A guiding device for bronchoscopic respiratory examination

Abstract

The present invention relates to the field of medical devices, and in particular to a guiding device for respiratory tract examination using a bronchoscope, comprising: a catheter; an image acquisition unit provided with a signal transmission line, a display screen and a camera; an airbag adjustment unit provided with a plurality of petal-shaped airbags and an air delivery channel; a fixing unit provided with an open cavity tube with a hollow interior and an occlusal sleeve sleeved on the outer wall of the open cavity tube; a driving unit provided with a first concave driving wheel and a second concave driving wheel; a torque acquisition unit for obtaining the driving torque of the driving wheel; a control unit for preliminarily determining whether the guidance of the catheter does not meet the preset standard based on a torque fluctuation characteristic value, and secondarily determining whether the guidance of the catheter meets the preset standard based on the historical abnormal fluctuation frequency, or determining the reason why the guidance of the catheter does not meet the preset standard based on the characteristic pixel ratio; and a lighting unit and a pre-guiding unit are also provided, thereby realizing intelligent guidance of the bronchoscope catheter.

Description

Technical Field

[0001] The invention relates to the field of medical instruments, and in particular to a guiding device for respiratory tract examination using a bronchoscope. Background Art

[0002] A bronchoscope is a medical device that is inserted into the patient's lower respiratory tract through the mouth or nose and is used for observation, biopsy sampling, bacteriological and cytological examinations of lobar, segmental and subsegmental bronchial lesions. It can be used with a TV system for photography, teaching and dynamic recording. The connected biopsy sampling accessories can assist in the discovery of early lesions and can be used for in vivo surgical operations such as polypectomy. It is suitable for bronchial and lung disease research and postoperative examinations. However, the insertion of a bronchoscope requires a high level of operation from the doctor, and when the patient is under general anesthesia, the muscles are relaxed, the tongue root falls back, and the oral passage is narrow, making the catheter insertion operation difficult.

[0003] Chinese patent publication number: CN111921053A, discloses a fiber bronchoscope peroral tracheal intubation guide, including a tracheal body, a first silk thread, an optical cable, a driving end and a lens, the bottom end of the tracheal body is provided with a driving end, and the inside of the driving end is provided with a lens, and an air bag is fixed to the outer wall of the tracheal body on one side of the driving end, the end of the tracheal body away from the driving end is fixed with two sets of fixing buckles, and the inside of the fixing buckles are all provided with a supporting mechanism, and the end of the fixing buckle away from the tracheal body is provided with a driving box, the inside of the driving box is provided with a driving mechanism, and the inside of the driving box on one side of the driving mechanism is fixed with a locking sleeve, and the bottom end of the driving box below the locking sleeve is fixed with a hand-held handle, and the end away from the fixing buckle is installed with a fiber bronchoscope body. It can be seen that the above technical solution lacks the function of automatic intelligent guidance during the catheter insertion process, resulting in inaccurate catheter insertion into the respiratory tract. Summary of the invention

[0004] To this end, the present invention provides a guiding device for bronchoscopic respiratory tract examination, which is used to overcome the problem in the prior art that there is a lack of automated intelligent guiding function during catheter insertion, resulting in inaccurate catheter insertion into the respiratory tract.

[0005] To achieve the above object, the present invention provides a guiding device for bronchoscopic respiratory examination, comprising:

[0006] catheter;

[0007] An image acquisition unit is arranged inside the catheter, and includes a signal transmission line that runs through the catheter, one end of the signal transmission line is connected to the display screen, and a camera is arranged at the end of the signal transmission line away from the display screen;

[0008] An airbag adjustment part connected to the catheter comprises a plurality of airbags arranged at equal angles on the outer wall near the end of the catheter and an air delivery channel arranged inside the catheter for inflating and deflation of each of the airbags, wherein each of the airbags is petal-shaped in the cross section of the catheter;

[0009] A fixing part, which is coaxially arranged outside the catheter, comprises an open-lumen tube with a hollow interior and an occlusal sleeve sleeved on the outer wall of the open-lumen tube, wherein the catheter passes through the open-lumen tube;

[0010] A driving part connected to the fixing part, comprising a first concave driving wheel and a second concave driving wheel, wherein the first concave driving wheel and the second concave driving wheel rotate synchronously towards each other to clamp the catheter to move;

[0011] A torque acquisition unit, connected to the driving part, for acquiring the driving torque of the driving wheel;

[0012] A control unit is respectively connected to the image acquisition unit, the torque acquisition unit, the airbag adjustment unit and the driving unit, and is used to preliminarily determine that the guidance of the catheter does not meet the preset standard according to the torque fluctuation characteristic value, record it as an abnormal fluctuation, and secondarily determine whether the guidance of the catheter meets the preset standard according to the historical abnormal fluctuation frequency, or determine the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio.

