An automated inspection device for facilitating laryngeal injury detection for medical purposes

Abstract

An automated inspection device for facilitating laryngeal injury detection in medical use includes a multi-joint manipulator device, a multi-functional medical chair and a tongue depressor device. The multi-functional medical chair is arranged on one side close to the multi-joint manipulator device. The examinee sits on the multi-joint medical chair and uses the tongue depressor device to press down and hold the examinee's tongue, so that the multi-joint manipulator controls the laryngoscope assembly to perform laryngeal inspection. By arranging a multi-joint manipulator, a plurality of sensor modules, a camera module and a laryngoscope assembly, jitter will not occur, the contact between the laryngoscope and the throat wall will be reduced, and the examinee will avoid dry retching and discomfort, thereby ensuring the smooth progress of the laryngeal inspection; by arranging a rotating baffle mechanism to support the examinee's chin, the fatigue of continuously opening the mouth during the laryngeal inspection is relieved; by arranging a tongue depressor device to press down and hold the examinee's tongue, the multi-joint manipulator controls the electronic laryngoscope to extend into the throat for inspection.

Description

Technical Field

[0001] The present invention is specifically an automated inspection device for facilitating the detection of laryngeal injuries for medical purposes. Background Art

[0002] Due to the complex physiological structure of the larynx, it cannot be directly viewed. Some special examination methods are needed for laryngeal examination, such as indirect laryngoscope, direct laryngoscope, fiber laryngoscope, electronic laryngoscope, stroboscopic laryngoscope, ultra-high-speed film photography, sonogram or glottomogram; the electronic laryngoscope is similar in appearance to the fiber laryngoscope, and is also a hose fiber endoscope. It has been widely used in clinical practice in recent years. The electronic laryngoscope endoscopic imaging system is equipped with a CCD chip at the tip of the endoscope, which serves as an ultra-small camera. The image obtained is converted into a point signal and then transmitted. The electronic guidance system replaces the optical fiber bundle and is connected to the digital image processing system to obtain a clearer image.

[0003] In traditional laryngoscope examination, the examinee sits or lies on a medical chair, and the doctor uses a tongue depressor to press the patient's tongue. The doctor holds the operating part of the scope with his left hand and the distal end of the scope with his right hand, enters the nasopharynx along the nasal cavity floor or middle nasal meatus, and adjusts the curvature of the scope to bend downward to observe the tongue root, epiglottis, ventricular band, vocal cords and subglottic mucosal tissue, etc. However, the following problems still exist:

[0004] 1. When the doctor holds the laryngoscope to examine the throat, his hands tend to shake, which increases the contact between the laryngoscope and the throat wall, causing the examinee to vomit and feel uncomfortable, seriously affecting the smooth progress of the throat examination;

[0005] 2. During the laryngoscope insertion process, the person being examined will see this process, which can easily cause physical and psychological discomfort to the person being examined. In addition, during the throat examination, the person being examined needs to open his mouth wide, and there is no support at the chin, which can easily cause mouth fatigue, causing him to close his mouth, affecting the smooth progress of the throat examination.

[0006] 3. When the doctor holds a laryngoscope and a tongue depressor to examine the throat, the doctor's own palm often affects the view of the pharynx, making the examination inconvenient or resulting in misdiagnosis due to unclear vision. In addition, the front part of the tongue depressor is relatively hard and feels very uncomfortable when pressed on the patient's tongue. Summary of the invention

[0007] In view of the above, the present invention provides an automated inspection device for facilitating laryngeal injury detection for medical purposes, so as to solve the problems raised in the above background technology.

