for mounting one end of an intubation tube 200, and the auxiliary assembly 4 is connected to the first driving unit 1 and used for clamping the other end of the intubation tube 200. When tracheal intubation is performed, the first driving unit 1 drives the bronchoscope 100 and the intubation tube 200 to approach the patient at the same time, the second output member 21 drives the bronchoscope 100 to advance relative to the intubation tube 200 and extend into the patient's oral cavity, and finally the first driving unit 1 drives the intubation tube 200 and the bronchoscope 100 to advance at the same time, so that tracheal intubation is realized, the practicability of the tracheal intubation mechanism is improved, the situation that the rescue opportunity is missed due to the replacement of protective clothing is avoided, the contact opportunity between medical staff and patients is reduced, the risk of cross infection is reduced, and the safety of the medical staff is ensured. Moreover, one end of the intubation tube 200 is mounted on the mounting assembly 3, and the other end of the intubation tube 200 is clamped on the auxiliary assembly 4. The auxiliary assembly can assist the intubation tube 200 to maintain the posture, prevent the intubation tube 200 from bending downward due to gravity, and avoid the medical staff to adjust the position of the bronchoscope 100 again. Moreover, when the front end of the bronchoscope 100 is bent, the rotating assembly 22 can also rotate the bronchoscope 100, so that the advancing direction of the bronchoscope 100 is adjusted, the bronchoscope 100 can extend into the target position, and the intubation tube 200 can be inserted into the appropriate position along the bronchoscope 100. The embodiment also ensures the advancing direction of the intubation tube 200 and the bronchoscope 100. The intubation effect and the treatment effect are ensured, the secondary injury to the patient is avoided, the medical staff adjusts the position of the intubation tube 200 again, and the infection risk is further reduced.

[0052] In the embodiment, the first direction is located in a first plane arranged vertically, and the first direction can be horizontally arranged or arranged obliquely to the horizontal direction. The second direction is parallel to the first direction, and the first direction and the second direction are both located in a second plane, and the first plane and the second plane are arranged vertically. When the handle part 101 of the bronchoscope 100 is configured to be mounted on the mirror frame 23, the axis of the handle part 101 is parallel to the second direction.

[0053] Specifically, the first driving unit 1 comprises a first driving assembly, the first output member 11 is connected with the first driving assembly, and the first driving assembly is used for driving the first output member 11 to move in the first direction. Specifically, the first driving assembly comprises a first screw rod 131, a first guide rail 132 and a first motor 133, the first screw rod 131 extends in the first direction, the first guide rail 132 is located at the bottom of the first screw rod 131 and is arranged in parallel with the first screw rod 131, a first nut is screwed on the first screw rod 131, and a first mounting hole is formed in the middle of the first output member 11, and the first nut is fixedly arranged in the first mounting hole. The first guide rail 132 is slidably provided with a first sliding block, and the bottom of the first output member 11 is connected with the first sliding block. The output shaft of the first motor 133 is coaxially connected with the first screw rod 131, and is used for driving the first screw rod 131 to rotate. When the first screw rod 131 rotates, the first output member 11 can move linearly in the first direction.

[0054] In other embodiments, the first driving assembly can also be arranged as a linear motor, the linear motor is connected with the first output member 11, and linear movement of the first output member 11 in the first direction is realized, which is not limited here.

[0055] As a preferred solution, the first driving unit 1 further comprises a first frame body 12. The first screw rod 131 and the first guide rail 132 of the first driving assembly are arranged inside the first frame body 12, the first motor 133 is fixed to one end of the first frame body 12 in the first direction, and one end of the first screw rod 131 penetrates through the corresponding side wall of the first frame body 12 and is connected with the first motor 133. The other end of the first screw rod 131 is rotatably connected with the side wall of the other end of the first frame body 12 in the first direction. The first frame body 12 improves the modular degree of the structure of the first driving unit 1, facilitates installation and carrying, and also improves the aesthetic degree. In the embodiment, the first frame body 12 is in the shape of a hollow rectangular shell. In the state of being arranged horizontally in the first direction, a waist-shaped through hole is formed in the top wall of the first frame body 12, the long axis of the waist-shaped through hole extends in the first direction, and the waist-shaped through hole is located directly above the first screw rod 131, so that the first output member 11 can extend out of the waist-shaped through hole and be connected with the second driving unit 2.

[0056] Further, the end face of the first frame body 12 away from the first motor 133 is fixedly provided with a first brake member 134, and the first brake member 134 is used for braking the first screw rod 131. When the first motor 133 is stopped, the first screw rod 131 can be further prevented from rotating, the driving stroke accuracy of the first driving unit 1 is ensured, the tracheal intubation robot is accurately inserted into the preset position, and the practicability of the tracheal intubation robot is improved.