[0013] Furthermore, it also includes a lighting unit, which is arranged inside the catheter and includes a plurality of LED lights arranged around the camera at equal angles.

[0014] Furthermore, it also includes a pre-guiding portion, which is detachably connected to the fixing portion and is used to guide the catheter to be placed into the respiratory tract.

[0015] Furthermore, the control unit preliminarily determines whether the guidance of the catheter meets a preset standard according to the torque fluctuation characteristic value, wherein:

[0016] If the torque fluctuation characteristic value is less than the first preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter meets the preset standard and continues to insert the catheter according to the current parameters;

[0017] If the torque fluctuation characteristic value is greater than or equal to the first preset fluctuation characteristic value and less than the second preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter does not meet the preset standard, and records it as an abnormal fluctuation, and secondarily determines whether the guidance of the catheter meets the preset standard based on the historical abnormal fluctuation frequency;

[0018] If the torque fluctuation characteristic value is greater than or equal to the second preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter does not meet the preset standard, and determines the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio.

[0019] Furthermore, the torque fluctuation characteristic value is determined according to the fluctuation duration and fluctuation amplitude under a single torque fluctuation, and a torque fluctuation exceeding a first preset duration or exceeding a first preset fluctuation amplitude is recorded as a torque fluctuation.

[0020] Furthermore, the control unit determines whether the guidance of the catheter meets the preset standard based on the historical abnormal fluctuation frequency.

[0021] If the historical abnormal fluctuation frequency is less than the preset fluctuation frequency threshold, the control unit determines for the second time that the guidance of the catheter meets the preset standard, and inserts the catheter according to the current driving parameters;

[0022] If the historical abnormal fluctuation frequency is greater than or equal to the preset fluctuation frequency threshold, the control unit determines for the second time that the guidance of the catheter does not meet the preset standard, and reduces the driving speed of the first concave driving wheel and the second concave driving wheel according to the difference between the historical abnormal fluctuation frequency and the preset fluctuation frequency threshold;

[0023] The historical abnormal fluctuation frequency is the number of abnormal fluctuations within a preset time period.

[0024] Furthermore, the control unit is provided with several speed regulating modes for reducing the driving speeds of the first concave driving wheel and the second concave driving wheel, and each speed regulating mode has a different reduction range for the driving speed.

[0025] Furthermore, the control unit determines the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio, wherein:

[0026] If the characteristic pixel ratio is less than the preset pixel ratio, the control unit determines that the reason why the guidance of the catheter does not meet the preset standard is that the tracheal wall wrinkles are stuck, and the control unit stops inserting the catheter, retracts the catheter by a preset distance, and inflates each of the airbags to a preset air pressure before inserting the catheter;

[0027] If the characteristic pixel ratio is greater than or equal to the preset pixel ratio, the control unit determines that the reason why the guidance of the catheter does not meet the preset standard is that the foreign body is stuck in the tracheal wall, and the control unit inflates each of the airbags to a corresponding air pressure according to the difference between the characteristic pixel ratio and the preset pixel ratio, and then inserts the catheter.

[0028] Furthermore, the characteristic pixel ratio is the ratio of the number of pixels in the characteristic sampling image whose grayscale is greater than a preset grayscale threshold to the total number of pixels; the characteristic sampling image is the image after grayscale processing of the frame image captured by the camera under the condition that the torque fluctuation characteristic value is greater than or equal to the first preset fluctuation characteristic value and less than the second preset fluctuation characteristic value.

[0029] Furthermore, under the first preset condition, the control unit has a negative correlation between the change amplitude of the inflation pressure and the characteristic pixel difference, wherein the characteristic pixel difference is the difference between the characteristic pixel ratio and the preset pixel ratio; the first preset condition is that the control unit determines that a foreign body is stuck in the tracheal wall.