[0008] The technical solution adopted by the present invention to solve its technical problems is: providing an automated inspection device that is convenient for laryngeal injury detection in medical use, including a multi-joint manipulator device, a multi-functional medical chair and a tongue depressor device for laryngeal injury detection in medical use, the multi-functional medical chair is arranged on a side close to the multi-joint manipulator device, the examinee sits on the multi-functional medical chair, and the tongue of the examinee is pressed down by the tongue depressor device, so that the multi-joint manipulator controls the laryngoscope assembly to perform laryngeal examination; the multi-joint manipulator device includes a laryngoscope assembly for detecting injuries to the human throat, a multi-joint manipulator that accurately extends the laryngoscope assembly into the human throat and avoids touching it, the laryngoscope assembly includes a plurality of electronic laryngoscopes of different diameters, and an electronic image guide component for displaying images inside the throat, the electronic laryngoscope is detachably connected to the movable end of the multi-joint manipulator, and the multi-joint manipulator includes a fixed stand , and a mechanical arm assembly movably connected to the fixed stand, the electronic image guide component is arranged on the fixed stand; a multifunctional medical chair, which includes a medical chair body, a slide groove is arranged on one side of the backrest of the medical chair body, and a rotating baffle mechanism that can move up and down to block the line of sight of the examinee is arranged on the slide groove; armrests are arranged on both sides of the seat plate of the medical chair body, and a mounting groove is arranged on the upper end surface of the armrest on one side, and a supporting mechanism that can be raised and lowered to support the chin of the examinee is embedded in the mounting groove; a tongue depressor device, which includes a telescopic rod and a foldable and telescopic tongue depressor mechanism, the tongue depressor mechanism includes a tongue depressor at the front, a handle at the rear, and a ramp at the middle, the two ends of the ramp are respectively connected to the tongue depressor and the handle by hinges, the bottom of the telescopic rod is arranged on the supporting mechanism, and the handle is detachably mounted on the top of the telescopic rod so that the tongue depressor faces the direction of the examinee's mouth.

[0009] Furthermore, the robotic arm assembly includes a first arm body, a second arm body and a third arm body with multiple joints. The first arm body, the second arm body and the third arm body are connected in sequence by driving joint components, so that the first arm body, the second arm body and the third arm body can perform multi-joint movements with multiple motion trajectories. One end of the electronic laryngoscope is connected to the third arm body through the fixing part, and the electronic laryngoscope is placed on the soft palate for laryngeal examination through the multi-joint trajectory movement of the multi-joint robotic arm.

[0010] Furthermore, the first arm body is vertically slidably installed on the fixed stand through a lifting drive mechanism, and the first arm body can also swing around a swing axis, which coincides with the horizontal center line of the first arm body when it is in zero position; the second arm body is connected to the first arm body, and can perform multi-joint movements driven by the first arm body; the third arm body is connected to the second arm body, and can perform multi-joint movements with various motion trajectories driven by the second arm body.

[0011] Furthermore, it also includes several sensor modules for detecting the contact area between the electronic laryngoscope and the larynx; several of the sensor modules are distributed on the electronic laryngoscope, and the output ends of the sensor modules are connected to the input ends of the multi-joint manipulator; reducing the contact between the electronic laryngoscope and the larynx.

[0012] Furthermore, it also includes a camera module for detecting the distance between the electronic laryngoscope and the larynx. The camera module is arranged on the electronic laryngoscope, and the output end of the camera module is respectively connected to the input end of the multi-joint manipulator and the electronic image guide component; the distance between the electronic laryngoscope and the larynx is detected to avoid discomfort caused by excessive extension of the electronic laryngoscope.

[0013] Furthermore, it also includes a voice prompt device for regulating the movement of the multi-joint manipulator according to the patient's pronunciation, the voice prompt device includes a voice recognition sensor and a microcontroller, the voice recognition sensor is arranged on the third arm body, the microcontroller is arranged on the third arm body, the output ends of the voice recognition sensor and the microcontroller are connected to the input end of the multi-joint manipulator; the subject takes a deep breath and makes a "yi" sound to move the tongue root forward and the epiglottis upward, the voice recognition sensor receives the subject's voice signal, and the multi-joint manipulator controls the electronic laryngoscope to extend into the throat for detection.