[0057] In the embodiment, the first brake 134 is an electromagnetic brake. The first brake shaft 135 is coaxially arranged with the first lead screw 131, and the first end of the first brake shaft 135 away from the first motor 133 is connected with the first brake 134. The first brake shaft 135 is arranged through the corresponding side wall of the first frame body 12, and then passes through the first brake 134. The first brake 134 can brake the first brake shaft 135, so as to brake the first lead screw 131. Since the electromagnetic brake brakes by holding the first brake shaft 135, the first brake shaft 135 is arranged, so that the first brake 135 can avoid directly pressing the first lead screw 131. When the first brake shaft 135 is deformed, only the first brake shaft 135 needs to be replaced, and the first lead screw 131 does not need to be replaced, thereby reducing the maintenance cost.

[0058] Specifically, bearings are arranged between the first end of the first lead screw 131 away from the first brake 134 and the side wall of the first frame body 12 and between the first brake shaft 135 and the side wall of the first frame body 12, thereby reducing the friction between the first lead screw 131 and the first frame body 12, reducing energy loss, further ensuring the driving stroke accuracy of the first driving unit 1, facilitating accurate insertion of the tracheal tube 200 and the bronchoscope 100 into the preset position, ensuring the tracheal tube effect and the treatment effect, and improving the practicability of the tracheal tube robot.

[0059] In the embodiment, the first driving unit 1 further comprises an L-shaped plate 14, which comprises a horizontal plate and a vertical plate connected vertically, and the horizontal plate is connected vertically to the top of the vertical plate. The horizontal plate extends above the waist-shaped through hole and is connected with the first output 11, and the vertical plate is vertically arranged between the first driving unit 1 and the second driving unit 2 and is connected with the second driving unit 2, so as to drive the second driving unit 2 to move.

[0060] As a preferred solution, the auxiliary assembly 4 further comprises a roller driving member 45, which is capable of driving the first roller 43 or the second roller 44 to rotate. When the cannula 200 is clamped between the first roller 43 and the second roller 44, the roller driving member 45 is capable of assisting the delivery of the cannula 100, and reducing the frictional resistance that the cannula 200 receives, thereby ensuring that the cannula 200 can be inserted into the target position in the trachea, and ensuring the cannulation effect. In the embodiment, the roller driving member 45 is provided as a motor, which is capable of driving the first roller 43 to rotate. When the cannula 200 is clamped between the first roller 43 and the second roller 44, the rotation axes of the first roller 43 and the second roller 44 are both arranged perpendicularly to the axial direction of the cannula 200, and one of the first roller 43 and the second roller 44 is located above the cannula 200, and the other is located below the cannula 200, which further ensures the supporting effect on the cannula 200, prevents the cannula 200 from being bent downward due to gravity, and further ensures the accuracy of the advancing direction of the cannula 200, and ensures the cannulation effect. Specifically, the first roller 43 is located above the cannula 200, and the second roller 44 is located above the cannula 200.

[0061] Further, the output rotation shaft of the roller driving member 45 is perpendicular to the rotation axis of the first roller 43, the output rotation shaft of the roller driving member 45 is connected with a first bevel gear 451, the rotation axis of the first roller 43 is connected with a second bevel gear 452, and the first bevel gear 451 is engaged with the second bevel gear 452. Such a structure is beneficial to shorten the length of the auxiliary assembly 4 along the axial direction of the first roller 43, and is beneficial to the compactness of the structure of the auxiliary assembly 4, thereby being beneficial to the miniaturization of the tracheal cannula robot.

[0062] Specifically, the side wall of the first roller 43 and / or the second roller 44 is recessed with a ring groove 6 in the circumferential direction, and the cross section of the ring groove 6 is C-shaped, which is beneficial to limiting the cannula 200 between the first roller 43 and the second roller 44, and reducing the possibility of the cannula 200 from the auxiliary assembly 4, thereby ensuring the functionality of the auxiliary assembly 4, and ensuring the cannulation effect. In the embodiment, the side wall of the first roller 43 and the second roller 44 is both recessed with a ring groove 6 in the circumferential direction.

[0063] Specifically, the first roller 43 and the second roller 44 are arranged on the side of the roller frame 42 facing the cannula 200, and the roller driving member 45 is connected to the side of the roller frame 42 opposite to the cannula 200. The roller connecting rod 41 is connected to the steering joint 48 at the end thereof away from the first frame body 12, the steering joint 48 extends perpendicularly to the first direction and towards the mounting frame connecting rod 31, and the steering joint 48 is connected to the roller frame 42 at the end thereof away from the roller connecting rod 41. Further specifically, the bottom of the roller frame 42 is connected to the vertically arranged support rod 421, and the bottom of the support rod 421 is connected to the steering joint 48. When the cannula 200 is mounted on the mounting frame 32 and the handle portion 101 of the bronchoscope 100 is mounted on the scope frame 23, the above structure is arranged to ensure that the first roller 43 and the second roller 44 sandwich the cannula 200, and the cannula 200 is coaxially arranged with the handle portion 101.