[0030] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention realizes automated intelligent catheter guidance by providing an image acquisition unit; an airbag adjustment unit; a fixing unit; a driving unit; a torque acquisition unit for obtaining the driving torque of the driving wheel; a control unit for preliminarily determining whether the guidance of the catheter does not meet the preset standard according to the torque fluctuation characteristic value, and secondarily determining whether the guidance of the catheter meets the preset standard according to the historical abnormal fluctuation frequency, or determining the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio, and also providing an illumination unit and a pre-guiding unit.

[0031] Furthermore, the present invention achieves stable support for the placement of the catheter into the respiratory tract by providing an airbag with a petal-shaped cross-section on the catheter.

[0032] Furthermore, the present invention reduces the difficulty of inserting the catheter into the respiratory tract by providing a concentrically arranged tube outside the catheter, including an open-lumen tube with a hollow interior and an occlusal sleeve sleeved on the outer wall of the open-lumen tube.

[0033] Furthermore, the present invention realizes automatic and precise placement of the catheter by providing a driving part in which the first concave driving wheel and the second concave driving wheel rotate synchronously towards each other to clamp the moving catheter.

[0034] Furthermore, the present invention realizes intelligent monitoring and regulation of the catheter insertion process by configuring the control unit to preliminarily determine whether the guidance of the catheter meets the preset standard according to the torque fluctuation characteristic value.

[0035] Furthermore, the present invention quantifies the catheter placement process by setting a torque fluctuation characteristic value, thereby improving the accuracy of the determination.

[0036] Furthermore, the present invention improves the efficiency of catheter placement into the respiratory tract by providing the control unit to secondarily determine whether the guidance of the catheter meets the preset standard based on the historical abnormal fluctuation frequency.

[0037] Furthermore, the present invention realizes precise control of the reduction range of the driving speed of the first concave driving wheel and the second concave driving wheel by providing the control unit with several speed adjustment methods for reducing the driving speed of the first concave driving wheel and the second concave driving wheel, and each speed adjustment method has a different reduction range for the driving speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of a guiding device for bronchoscopic respiratory examination according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the connection structure of a control unit of a guiding device for bronchoscopic respiratory examination according to an embodiment of the present invention;

[0040] Figure 3 A flowchart of an embodiment of the present invention for preliminarily determining whether the guidance of the catheter meets the preset standard;

[0041] Figure 4 A flowchart of a second determination of whether the guidance of the catheter meets a preset standard according to an embodiment of the present invention;

[0042] In the figure: 1. catheter; 2. image acquisition unit; 21. signal transmission line; 22. display screen; 23. camera; 3. airbag adjustment unit; 31. airbag; 32. air delivery channel; 4. fixing unit; 41. open cavity tube; 42. occlusal sleeve; 5. driving unit; 51. first concave driving wheel; 52. second concave driving wheel; 6. lighting unit; 61. LED lamp; 7. pre-guide unit. DETAILED DESCRIPTION

[0043] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] It should be pointed out that the data in this embodiment are obtained by comprehensive analysis and evaluation of the historical test data of the control unit of the present invention in the three months before this test and the corresponding historical test results. It can be understood by those skilled in the art that the control unit of the present invention can determine the above parameters for a single item by selecting the value with the highest proportion as the preset standard parameter according to the data distribution, using weighted summation to use the obtained value as the preset standard parameter, substituting each historical data into a specific formula and using the value obtained by the formula as the preset standard parameter or other selection methods, as long as the control unit of the present invention can clearly define the different specific situations in the single determination process through the obtained value.

[0045] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0046] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively a schematic diagram of the structure of the guiding device for bronchoscopic respiratory examination according to an embodiment of the present invention; a schematic diagram of the connection structure of the control unit of the guiding device for bronchoscopic respiratory examination according to an embodiment of the present invention; a flowchart of the embodiment of the present invention for preliminarily determining whether the guidance of the catheter meets the preset standard; and a flowchart of the embodiment of the present invention for secondary determining whether the guidance of the catheter meets the preset standard.