[0014] Furthermore, the rotating baffle mechanism includes a slider, a rotating shaft, and an arc-shaped baffle that fits with the end of the human nose. The slider is vertically arranged in the slide groove, a cavity is opened in the middle of the slider, and the rotating shaft is vertically installed in the cavity. One end of the arc-shaped baffle is horizontally fitted on the rotating shaft, so that the arc-shaped baffle can rotate horizontally along the rotating shaft to block the line of sight of the inspected person.

[0015] Furthermore, the support mechanism includes a rotating shaft, a lifting rod, a support plate, and a lifting button. The bottom of the lifting rod is arranged in the mounting groove, and the top of the lifting rod is movably connected to the support plate through the rotating shaft. An arc groove for supporting the chin of the examinee is arranged on one side of the support plate, and the lifting button is arranged on the upper end surface of the armrest, so that the support plate can be rotated horizontally along the rotating shaft to support the chin of the examinee.

[0016] Furthermore, the telescopic rod and the tongue depressor mechanism connected to the top of the telescopic rod are arranged on a support plate close to one side of the arc groove.

[0017] Furthermore, it also includes a telescopic button for adjusting the height of the telescopic rod, the telescopic button is arranged on the support plate, and the output end of the telescopic button is connected to the input end of the telescopic rod.

[0018] The beneficial effects of the present invention are:

[0019] 1. By setting a multi-joint manipulator, several sensor modules, a camera module and a laryngoscope assembly, the multi-joint trajectory of the multi-joint manipulator is moved to place the electronic laryngoscope on the soft palate for laryngeal examination. At the same time, the sensor module detects the contact area between the electronic laryngoscope and the larynx, reduces the contact between the electronic laryngoscope and the larynx, detects the distance between the electronic laryngoscope and the larynx, and avoids discomfort caused by excessive extension of the electronic laryngoscope. When the multi-joint manipulator controls the electronic laryngoscope for laryngeal examination, it will not shake, reduce the contact between the laryngoscope and the throat wall, avoid causing dry retching and discomfort to the examinee, and ensure the smooth progress of the laryngeal examination;

[0020] 2. By setting a rotating baffle mechanism, the arc baffle can be adjusted up and down according to the height of the person under examination, and the arc baffle can be rotated horizontally along the central axis to block the person under examination's sight, so as to prevent the person under examination from seeing the process of laryngoscope insertion, thereby reducing the physical and psychological discomfort of the person under examination; by setting a supporting mechanism, the height of the supporting plate can be adjusted up and down according to the height of the person under examination, so that the supporting plate can be rotated horizontally along the rotating axis to support the chin of the person under examination, thereby relieving the fatigue of continuously opening the mouth during the throat examination and ensuring the smooth progress of the throat examination;

[0021] 3. By setting up a tongue depressor device, the tongue depressor is directed toward the examinee's mouth. When in use, the telescopic rod adjusts the tongue depressor mechanism to the same height as the examinee's mouth, and then the examinee's tongue is pressed down by the tongue depressor. By setting up a voice prompt device, the examinee takes a deep breath and makes a "yi" sound, so that the tongue root moves forward and the epiglottis rises. The voice recognition sensor receives the examinee's voice signal, and the multi-joint manipulator controls the electronic laryngoscope to extend into the throat for detection; the front part of the tongue depressor is covered with a rubber cover, and the patient feels more comfortable when the tongue depressor is pressed down on the tongue. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention.

[0023] Figure 2 yes Figure 1 A partial enlarged view of part A.

[0024] Figure 3 It is an assembly diagram of the backrest slide and the rotating baffle mechanism.

[0025] Figure 4 yes Figure 1 A partial enlarged view of part B.

[0026] Figure 5 It is an assembly diagram of the telescopic rod and the tongue depressor mechanism.

[0027] Figure 6 It is a circuit flow chart of the present invention.