[0064] As a preferred solution, the auxiliary assembly 4 further comprises an adapter 46 arranged on the side of the roller frame 42 facing the cannula 200, and the first roller 43 and the second roller 44 are arranged on the adapter 46. The adapter 46 is detachably connected to the roller frame 42, so that the first roller 43 and the second roller 44 can be detached from the tracheal intubation mechanism, facilitating the complete disinfection of the tracheal intubation mechanism, preventing incomplete disinfection due to excessive size of the structure, and thereby reducing the risk of cross infection.

[0065] Further, the first roller 43 is rotationally connected to one end of the adapter 46 along the third direction, the adapter 46 is provided with an adjusting member 47, and the second roller 44 is rotationally connected to the adjusting member 47. The adjusting member 47 is capable of sliding along the third direction to move the second roller 44 closer to or farther away from the first roller 43, and the third direction is perpendicular to the rotation axes of the first roller 43 and the second roller 44. The adjusting member 47 is arranged to adjust the distance between the first roller 43 and the second roller 44, thereby expanding the diameter range of the cannula 200 applicable to the auxiliary assembly 4, expanding the application range of the tracheal intubation robot, and improving the practicability.

[0066] Specifically, the adapter 46 is provided with an opening on the end face of the other end of the third direction, and the adjusting piece 47 is arranged in the opening and can slide in the opening and extend out or retract into the adapter 46. The adjusting piece 47 is provided with a plurality of adjusting grooves 471 extending along the extension axis perpendicular to the third direction and penetrating through the two side walls of the adjusting piece 47, and the adjusting grooves 471 are arranged in the third direction. The limiting piece 49 is rotationally arranged on the adapter 46, and the rotation axis of the limiting piece 49 is parallel to the third direction. The limiting piece 49 can be arranged in the adjusting groove 471 to limit the position of the adjusting piece 47, so as to manually adjust the distance between the first roller 43 and the second roller 44, so that the first roller 43 and the second roller 44 can clamp the cannula 200 of different sizes. Further specifically, the first roller 43 is arranged on the first end face of the adapter 46, the first end face is parallel to the third direction, the opening of the adapter 46 penetrates the first end face, the adjusting piece 47 is arranged in the opening, and the second end face of the second roller 44 arranged on the adjusting piece 47 is flush with the first end face, and the adjusting groove 471 of the adjusting piece 47 is arranged on the second end face. The first groove and the second groove are oppositely arranged on the two side walls of the opening perpendicular to the third direction. The limiting piece 49 is arranged perpendicular to the third direction, one end of the limiting piece 49 is rotationally connected to the groove side wall of the first groove, and the other end of the limiting piece 49 can be lapped at the second groove. When one of the adjusting grooves 471 simultaneously communicates with the first groove and the second groove to form a limiting groove, the limiting piece 49 can be rotated into the limiting groove to limit the position of the adjusting piece 47.

[0067] Further, the limiting piece 49 is rotationally arranged on the first end face of the adapter 46, the rotation axis of the limiting piece 49 is perpendicular to the first end face, and the limiting piece 49 can be rotated above the second groove and at least block part of the second groove to limit the limiting piece 49 from being separated from the second groove, so as to further ensure the function of the limiting piece 49 to limit the position of the adjusting piece 47, and realize that the first roller 43 and the second roller 44 can clamp the cannula 200.

[0068] Preferably, the limiting piece 49 is provided with a protruding portion 491 protruding therefrom, and when the protruding portion 491 is located inside the limiting groove, the protruding portion 491 can protrude from the limiting groove, so as to facilitate manual pinching and rotating the limiting piece 49.

[0069] Preferably, the axial heights of the first roller 43 and the second roller 44 are the same, the first roller 43 is provided with a limiting disc 431 on each of the two end faces, the limiting disc 431 is coaxially arranged with the first roller 43, the diameter of the limiting disc 431 is greater than the diameter of the first roller 43, and the edge of the second roller 44 can extend between the two limiting discs 431. The above structure further prevents the cannula 200 from being separated from the auxiliary assembly 4.

[0070] Specifically, the second driving unit 2 comprises a second driving assembly, and the second output member 21 is connected with the second driving assembly. The second driving assembly is configured to drive the second output member 21 to move in the second direction. Specifically, the second driving assembly comprises a second screw rod 251, a second guide rail 252 and a second motor 253. The second screw rod 251 extends in the second direction. The second guide rail 252 is arranged at the bottom of the second screw rod 251 and is parallel to the second screw rod 251. A second nut is screwed on the second screw rod 251. A second mounting hole is formed in the middle of the second output member 21, and the second nut is fixedly arranged in the second mounting hole. A second sliding block is slidably arranged on the second guide rail 252, and the bottom of the second output member 21 is connected with the second sliding block. The output shaft of the second motor 253 is coaxially connected with the second screw rod 251, and is configured to drive the second screw rod 251 to rotate. When the second screw rod 251 rotates, the second output member 21 can move linearly in the second direction.