[0047] An embodiment of the present invention provides a guiding device for bronchoscopic respiratory examination, comprising:

[0048] Catheter 1;

[0049] An image acquisition unit 2 is arranged inside the catheter 1, and includes a signal transmission line 21 that runs through the catheter 1, one end of the signal transmission line 21 is connected to a display screen 22, and a camera 23 is arranged at the end of the signal transmission line 21 away from the display screen 22;

[0050] The airbag 31 adjustment part 3 is connected to the catheter 1, and includes a plurality of airbags 31 arranged at equal angles on the outer wall near the end of the catheter 1 and an air delivery channel 32 arranged inside the catheter 1 for inflating and deflation of each of the airbags 31, wherein each of the airbags 31 is petal-shaped in the cross section of the catheter 1;

[0051] The fixing part 4 is coaxially arranged outside the catheter 1, and includes an open-cavity tube 41 with a hollow interior and an occlusal sleeve 42 sleeved on the outer wall of the open-cavity tube 41, wherein the catheter 1 passes through the open-cavity tube 41;

[0052] The driving part 5 is connected to the fixing part 4 and includes a first concave driving wheel 51 and a second concave driving wheel 52, wherein the first concave driving wheel 51 and the second concave driving wheel 52 rotate synchronously towards each other to clamp the catheter 1 to move;

[0053] A torque acquisition unit, which is connected to the driving unit 5 and is used to obtain the driving torque of the driving wheel;

[0054] A control unit is respectively connected to the image acquisition unit 2, the torque acquisition unit, the airbag 31 adjustment unit 3 and the driving unit 5, and is used to preliminarily determine that the guidance of the catheter 1 does not meet the preset standard based on the torque fluctuation characteristic value, record it as an abnormal fluctuation and secondarily determine whether the guidance of the catheter 1 meets the preset standard based on the historical abnormal fluctuation frequency, or determine the reason why the guidance of the catheter 1 does not meet the preset standard based on the characteristic pixel ratio.

[0055] Specifically, the specific structure of the control unit is not limited, and the control unit itself and each unit therein can be composed of logic components, and the logic components include field programmable components, computers or microprocessors in computers.

[0056] Specifically, it also includes a lighting unit 6, which is arranged inside the catheter 1 and includes a plurality of LED lights 61 arranged around the camera 23 at equal angles.

[0057] Specifically, it also includes a pre-guiding portion 7, which is detachably connected to the fixing portion 4 and is used to guide the catheter 1 to be placed into the respiratory tract.

[0058] Specifically, the control unit preliminarily determines whether the guidance of the catheter 1 meets the preset standard according to the torque fluctuation characteristic value, wherein:

[0059] If the torque fluctuation characteristic value is less than the first preset fluctuation characteristic value of 1.31, the control unit preliminarily determines that the guidance of the catheter 1 meets the preset standard and continues to insert the catheter 1 according to the current parameters;

[0060] If the torque fluctuation characteristic value is greater than or equal to the first preset fluctuation characteristic value and less than the second preset fluctuation characteristic value 2.43, the control unit preliminarily determines that the guidance of the catheter 1 does not meet the preset standard, and records it as an abnormal fluctuation, and secondarily determines whether the guidance of the catheter 1 meets the preset standard based on the historical abnormal fluctuation frequency;

[0061] If the torque fluctuation characteristic value is greater than or equal to the second preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter 1 does not meet the preset standard, and determines the reason why the guidance of the catheter 1 does not meet the preset standard according to the characteristic pixel ratio.

[0062] Specifically, the torque fluctuation characteristic value is calculated by the following formula:

[0063]

[0064] In the formula, F represents the torque fluctuation characteristic value; A represents the fluctuation amplitude under a single torque fluctuation; T represents the fluctuation duration under a single torque fluctuation; A0 represents the standard fluctuation amplitude under a single torque fluctuation, A0=0.42N·m; T0 represents the standard fluctuation duration under a single torque fluctuation, T0=53.00ms;

[0065] Furthermore, a torque fluctuation exceeding the first preset duration of 41 ms or exceeding the first preset fluctuation amplitude of 0.37 N·m is recorded as a torque fluctuation.

[0066] Specifically, the control unit determines whether the guidance of the catheter 1 meets the preset standard based on the historical abnormal fluctuation frequency.

[0067] If the historical abnormal fluctuation frequency is less than the preset fluctuation frequency threshold of 4 times / 10s, the control unit determines for the second time that the guidance of the catheter 1 meets the preset standard, and inserts the catheter 1 according to the current driving parameters;

[0068] If the historical abnormal fluctuation frequency is greater than or equal to the preset fluctuation frequency threshold, the control unit determines for the second time that the guidance of the catheter 1 does not meet the preset standard, and reduces the driving speed of the first concave driving wheel 51 and the second concave driving wheel 52 according to the difference between the historical abnormal fluctuation frequency and the preset fluctuation frequency threshold;

[0069] The historical abnormal fluctuation frequency is the number of abnormal fluctuations within a preset time length of 10s.