[0028] In the figure, 1. fixed stand; 2. first arm body; 201. lifting drive mechanism; 3. second arm body; 301. driving joint component; 4. third arm body; 5. voice recognition sensor; 6. microcontroller; 7. fixing part; 8. electronic laryngoscope; 9. screen display; 10. video recording component; 11. medical chair body; 12. slide groove; 13. slider; 14. arc baffle; 15. transfer shaft; 16. sensor module; 17. camera module; 18. mounting groove; 19. lifting rod; 20. rotating shaft; 21. support plate; 22. lifting button; 23. telescopic button; 24. rear handle; 25. telescopic rod; 26. middle inclined body; 27. front tongue depressor; 28. hinge. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings and some implementation methods.

[0030] exist Figure 1-Figure 6 In the invention, an automated inspection device for facilitating laryngeal injury detection for medical purposes is provided, including a multi-joint manipulator device, a multi-functional medical chair and a tongue depressor device for laryngeal injury detection for medical purposes, wherein the multi-functional medical chair is arranged on a side close to the multi-joint manipulator device, and a person to be examined sits on the multi-functional medical chair, and the tongue depressor device presses down and holds the tongue of the person to be examined, so that the multi-joint manipulator controls a laryngoscope assembly to perform a laryngeal inspection; when in use, according to whether the person to be examined sits or lies on the multi-functional medical chair, an arc-shaped baffle 14 on the multi-functional medical chair rotates horizontally along a central axis 15 to block the person to be examined's sight, and at the same time, a lifting button 22 is pressed. , the support plate 21 is raised and lowered to adjust the height of the examinee's chin, so that the support plate 21 rotates horizontally along the rotation axis 20, the arc groove supports the examinee's chin, so that the tongue depressor faces the examinee's mouth, the telescopic button 23 is pressed, the telescopic rod 25 is extended and retracted up and down to adjust the tongue depressor mechanism to the same height as the examinee's mouth, and then the telescopic rod 25 is adjusted to be extended and pressed down to press the tongue depressor down to hold the examinee's tongue. At this time, the examinee takes a deep breath and makes a "clothes" sound to move the tongue root forward and lift the epiglottis. The voice recognition sensor 5 receives the examinee's voice signal, adjusts the multi-joint manipulator to produce multi-joint trajectory movement, and places the electronic laryngoscope 8 on the soft palate for throat examination.

[0031] In the present embodiment, a multi-joint manipulator device comprises a laryngoscope assembly for detecting damage to the human larynx, a multi-joint manipulator for accurately inserting the laryngoscope assembly into the human larynx and avoiding touching it, the laryngoscope assembly comprises a plurality of electronic laryngoscopes 8 of different diameters, an electronic image guide component for displaying an image inside the larynx, the electronic laryngoscope 8 being detachably connected to the movable end of the multi-joint manipulator, the multi-joint manipulator comprises a fixed stand 1, and a manipulator arm assembly movably connected to the fixed stand 1, the electronic image guide component being arranged on the fixed stand 1; the electronic image guide component comprises a screen display 9 and a video recording component 10, the screen display 9 and the video recording component 10 being arranged on the fixed stand 1; displaying an image inside the larynx, and recording images and videos; the manipulator arm assembly comprises a multi-joint first arm body 2, a second arm body 3 and a third arm body 4, the first arm body 2, the second arm body 3 and the third arm body 4 being connected by driving a joint component 301 The second connection enables the first arm 2, the second arm 3 and the third arm 4 to perform multi-joint movements with various motion trajectories, the third arm 4 is threadedly connected to one end of the electronic laryngoscope 8 by a fixing piece 7 in a threaded connection manner, and the electronic laryngoscope 8 is placed on the soft palate for throat examination through the multi-joint trajectory movement of the multi-joint manipulator; the first arm 2 is vertically slidably installed on the fixed stand 1 through the lifting drive mechanism 201, and the first arm 2 can also swing around the swing axis, and the swing axis coincides with the horizontal center line of the first arm 2 when it is in zero position; the second arm 3 is connected to the first arm 2, and can perform multi-joint movements driven by the first arm 2; the third arm 4 is connected to the second arm 3, and can perform multi-joint movements with various motion trajectories driven by the second arm 3; when in use, the electronic laryngoscope 8 is placed on the soft palate for throat examination through the multi-joint trajectory movement of the multi-joint manipulator.