[0071] In other embodiments, the second driving assembly can also be a linear motor. The linear motor is connected with the second output member 21 to realize linear movement of the second output member 21 in the second direction, which is not limited here.

[0072] As a preferred solution, the second driving unit 2 further comprises a second frame body 24. The second screw rod 251 and the second guide rail 252 of the second driving assembly are arranged inside the second frame body 24. The second motor 253 is fixed to one end of the second frame body 24 in the second direction. One end of the second screw rod 251 penetrates through the corresponding side wall of the second frame body 24 and is connected with the second motor 253. The other end of the second screw rod 251 is rotatably connected with the side wall of the other end of the second frame body 24 in the second direction. The second frame body 24 improves the modular degree of the structure of the second driving unit 2, facilitates installation and transportation, and also improves the aesthetic degree. In the present embodiment, the second frame body 24 is in the shape of a rectangular shell and is hollow inside. In the state of being arranged horizontally in the second direction, a waist-shaped through hole is formed in the top wall of the second frame body 24. The long axis of the waist-shaped through hole extends in the second direction. The waist-shaped through hole is located directly above the second screw rod 251, so that the second output member 21 can extend out of the waist-shaped through hole and be connected with the second driving unit 2.

[0073] Further, the end face of the second frame body 24 away from the second motor 253 is fixed with a second brake member 254. The second brake member 254 is configured to brake the second screw rod 251. When the second motor 253 is stopped, the second brake member 254 can further prevent the second screw rod 251 from rotating, thereby ensuring the accuracy of the driving stroke of the second driving unit 2, facilitating accurate insertion of the cannula 200 and the bronchoscope 100 into the preset position, and improving the practicability of the tracheal intubation robot.

[0074] In the embodiment, the second brake 254 is an electromagnetic brake. The second screw rod 251 is connected with a second brake shaft through a second coupling at the end away from the second motor 253. The second brake shaft is coaxially arranged with the second screw rod 251. The second brake shaft penetrates through the corresponding side wall of the second frame body 24. After penetrating through the side wall, the second brake shaft penetrates through the second brake 254. The second brake 254 can brake the second brake shaft, so as to brake the second screw rod 251. Since the electromagnetic brake brakes by holding the second brake shaft, the second brake shaft is arranged, so that the second brake directly presses the second screw rod 251 can be avoided. When the second brake shaft is deformed, only the second brake shaft needs to be replaced, and the second screw rod 251 does not need to be replaced, thereby reducing the maintenance cost.

[0075] Specifically, bearings are arranged between the end of the second screw rod 251 away from the second brake 254 and the side wall of the second frame body 24 and between the second brake shaft and the side wall of the second frame body 24. The friction between the second screw rod 251 and the second frame body 24 is reduced, the energy loss is reduced, the driving stroke accuracy of the second driving unit 2 is further ensured, the bronchoscope 100 is accurately inserted into the preset position, the treatment effect is ensured, and the practicability of the tracheal intubation robot is improved.

[0076] Specifically, the mounting frame connecting rod 31 of the mounting assembly 3 is connected to the second frame body 24, and the second brake 254 and the mounting frame connecting rod 31 are connected to the same side of the second frame body 24. In the embodiment, the roller connecting rod 41 and the mounting frame connecting rod 31 are located on the same side of the tracheal intubation mechanism, and are arranged on the side of the tracheal intubation mechanism facing the patient.

[0077] As a preferred solution, the mounting frame 32 is provided with a slot 321. When the cannula 200 is arranged on the mounting frame 32, the protruding ring edge 203 on the cannula 200 is arranged in the slot 321. During the intubation process, when the first driving unit 1 drives the second driving unit 2 to move as a whole, the slot 321 is arranged, so that the protruding ring edge 203 is clamped with the mounting frame 32. The mounting frame 32 is beneficial to drive the cannula 200 to move synchronously, the accuracy of the movement stroke of the first driving unit 1 is ensured, the cannula 200 is accurately inserted into the preset position, and the practicability of the tracheal intubation robot is improved.

[0078] Generally, the cannula 200 further includes a pipe joint 201 and a pipe body 202, and the pipe joint 201 and the pipe body 202 are respectively connected to the two ends of the protruding ring edge 203 in the axial direction. Preferably, the mounting frames 32 located on both sides of the slot 321 are respectively provided with a placing arc groove for placing the pipe joint 201 and the pipe body 202, respectively. The cannula 200 can be prevented from moving relative to the mounting frame 32 in the radial direction, the cannula 200 is accurately inserted into the preset position, and the practicability of the tracheal intubation robot is improved.

[0079] Further, the rotating assembly 22 of the second driving unit 2 comprises a rotating frame 221, a rotating member 222 and a connecting frame 223, the rotating frame 221 is connected to the second output member 21, the rotating member 222 is rotatably connected to the rotating frame 221, the rotating member 222 and the mirror frame 23 are respectively connected to the connecting frame 223, when the handle portion 101 is configured to be mounted on the mirror frame 23, the rotating axis of the rotating member 222 is collinear with the axis of the handle portion 101 itself. The above structure sets, improves the modular degree of the structure of the second driving unit 2, and is convenient for carrying and installation. Specifically, the rotating frame 221 is arranged above the waist-shaped through hole of the second frame body 24, and the bottom of the rotating frame 221 is connected to the second output member 21.