[0070] Specifically, the control unit is provided with several speed adjustment modes for reducing the driving speed of the first concave driving wheel 51 and the second concave driving wheel 52, wherein:

[0071] If the fluctuation frequency difference is less than the first preset fluctuation frequency difference of 2 times / 10s, the driving speeds of the first concave driving wheel 51 and the second concave driving wheel 52 are reduced by using the first preset speed adjustment coefficient 0.98;

[0072] If the fluctuation frequency difference is greater than or equal to the first preset fluctuation frequency difference and less than the second preset fluctuation frequency difference of 5 times / 10s, the driving speed of the first concave driving wheel 51 and the second concave driving wheel 52 is reduced by using the second preset speed adjustment coefficient 0.92;

[0073] If the fluctuation frequency difference is greater than or equal to the second preset fluctuation frequency difference, the driving speeds of the first concave driving wheel 51 and the second concave driving wheel 52 are reduced by using the third preset speed adjustment coefficient 0.87;

[0074] The fluctuation frequency difference is the difference between the historical abnormal fluctuation frequency and the preset fluctuation frequency threshold.

[0075] Specifically, the control unit determines the reason why the guidance of the catheter 1 does not meet the preset standard according to the characteristic pixel ratio, wherein:

[0076] If the characteristic pixel ratio is less than the preset pixel ratio of 0.18, the control unit determines that the reason why the guidance of the catheter 1 does not meet the preset standard is that the tracheal wall wrinkles and jams, and the control unit stops inserting the catheter 1 and then retracts the catheter 1 by a preset distance of 0.5 cm, and inflates each of the airbags 31 to a preset air pressure of 25 kPa before inserting the catheter 1;

[0077] If the characteristic pixel ratio is greater than or equal to the preset pixel ratio, the control unit determines that the reason why the guidance of the catheter 1 does not meet the preset standard is that the foreign body is stuck in the tracheal wall. The control unit inflates each of the airbags 31 to a corresponding air pressure according to the difference between the characteristic pixel ratio and the preset pixel ratio, and then inserts the catheter 1.

[0078] Specifically, the characteristic pixel ratio is the ratio of the number of pixels in the characteristic sampling image whose grayscale is greater than the preset grayscale threshold 128 to the total number of pixels; the characteristic sampling image is the image after grayscale processing of the frame image captured by the camera 23 under the condition that the torque fluctuation characteristic value is greater than or equal to the first preset fluctuation characteristic value and less than the second preset fluctuation characteristic value.

[0079] Specifically, under the first preset condition, the control unit has a negative correlation between the change amplitude of the inflation pressure and the characteristic pixel difference, wherein the characteristic pixel difference is the difference between the characteristic pixel ratio and the preset pixel ratio. It can be understood that the larger the characteristic pixel difference is, the smaller the change amplitude of the inflation pressure is. The negative correlation can be a linear negative correlation or a nonlinear negative correlation, which is not specifically limited, and the slope of the linear negative correlation is also not limited.