[0032] In this embodiment, a multifunctional medical chair comprises a medical chair body 11, a slide groove 12 is provided on one side of the backrest of the medical chair body 11, and a rotating baffle mechanism that can move up and down to block the line of sight of the examinee is provided on the slide groove 12; armrests are provided on both sides of the seat plate of the medical chair body 11, and a mounting groove 18 is provided on the upper end surface of the armrest on one side, and a supporting mechanism that can be raised and lowered to support the chin of the examinee is embedded in the mounting groove 18; the rotating baffle mechanism comprises a slider 13, a rotating shaft 15, and an arc-shaped baffle 14 that fits with the end of the human nose, the slider 13 is vertically arranged in the slide groove 12, and a cavity is provided in the middle of the slider 13, and the The rotating shaft 15 is vertically installed in the cavity, and one end of the arc-shaped baffle 14 is horizontally sleeved on the rotating shaft 15, so that the arc-shaped baffle 14 can be horizontally rotated along the rotating shaft 15 to block the line of sight of the person under examination; by setting a rotating baffle mechanism, according to the height of the person under examination, the slider 13 is manually adjusted up and down in the slide groove 12, so that the arc-shaped baffle 14 is located at the nose end of the person under examination, and the arc-shaped baffle 14 is horizontally rotated along the rotating shaft 15, and the arc-shaped baffle 14 is fitted to the nose end of the person under examination to block the person under examination's line of sight, prevent the person under examination from seeing the process of laryngoscope insertion, and reduce the physical and psychological discomfort of the person under examination.

[0033] In this embodiment, the support mechanism includes a rotating shaft 20, a lifting rod 19, a support plate 21, and a lifting button 22. The bottom of the lifting rod 19 is arranged in the installation groove 18, and the top of the lifting rod 19 is movably connected to the support plate 21 through the rotating shaft 20. One side of the support plate 21 is provided with an arc groove for supporting the chin of the examinee, and the lifting button 22 is arranged on the upper end surface of the armrest, so that the support plate 21 can be rotated horizontally along the rotating shaft 20 to support the chin of the examinee; by setting up the support mechanism, according to the height of the examinee, the lifting button 22 is pressed to adjust the lifting rod 19 to move, and the height of the support plate 21 is lifted and lowered. When the support plate 21 is at the height of the examinee's chin, the support plate 21 is rotated horizontally along the rotating shaft 20 to support the chin of the examinee, thereby relieving the fatigue of continuously opening the mouth during the throat examination and ensuring the smooth progress of the throat examination.

[0034] In this embodiment, the tongue depressor device includes a telescopic rod 25 and a foldable and telescopic tongue depressor mechanism. The tongue depressor mechanism includes a tongue depressor 27 at the front, a handle 24 at the rear, and a sloped body 26 at the middle. The two ends of the sloped body are respectively connected to the tongue depressor and the handle by hinges 28. The bottom of the telescopic rod 25 is arranged on the supporting mechanism, and the handle is detachably mounted on the top of the telescopic rod 25 so that the tongue depressor faces the direction of the examinee's mouth. When the examinee's chin is placed on the supporting plate 21, the tongue depressor device is arranged so that the tongue depressor faces the direction of the examinee's mouth. When in use, the telescopic rod 25 moves up and down. The tongue depressor mechanism is telescopically adjusted to the same height as the examinee's mouth, and then the telescopic rod 25 is adjusted to be telescopic and pressed down to press the tongue depressor down to hold the examinee's tongue, which provides a good field of view during pharyngeal examination and facilitates the examination; the two ends of the inclined body are respectively movably connected to the tongue depressor and the handle through hinges 28, and the hinge 28 has torsional force, and will not fold when the force is small, so that the tongue depressor can be ensured to be pressed down to hold the examinee's tongue; and the handle is detachably mounted on the top of the telescopic rod 25 by a threaded or snap-on connection, and the tongue depressor mechanism can also be removed from the telescopic rod 25, and the tongue depressor mechanism can be held by hand to press down the examinee's tongue.