[0080] Specifically, the connecting frame 223 comprises a first plate portion and a second plate portion, the first plate portion is connected to the rotating member 222, and the second plate portion extends along the axial direction of the handle portion 101 when the handle portion 101 of the bronchoscope 100 is configured to be mounted on the mirror frame 23. One end of the second plate portion is connected to the first plate portion perpendicularly, and the other end is connected to the mirror frame 23. The second plate portion is respectively located on the two sides of the first plate portion.

[0081] In the embodiment, the rotating assembly 22 further comprises a rotating motor 226, the rotating member 222 is arranged as a gear, the rotating motor 226 is fixedly connected to the rotating frame 221, and the output shaft of the rotating motor 226 is coaxially connected to the rotating member 222 and can drive the rotating member 222 to rotate.

[0082] Preferably, the rotating assembly 22 further comprises a driven gear 224, a brake 225 and a connecting shaft, the rotating member 222 is engaged with the driven gear 224, the connecting shaft is rotatably connected to the rotating frame 221 and coaxially connected to the driven gear 224, and the brake 225 is arranged on the rotating frame 221. The brake 225 can brake the connecting shaft. When the rotating motor 226 is stopped, the brake 225 can further prevent the rotating member 222 from rotating, thereby ensuring the accuracy of the driving bronchoscope 100 to rotate by the rotating assembly 22, facilitating the bronchoscope 100 to be accurately inserted into the target bronchus, and ensuring the treatment effect and intubation effect. At the same time, the driven gear 224 can also shorten the length of the rotating assembly 22 along the axial direction of the rotating member 222, thereby improving the compactness of the structure and facilitating the reduction of the occupied space. In the embodiment, the brake 225 adopts an electromagnetic brake and is fixed on the rotating frame 221.

[0083] As a preferred solution, the mirror frame 23 is detachably connected to the rotating assembly 22, so that the mirror frame 23 can be detached from the tracheal intubation mechanism, thereby facilitating the full sterilization of the tracheal intubation mechanism, preventing incomplete sterilization caused by excessive structure size, and thereby reducing the risk of cross infection.

[0084] Specifically, the connecting frame 223 is provided with a connecting seat 231, and the dismounting button 232 is elastically connected to the connecting seat 231. The frame 23 is arranged above the connecting seat 231. The frame 23 is provided with a through hole 233, and the dismounting button 232 can extend into or out of the through hole 233. The above structure is simple, and when the dismounting button 232 extends into the through hole 233, the connecting seat 231 and the frame 23 are connected to each other, and when the dismounting button 232 is out of the through hole 233, the frame 23 can be dismounted from the connecting seat 231.

[0085] Further, the dismounting button 232 is in a U shape, including a first side arm, a second side arm and a connecting arm connected between the first side arm and the second side arm. The side wall of the connecting seat 231 is provided with a blind hole 2311, and the axis of the blind hole 2311 is perpendicular to the second direction. The first side arm is arranged in the blind hole 2311 and can slide along the blind hole 2311. The connecting arm extends out of the connecting seat 231 upward. When the first side arm slides in the blind hole 2311, the second side arm can extend into or out of the through hole 233, so as to realize the dismounting of the frame 23.

[0086] Further, the blind hole 2311 is connected with a spring between the hole bottom surface and the first side arm. When the spring is in a natural state, the first side arm partially extends out of the blind hole 2311, which is convenient for pressing.

[0087] In the embodiment, the frame 23 is connected to the connecting frame 223 through an L-shaped frame 234. The L-shaped frame 234 includes a transverse frame plate and a longitudinal frame plate connected vertically. The transverse frame plate is connected to the bottom of the longitudinal frame plate, and the longitudinal frame plate is connected to the connecting frame 223. The transverse frame plate is parallel to the second plate part of the connecting frame 223 and extends away from the connecting frame 223. The connecting seat 231 is arranged on the transverse frame plate. The L-shaped frame 234 is arranged to be detachably connected with the connecting seat 231 and the connecting frame 223, which is convenient for adjusting the height of the frame 23 relative to the rotating member 22, and ensures that the rotating axis of the rotating member 222 is collinear with the axis of the handle part 101, so as to facilitate the accurate adjustment of the advancing direction of the bronchoscope 100.