[0080] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A guiding device for bronchoscopic respiratory examination, characterized in that: include: catheter; An image acquisition unit is arranged inside the catheter, and includes a signal transmission line that runs through the catheter, one end of the signal transmission line is connected to the display screen, and a camera is arranged at the end of the signal transmission line away from the display screen; An airbag adjustment part connected to the catheter comprises a plurality of airbags arranged at equal angles on the outer wall near the end of the catheter and an air delivery channel arranged inside the catheter for inflating and deflation of each of the airbags, wherein each of the airbags is petal-shaped in the cross section of the catheter; A fixing part, which is coaxially arranged outside the catheter, comprises an open-lumen tube with a hollow interior and an occlusal sleeve sleeved on the outer wall of the open-lumen tube, wherein the catheter passes through the open-lumen tube; A driving part connected to the fixing part, comprising a first concave driving wheel and a second concave driving wheel, wherein the first concave driving wheel and the second concave driving wheel rotate synchronously towards each other to clamp the catheter to move; A torque acquisition unit, connected to the driving part, for acquiring the driving torque of the driving wheel; a control unit, which is respectively connected to the image acquisition unit, the torque acquisition unit, the airbag adjustment unit and the driving unit, and is used to preliminarily determine that the guidance of the catheter does not meet the preset standard according to the torque fluctuation characteristic value, record it as an abnormal fluctuation, and secondarily determine whether the guidance of the catheter meets the preset standard according to the historical abnormal fluctuation frequency, or determine the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio; The torque fluctuation characteristic value is determined according to the fluctuation duration and fluctuation amplitude under a single torque fluctuation, and a torque fluctuation exceeding a first preset duration or exceeding a first preset fluctuation amplitude is recorded as a torque fluctuation; The control unit determines secondarily whether the guidance of the catheter meets the preset standard based on the historical abnormal fluctuation frequency, wherein: If the historical abnormal fluctuation frequency is less than the preset fluctuation frequency threshold, the control unit determines for the second time that the guidance of the catheter meets the preset standard, and inserts the catheter according to the current driving parameters; If the historical abnormal fluctuation frequency is greater than or equal to the preset fluctuation frequency threshold, the control unit determines for the second time that the guidance of the catheter does not meet the preset standard, and reduces the driving speed of the first concave driving wheel and the second concave driving wheel according to the difference between the historical abnormal fluctuation frequency and the preset fluctuation frequency threshold; The historical abnormal fluctuation frequency is the number of abnormal fluctuations within a preset time period; The control unit determines the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio, wherein: If the characteristic pixel ratio is less than the preset pixel ratio, the control unit determines that the reason why the guidance of the catheter does not meet the preset standard is that the tracheal wall wrinkles are stuck, and the control unit stops inserting the catheter, retracts the catheter by a preset distance, and inflates each of the airbags to a preset air pressure before inserting the catheter; If the characteristic pixel ratio is greater than or equal to the preset pixel ratio, the control unit determines that the reason why the guidance of the catheter does not meet the preset standard is that the foreign body is stuck in the tracheal wall, and the control unit inflates each of the airbags to a corresponding air pressure according to the difference between the characteristic pixel ratio and the preset pixel ratio, and then inserts the catheter.

2. The guiding device for bronchoscopic respiratory examination according to claim 1, characterized in that: It also includes a lighting unit, which is arranged inside the catheter and includes a plurality of LED lights arranged around the camera at equal angles.

3. The guiding device for bronchoscopic respiratory examination according to claim 2, characterized in that: It also includes a pre-guiding part, which is detachably connected to the fixing part and is used to guide the catheter to be placed into the respiratory tract.

4. The guiding device for bronchoscopic respiratory examination according to claim 3, characterized in that: The control unit preliminarily determines whether the guidance of the catheter meets the preset standard according to the torque fluctuation characteristic value, wherein: If the torque fluctuation characteristic value is less than the first preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter meets the preset standard and continues to insert the catheter according to the current parameters; If the torque fluctuation characteristic value is greater than or equal to the first preset fluctuation characteristic value and less than the second preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter does not meet the preset standard, and records it as an abnormal fluctuation, and secondarily determines whether the guidance of the catheter meets the preset standard based on the historical abnormal fluctuation frequency; If the torque fluctuation characteristic value is greater than or equal to the second preset fluctuation characteristic value, the control unit preliminarily determines that the guidance of the catheter does not meet the preset standard, and determines the reason why the guidance of the catheter does not meet the preset standard according to the characteristic pixel ratio.

5. The guiding device for bronchoscopic respiratory examination according to claim 4, characterized in that: The control unit is provided with several speed adjustment modes for reducing the driving speed of the first concave driving wheel and the second concave driving wheel, and each speed adjustment mode has a different reduction range for the driving speed.

6. The guiding device for bronchoscopic respiratory examination according to claim 5, characterized in that: The characteristic pixel ratio is the ratio of the number of pixels whose grayscale is greater than a preset grayscale threshold to the total number of pixels in the characteristic sampling image; The feature sampling image is an image obtained by grayscale processing of a frame image captured by the camera under the condition that the torque fluctuation characteristic value is greater than or equal to the first preset fluctuation characteristic value and less than the second preset fluctuation characteristic value.

7. The guiding device for bronchoscopic respiratory examination according to claim 6, characterized in that: Under the first preset condition, the control unit negatively correlates the change amplitude of the inflation pressure with the characteristic pixel difference, wherein the characteristic pixel difference is the difference between the characteristic pixel ratio and the preset pixel ratio; the first preset condition is that the control unit determines that a foreign body is stuck in the tracheal wall.

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