[0035] In this embodiment, it also includes a plurality of sensor modules 16 for detecting the contact area between the electronic laryngoscope 8 and the larynx; the plurality of sensor modules 16 are distributed on the electronic laryngoscope 8, and the output end of the sensor module 16 is connected to the input end of the multi-joint manipulator; the contact between the electronic laryngoscope 8 and the larynx is reduced; when the electronic laryngoscope 8 is placed on the soft palate for larynx examination through the multi-joint trajectory movement of the multi-joint manipulator, the sensor module 16 detects the contact area between the electronic laryngoscope 8 and the larynx, reduces the contact between the electronic laryngoscope 8 and the larynx, detects the extension distance between the electronic laryngoscope 8 and the larynx, and avoids the electronic laryngoscope 8 extending too far to cause discomfort; when the multi-joint manipulator controls the electronic laryngoscope 8 to perform larynx examination, no shaking occurs, and the contact between the laryngoscope and the larynx flesh wall is reduced, so as to avoid causing dry heaving discomfort to the examinee, thereby ensuring the smooth progress of the larynx examination.

[0036] In this embodiment, a camera module 17 for detecting the distance between the electronic laryngoscope 8 and the larynx is also included. The camera module 17 is arranged on the electronic laryngoscope 8, and the output end of the camera module 17 is respectively connected to the input end of the multi-joint manipulator and the electronic image guide component; the distance between the electronic laryngoscope 8 and the larynx is detected to avoid discomfort caused by excessive extension of the electronic laryngoscope 8.

[0037] In this embodiment, it also includes a voice prompt device for regulating the movement of the multi-joint manipulator according to the patient's pronunciation, and the voice prompt device includes a voice recognition sensor 5 and a microcontroller 6. The voice recognition sensor 5 is arranged on the third arm 4, and the microcontroller 6 is arranged on the third arm 4. The output ends of the voice recognition sensor 5 and the microcontroller 6 are connected to the input end of the multi-joint manipulator; the subject takes a deep breath and makes a "yi" sound to move the tongue root forward and the epiglottis upward. The voice recognition sensor 5 receives the subject's voice signal, so that the multi-joint manipulator controls the electronic laryngoscope 8 to extend into the throat for detection.

[0038] In this embodiment, the telescopic rod 25 and the tongue depressor mechanism connected to the top thereof are arranged on the support plate 21 close to one side of the arc groove, so as to facilitate the tongue depressor mechanism to press down the tongue of the examinee.

[0039] In this embodiment, a telescopic button 23 for adjusting the height of the telescopic rod 25 is further included, and the telescopic button 23 is arranged on the support plate 21, and the output end of the telescopic button 23 is connected to the input end of the telescopic rod 25; through the telescopic button 23, the up and down telescopic action of the telescopic rod 25 is adjusted to adjust the tongue depressor mechanism to the same height as the mouth of the examinee, and then the telescopic rod 25 is adjusted to be telescoped downward to press the tongue depressor downward to hold the tongue of the examinee.

[0040] In this embodiment, the control circuit of the present invention is a common circuit in the circuit field. The device of the present invention can be connected to an external power supply through a power line to provide power to the device. Technicians in the relevant technical field can implement it and will not be described in detail here.

[0041] In this embodiment, the multi-joint manipulator is a common intelligent manipulator device, such as a 30T-150T model, an XYZ314-A model manipulator, etc.

[0042] In this embodiment, the lifting drive mechanism 201 is a common lifting motor device, such as a ZD122-4-1.5KW model lifting motor.

[0043] In this embodiment, the speech recognition sensor 5 is a common speech recognition sensor 5 device, such as a WTK6900B01 model, a LD3320 model speech recognition module, etc.

[0044] In this embodiment, the sensor module 16 is a common contact sensor, such as the KEYENCE GT series contact sensor.