[0088] As a preferred solution, the tracheal intubation mechanism further comprises a dialing assembly 5 connected to the rotating assembly 22, the dialing assembly 5 comprises a dialing piece 51 arranged in rotation, and the rotation axis of the dialing piece 51 is perpendicular to the axis of the handle part 101. When the handle part 101 is arranged on the mirror frame 23, the dialing piece 51 can dial the steering handle 102 of the bronchoscope 100. The dialing assembly 5 is arranged so that the tracheal intubation mechanism can adjust the bending direction of the head end of the bronchoscope 100, which is conducive to the advancement of the bronchoscope 100 towards the target trachea or bronchus, and is conducive to the implementation of intubation or treatment of the lung, thereby further ensuring the treatment effect and intubation effect. Moreover, the dialing assembly 5 cooperates with the rotating assembly 22 to enable the advancement of the bronchoscope 100 in the upward and downward directions, for example, when the head end of the bronchoscope 100 is bent to the left, the rotating assembly 22 drives the bronchoscope 100 to rotate clockwise, thereby enabling the head end of the bronchoscope 100 to be bent upward and enter the upper bronchus; the rotating assembly 22 drives the bronchoscope 100 to rotate counterclockwise, thereby enabling the head end of the bronchoscope 100 to be bent downward and enter the lower bronchus, thereby increasing the directions in which the bronchoscope 100 can advance, and further improving the practicability of the tracheal intubation robot.

[0089] Preferably, the dialing piece 51 is detachably connected to the rotating assembly 22. In this way, the dialing piece 51 can be detached from the tracheal intubation mechanism, which facilitates the complete disinfection of the tracheal intubation mechanism and prevents incomplete disinfection caused by excessive structure size, thereby reducing the risk of cross infection.

[0090] Specifically, the dialing assembly 5 further comprises a detachable cover 53 and a lower shell 54. The lower shell 54 is connected to the connecting frame 223, the detachable cover 53 has a shell structure and is open on the side facing the lower shell 54, and the lower shell 54 is buckled and connected with the detachable cover 53. The side of the lower shell 54 facing the detachable cover 53 is provided with a blocking ring, and the blocking ring is located inside the detachable cover 53. At this time, the second plate part of the connecting frame 223 is also provided with a blind hole 2311, and the first side arm of the dismounting button 232 is arranged in the blind hole 2311. The connecting arm of the dismounting button 232 extends upward into the blocking ring, and the second side arm of the dismounting button 232 passes through the blocking ring and the side wall of the detachable cover 53 in sequence, thereby realizing the detachable connection between the detachable cover 53 and the lower shell 54.

[0091] In this embodiment, the lower shell 54 is fixed to the connecting frame 223 and located between the mirror frame 23 and the rotating piece 222. The adapter 46 has the same structure as the detachable cover 53, and the first end surface of the adapter 46 is located on the side opposite to the lower shell 54. The roller frame 42 is provided with a lower shell 54, and the adapter 46 and the corresponding connected lower shell 54 are detachably connected through the dismounting button 232. The detachable connection between the adapter 46 and the lower shell 54 realizes the detachable connection between the roller frame 42 and the first roller 43 and the second roller 44.

[0092] In the prior art, the steering handle 102 of the bronchoscope 100 is usually in a bar structure. As a preferred solution, a receiving groove is formed on the dial 51, and the steering handle 102 can be placed in the receiving groove. The receiving groove facilitates the installation between the dial 51 and the steering handle 102, and when the dial 51 rotates clockwise or counterclockwise around the axis, the steering handle 102 can be stopped by the two groove side walls of the receiving groove, respectively, so as to facilitate the rotation of the steering handle 102 in two directions, to simplify the structure of the dial assembly 5 and improve the practicability of the dial assembly 5. Further, the receiving groove penetrates through the top of the dial 51, so as to facilitate the installation of the bronchoscope 100 from top to bottom and improve the convenience during assembly.

[0093] Specifically, the dial assembly 5 further comprises a dial motor 52, an adapter shaft, a driving bevel gear 55 and a driven bevel gear 57. The output rotating shaft of the dial motor 52 is parallel to the axis of the handle 101, i.e. the output rotating shaft of the dial motor 52 is parallel to the second plate portion of the connecting frame 223, and the output rotating shaft of the dial motor 52 is coaxially connected with the driving bevel gear 55. The adapter shaft is perpendicular and rotatable through the second plate portion of the connecting frame 223. The dial motor 52 and the driving bevel gear 55 are located below the second plate portion, the bottom of the adapter shaft is coaxially connected with the driven bevel gear 57, and the driving bevel gear 55 and the driven bevel gear 57 are meshed with each other. By arranging the driving bevel gear 55 and the driven bevel gear 57, the size of the dial assembly 5 in the direction perpendicular to the second plate portion is reduced, the compactness of the structure is improved, and the occupied space is reduced. In this embodiment, the adapter shaft penetrates through the lower shell 54.

[0094] Specifically, the top end face of the adapter shaft is protrusively provided with an adapter portion 561, the adapter portion 561 extends along the radial direction of the adapter shaft, a strip-shaped recess is formed on the bottom of the dial 51, the strip-shaped recess extends along the radial direction of the adapter shaft, the adapter portion 561 is placed in the strip-shaped recess, and the power of the dial motor 52 is transmitted to the dial 51. In this embodiment, the adapter portion 561 is located inside the blocking ring of the lower shell 54.

[0095] For the convenience of understanding, the operation steps of the tracheal intubation mechanism provided in this embodiment to complete the tracheal intubation are as follows:

[0096] Firstly, the bronchoscope 100 and the intubation tube 200 are installed, the first driving unit 1 drives the second driving unit 2 to simultaneously approach the bronchoscope 100 and the intubation tube 200 to the patient and extend into the oral cavity; secondly, the first driving unit 1 stops, the second output member 21 of the second driving unit 2 drives the bronchoscope 100 to advance and adjusts the advancing direction of the bronchoscope 100 through the rotating assembly 22 and the poking assembly 5; then, the first driving unit 1 drives the bronchoscope 100 and the intubation tube 200 to advance again; finally, when the intubation tube 200 reaches the target position, the second output member 21 of the second driving unit 2 drives the bronchoscope 100 to separate from the patient, and the tracheal intubation is completed.

[0097] For the convenience of understanding, the operation steps of the tracheal intubation mechanism provided by the embodiment for completing the lung treatment are as follows:

[0098] Firstly, the bronchoscope 100 and the intubation tube 200 are installed, the first driving unit 1 drives the second driving unit 2 to simultaneously approach the bronchoscope 100 and the intubation tube 200 to the patient and extend into the oral cavity; secondly, the first driving unit 1 stops, the second output member 21 of the second driving unit 2 drives the bronchoscope 100 to advance and adjusts the advancing direction of the bronchoscope 100 through the rotating assembly 22 and the poking assembly 5; then, the first driving unit 1 drives the bronchoscope 100 and the intubation tube 200 to advance again; finally, when the intubation tube 200 reaches the target position, the second output member 21 of the second driving unit 2 drives the bronchoscope 100 to separate from the patient, and the tracheal intubation is completed.

[0099] Preferably, the tracheal intubation robot provided by the embodiment further comprises a mechanical arm 10. The mechanical arm 10 can adopt a six-degree-of-freedom mechanical arm, and the specific structure can adopt the prior art, which will not be described here. The output end of the mechanical arm 10 is a horizontal rotating shaft, the horizontal rotating shaft is connected with the first frame body 12 of the first driving unit 1, and the horizontal rotating shaft is perpendicular to the first direction, which can drive the tracheal intubation mechanism to adjust the pitch angle, so as to adjust the angle of the bronchoscope 100 and the intubation tube 200 sent into the patient. The mechanical arm 10 is arranged, which further facilitates the adjustment of the pose of the tracheal intubation robot, and improves the practicability of the tracheal intubation robot.

[0100] Specifically, the first driving unit 1 further comprises a mechanical arm connecting member 15, the mechanical arm connecting member 15 is L-shaped and comprises a horizontal part and a vertical part connected vertically, the horizontal part is connected to the bottom of the first frame body 12, the horizontal part is connected to the top end of the vertical part, and the vertical part is vertically arranged and connected with the mechanical arm 10.

[0101] Preferably, the tracheal intubation robot provided by the embodiment further comprises a mobile vehicle 20. The mobile vehicle 20 is connected with the mechanical arm 10, and the mobile wheels 30 are arranged on the bottom of the mobile vehicle 20 to facilitate the movement of the mechanical arm 10 and the tracheal intubation mechanism to a suitable position, and further improve the practicability of the tracheal intubation robot.

[0102] Preferably, the endotracheal intubation robot provided in this embodiment further includes a controller and an operating handle. The controller is electrically connected to the first motor 133, the second motor 253, the roller drive component 45, the actuating motor 52, and the rotating motor 226. The controller can control the starting and stopping of the aforementioned motors. The operating handle is electrically connected to the controller and can control the endotracheal intubation mechanism to push the bronchoscope 100 and the intubation tube 200 forward by controlling the starting and stopping of the aforementioned motors, thereby realizing the endotracheal intubation operation. The control methods between the operating handle and the controller, as well as between the controller and each motor, can all adopt existing technologies and will not be described in detail here.

[0103] Example 2

[0104] This embodiment provides a tracheal intubation robot. Compared with Embodiment 1, the structure provided in this embodiment is basically the same as that in Embodiment 1, except that the structure of the auxiliary component 4 is different. This embodiment will not describe the structure that is the same as that in Embodiment 1 again.

[0105] As described above, the adapter 46 and the removable cover 53 have the same structure, being shell-shaped. Figure 11 and Figure 12 As shown, in this embodiment, the adjusting member 47 is disposed inside the adapter 46 and can slide in a third direction. A spring 410 is disposed on the side of the adjusting member 47 opposite to the first roller 43. One end of the spring 410 is connected to the adjusting member 47, and the other end of the spring 410 is connected to the inner wall of the adapter 46. When the spring 410 is in its natural state, the first roller 43 and the second roller 44 are in contact. When the adjusting member 47 moves away from the first roller 43, the spring 410 is compressed. By providing the spring 410, the auxiliary component 4 can adapt to the diameter of the insertion tube 200, further improving practicality and simplifying the operation of adjusting the distance between the first roller 43 and the second roller 44.