[0045] In this embodiment, the camera module 17 is a common camera device, such as an OV7670 CameraBoard (B) model, a CT3TP-WD model camera module, etc.

[0046] In this embodiment, the electronic laryngoscope 8 is a common electronic laryngoscope device, such as a GM11-CEL-200 model, an EPM1000 model electronic laryngoscope device, and the like.

[0047] In this embodiment, the lifting rod 19 is a common electric lifting rod, such as a DPB-TBZ219Y model, a YOFS-A1 model electric lifting rod, etc.

[0048] The present invention is specifically implemented as follows: when in use, according to the height of the examinee sitting or lying on the multifunctional medical chair, the slider 13 is manually adjusted up and down in the slide groove 12, so that the arc baffle 14 is located at the nose end of the examinee, and the arc baffle 14 is rotated horizontally along the rotating shaft 15 to block the examinee's line of sight, prevent the examinee from seeing the process of laryngoscope insertion, and reduce the examinee's physical and psychological discomfort. At the same time, the lifting button 22 is pressed to adjust the lifting rod 19 to move, and the height of the support plate 21 is lifted and adjusted. When the support plate 21 is at the height of the examinee's chin, the support plate 21 is rotated horizontally along the rotating shaft 20, and the arc groove supports the examinee's chin. The telescopic button 23 is pressed, and the telescopic rod 25 is telescoped up and down to adjust the tongue depressor mechanism to the same height as the examinee's mouth, and then the telescopic rod 25 is adjusted to extend and retract down The tongue is pressed down to hold down the tongue of the examinee, which is used for a good field of vision during pharyngeal examination and facilitates the examination. At this time, the examinee takes a deep breath and makes a "clothes" sound to move the tongue root forward and the epiglottis upward. The voice recognition sensor 5 receives the examinee's voice signal and regulates the multi-joint manipulator to perform multi-joint trajectory movement. When the electronic laryngoscope 8 is placed on the soft palate for throat examination, the sensor module 16 detects the contact area between the electronic laryngoscope 8 and the throat to reduce the contact between the electronic laryngoscope 8 and the throat, detects the insertion distance between the electronic laryngoscope 8 and the throat to avoid discomfort caused by excessive insertion of the electronic laryngoscope 8. When the multi-joint manipulator controls the electronic laryngoscope 8 for throat examination, no shaking occurs, reducing the contact between the laryngoscope and the throat meat wall to avoid causing dry heaving discomfort to the examinee and ensuring the smooth progress of the throat examination. At the same time, the screen displays 9 the internal image of the throat, and the video recording component 10 records images and videos.

[0049] It is worth noting that: in the description of the present invention, the meaning of "multiple" is two or more than two, unless otherwise clearly defined. In the present invention, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0050] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. An automated inspection device for facilitating the detection of laryngeal injuries for medical purposes, characterized in that: It includes a multi-joint manipulator device, a multi-function medical chair and a tongue depressor device for laryngeal injury detection for medical purposes, wherein the multi-function medical chair is arranged on a side close to the multi-joint manipulator device, and a person to be examined sits on the multi-function medical chair, and the tongue depressor device is used to press down the tongue of the person to make the multi-joint manipulator control the laryngoscope assembly to perform laryngeal examination; A multi-joint manipulator device, comprising a laryngoscope assembly for detecting damage to the human larynx, and a multi-joint manipulator for accurately inserting the laryngoscope assembly into the human larynx and avoiding touching it, wherein the laryngoscope assembly comprises a plurality of electronic laryngoscopes of different diameters and an electronic image guide component for displaying an image inside the larynx, wherein the electronic laryngoscope is detachably connected to a movable end of the multi-joint manipulator, wherein the multi-joint manipulator comprises a fixed stand and a mechanical arm assembly movably connected to the fixed stand, and the electronic image guide component is arranged on the fixed stand; A multifunctional medical chair, comprising a medical chair body, a slide groove is provided on one side of the backrest of the medical chair body, and a rotating baffle mechanism that can move up and down to block the line of sight of the examinee is provided on the slide groove; armrests are provided on both sides of the seat plate of the medical chair body, and a mounting groove is provided on the upper end surface of one armrest, and a supporting mechanism that can be raised and lowered to support the chin of the examinee is embedded in the mounting groove; The tongue depressor device comprises a telescopic rod and a foldable and telescopic tongue depressor mechanism, wherein the tongue depressor mechanism comprises a tongue depressor at the front, a handle at the rear, and an inclined body at the middle, wherein the two ends of the inclined body are respectively connected to the tongue depressor and the handle by hinges, the bottom of the telescopic rod is arranged on the supporting mechanism, and the handle is detachably mounted on the top of the telescopic rod so that the tongue depressor faces the direction of the mouth of the examinee.

2. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 1, characterized in that: The robotic arm assembly includes a first arm body, a second arm body and a third arm body with multiple joints. The first arm body, the second arm body and the third arm body are connected in sequence by driving joint components, so that the first arm body, the second arm body and the third arm body can perform multi-joint movements with multiple motion trajectories. One end of the electronic laryngoscope is connected to the third arm body through the fixing part, and the electronic laryngoscope is placed on the soft palate for laryngeal examination through the multi-joint trajectory movement of the multi-joint robotic arm.

3. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 2, characterized in that: The first arm body is vertically slidably installed on the fixed stand through a lifting drive mechanism, and the first arm body can also swing around a swing axis, which coincides with the horizontal center line of the first arm body when it is in zero position; the second arm body is connected to the first arm body, and can perform multi-joint motion under the drive of the first arm body; the third arm body is connected to the second arm body, and can perform multi-joint motion with various motion trajectories under the drive of the second arm body.

4. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 1, characterized in that: It also includes several sensor modules for detecting the contact area between the electronic laryngoscope and the larynx; the several sensor modules are distributed on the electronic laryngoscope, and the output ends of the sensor modules are connected to the input ends of the multi-joint manipulator.

5. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 1, characterized in that: It also includes a camera module for detecting the distance between the electronic laryngoscope and the larynx. The camera module is arranged on the electronic laryngoscope, and the output end of the camera module is respectively connected to the input end of the multi-joint manipulator and the electronic image guide component.

6. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 2, characterized in that: It also includes a voice prompt device for regulating the movement of the multi-joint manipulator according to the patient's pronunciation, and the voice prompt device includes a voice recognition sensor and a microcontroller. The voice recognition sensor is arranged on the third arm body, and the microcontroller is arranged on the third arm body. The output ends of the voice recognition sensor and the microcontroller are connected to the input end of the multi-joint manipulator.

7. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 1, characterized in that: The rotating baffle mechanism includes a slider, a rotating shaft, and an arc-shaped baffle that fits with the end of the human nose. The slider is vertically arranged in the slide groove, a cavity is opened in the middle of the slider, and the rotating shaft is vertically installed in the cavity. One end of the arc-shaped baffle is horizontally fitted on the rotating shaft, so that the arc-shaped baffle can rotate horizontally along the rotating shaft to block the line of sight of the inspected person.

8. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 1, characterized in that: The support mechanism includes a rotating shaft, a lifting rod, a support plate, and a lifting button. The bottom of the lifting rod is arranged in the installation groove, and the top of the lifting rod is movably connected to the support plate through the rotating shaft. An arc groove for supporting the chin of the examinee is arranged on one side of the support plate, and the lifting button is arranged on the upper end surface of the armrest, so that the support plate can be rotated horizontally along the rotating shaft to support the chin of the examinee.

9. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 8, characterized in that: The telescopic rod and the tongue depressor mechanism connected to the top of the telescopic rod are arranged on a supporting plate close to one side of the arc groove.

10. An automated inspection device for facilitating laryngeal injury detection for medical purposes according to claim 8, characterized in that: It also includes a telescopic button for adjusting the height of the telescopic rod, the telescopic button is arranged on the support plate, and the output end of the telescopic button is connected to the input end of the telescopic rod.

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