[0106] In other embodiments, other elastic reset members, such as rubber rods, may be provided between the inner walls of the adjusting member 47 and the adapter 46 to enable the auxiliary component 4 to adapt to the diameter of the insertion tube 200. This is not limited here.

[0107] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A endotracheal intubation robot, characterized in that, include: The first drive unit (1) includes a first output element (11) that can move along a first direction; The second drive unit (2) is connected to the first output member (11). The second drive unit (2) includes a second output member (21), a rotating component (22), and a frame (23). The second output member (21) is capable of moving relative to the first output member (11) in a second direction, which is parallel to the first direction. The rotating component (22) is connected to the second output member (21), and the frame (23) is connected to the rotating component (22). The mounting assembly (3) includes a mounting bracket connecting rod (31) and a mounting bracket (32), wherein the mounting bracket connecting rod (31) extends along the second direction, and one end of the mounting bracket connecting rod (31) is connected to one end of the second drive unit (2) along the second direction, and the mounting bracket (32) is perpendicularly connected to the other end of the mounting bracket connecting rod (31); The auxiliary component (4) includes a roller connecting rod (41) and a roller frame (42). The roller connecting rod (41) extends along the first direction. One end of the roller connecting rod (41) is connected to one end of the first drive unit (1) along the first direction, and the other end is connected to the roller frame (42). The roller frame (42) is located on the side of the mounting frame (32) facing the patient. The roller frame (42) is provided with a first roller (43) and a second roller (44) with parallel rotation axes. When the endotracheal tube (200) is configured to be mounted on the mounting bracket (32) and the handle portion (101) of the bronchoscope (100) is configured to be mounted on the frame (23), the first roller (43) and the second roller (44) clamp the endotracheal tube (200), the endotracheal tube (200) and the handle portion (101) are coaxially arranged, and the rotating assembly (22) can drive the frame (23) to rotate about the axis of the handle portion (101); It also includes a toggle assembly (5) connected to the rotation assembly (22). The toggle assembly (5) includes a rotatably configured toggle member (51). The rotation axis of the toggle member (51) is perpendicular to the axis of the handle portion (101). When the handle portion (101) is configured to be mounted on the frame (23), the toggle member (51) can toggle the steering handle (102) of the bronchoscope (100).

2. The endotracheal intubation robot according to claim 1, characterized in that, The rotating assembly (22) includes a rotating frame (221), a rotating component (222), and a connecting frame (223). The rotating frame (221) is connected to the second output component (21). The rotating component (222) is rotatably connected to the rotating frame (221). The rotating component (222) and the frame (23) are respectively connected to the connecting frame (223). When the handle (101) is configured to be mounted on the frame (23), the rotation axis of the rotating component (222) is collinear with the axis of the handle (101).

3. The endotracheal intubation robot according to claim 2, characterized in that, The rotating assembly (22) further includes a driven gear (224), a brake (225), and a connecting shaft. The rotating component (222) is configured as a gear, and the rotating component (222) meshes with the driven gear (224). The connecting shaft is rotatably connected to the rotating frame (221) and coaxially connected with the driven gear (224). The brake (225) is disposed on the rotating frame (221) and can brake the connecting shaft.

4. The endotracheal intubation robot according to claim 1, characterized in that, The auxiliary component (4) further includes an adapter (46), on which the first roller (43) and the second roller (44) are disposed, and the adapter (46) is detachably connected to the roller frame (42); and / or, The auxiliary component (4) further includes a roller drive (45) which is capable of driving the first roller (43) or the second roller (44) to rotate.

5. The endotracheal intubation robot according to claim 1, characterized in that, The auxiliary component (4) further includes an adapter (46) connected to the roller frame (42). The first roller (43) is rotatably connected to one end of the adapter (46) along a third direction. An adjusting member (47) is provided on the adapter (46). The second roller (44) is rotatably connected to the adjusting member (47). The adjusting member (47) can slide along the third direction to make the second roller (44) move closer to or away from the first roller (43). The third direction is perpendicular to the rotation axes of the first roller (43) and the second roller (44).

6. The endotracheal intubation robot according to claim 1, characterized in that, The actuating element (51) is detachably connected to the rotating assembly (22).

7. The endotracheal intubation robot according to claim 1, characterized in that, The toggle member (51) has a receiving groove, and the steering lever (102) can be placed in the receiving groove.

8. The endotracheal intubation robot according to any one of claims 1-5, characterized in that, The endotracheal intubation robot also includes a robotic arm (10), which is connected to the first drive unit (1).

9. The endotracheal intubation robot according to claim 8, characterized in that, The endotracheal intubation robot also includes a mobile vehicle (20), which is connected to the robotic arm (10), and the bottom of the mobile vehicle (20) is provided with rolling wheels (30).

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