Flexible manipulator for taking out bronchial foreign bodies

Abstract

The invention discloses a flexible manipulator for taking out bronchus foreign bodies, and relates to the technical field of medical manipulators, the flexible manipulator comprises a central control handle and a sleeve, an annular air bag air supply pipe, a negative pressure pipe and a flexible claw air supply pipe which are sequentially arranged from top to bottom are wrapped in the sleeve, and the annular air bag air supply pipe is located above the negative pressure pipe; the flexible claw air supply pipe is located below the negative pressure pipe. The bronchus where foreign matter is located is expanded and blocked through the annular air bag; the negative pressure tube is used for extracting negative pressure, so that the blockage is slightly stabilized after the negative pressure is formed at the position of the hemispherical sticky disc, and the blockage is prevented from moving along the bronchus; the petal-shaped hollow claws become straight through inflation and are inserted between a foreign body and the inner wall of the bronchus. After the petal-shaped hollow claws are inserted into the periphery of the foreign matter through the gaps formed by opening the annular air bags, air in the petal-shaped hollow claws is pumped out through the air pumping device, the petal-shaped hollow claws are restored to be in an arc shape under the action of the memory titanium wires, the arc-shaped petal-shaped hollow claws can clamp the foreign matter, and the similar-ball-shaped foreign matter is grabbed.

Description

Technical Field

[0001] The invention relates to the technical field of medical manipulators, and in particular to a flexible manipulator for removing bronchial foreign bodies. Background Art

[0002] Bronchial foreign bodies are a common clinical disease, especially in children. There are currently three common methods for removing bronchial foreign bodies, namely: using forceps to clamp, using a cryoprobe to pull out the foreign body, and using foreign body baskets of different shapes to net out the blockage. Since the bronchi are quasi-circular and flexible tubes, if a spherical foreign body appears in the bronchi, the bronchi will be in full contact with the spherical blockage; if it is removed by a basket, it must be extended to the distal end, but since the spherical blockage is in full contact with the bronchus, the above operation cannot be achieved; if it is clamped with forceps, since the blockage is spherical and the surface is relatively smooth, it is difficult for the forceps to clamp the blockage firmly; if it is contacted with a cryoprobe at low temperature, since the surface of the blockage is arc-shaped and the area of ​​the contact point is small, it is also difficult to remove it. Therefore, in order to solve the above problems, a flexible manipulator for removing bronchial foreign bodies is designed, which can well remove spherical bronchial foreign bodies. Summary of the invention

[0003] The purpose of the present invention is to provide a flexible manipulator for removing bronchial foreign bodies, which are not suitable for removal using a foreign body basket, forceps or freezing probe as described in the above technical background.

[0004] The above-mentioned object of the present invention is achieved by the following technical solutions:

[0005] A flexible manipulator for removing bronchial foreign bodies, comprising a central control handle, the front end of the central control handle is connected to an air supply joint, the front end of the air supply joint is provided with a sleeve, the interior of the sleeve is wrapped with an annular airbag air supply pipe, a negative pressure pipe and a flexible claw air supply pipe arranged in sequence from top to bottom; the annular airbag air supply pipe is located above the negative pressure pipe, the flexible claw air supply pipe is located below the negative pressure pipe, and an annular airbag is fixed to the end of the annular airbag air supply pipe, the flexible claw air supply pipe and the negative pressure pipe pass through the inside of the annular airbag, 4-6 petal-shaped adhesive discs are fixedly connected to the end of the negative pressure pipe, and 3-5 memory titanium wires are embedded and implanted in the inside of the petal-shaped adhesive disc;

[0006] A flexible claw mechanism is fixed at the end of the flexible claw air supply pipe, wherein the flexible claw mechanism includes a gas delivery groove, 4-6 petal-shaped hollow claws fixed at the front end of the gas delivery groove, and 3-5 memory titanium bars embedded in the petal-shaped hollow claws, and the inside of the gas delivery groove and the petal-shaped hollow claws are both hollow, a straight tube is fixed through the inside of the gas delivery groove, a tapered tube is fixed at the front end of the straight tube, and the outer ring surface of the petal-shaped adhesive disc is in contact with the inner surface of the tapered tube;

[0007] A negative pressure machine connection port is provided on the left surface of the central control handle, and a flexible claw air supply valve and an air supply connector are respectively provided on the top surface and the right surface of the central control handle. An air pipe is connected to the rear section of the right surface of the central control handle, and a servo air pump is connected to the end of the air pipe away from the central control handle.

[0008] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, two through holes are opened on the left side surface of the sleeve for allowing the middle section of the negative pressure tube to pass through the two through holes.

[0009] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, the interior of the annular airbag is hollow, and two circular holes are provided on the front and rear surfaces of the annular airbag for the flexible claw air supply tube and the negative pressure tube to pass through respectively, and a through hole is also provided on the rear surface of the annular airbag for the annular airbag air supply tube to pass through.

[0010] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, the rear ends of the petal-shaped adhesive discs are arranged in a circular array and fixed on the outer ring surface of the end of the negative pressure tube, and there is a gap of 2mm-3mm between the petal-shaped adhesive discs when they are close to each other, so that the petal-shaped adhesive discs can be pulled by the negative pressure tube and contact the inner surface of the conical tube and retract into each other.

[0011] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, a layer of medical colloid is adhered to the inner surface of the flap-shaped adhesive disc for adhesion and contact with the surface of the foreign body inside the bronchus, and 3-5 through grooves are opened inside the flap-shaped adhesive disc for memory titanium wires to be embedded and fixed inside the flap-shaped adhesive disc, and the memory titanium wires are all in a straight state.

[0012] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, the front end of the straight tube penetrates into the front side of the gas delivery groove, the rear end of the straight tube penetrates into the rear side of the gas delivery groove, and the outer ring surface of the straight tube is fixedly connected to the inner wall of the circular hole inside the gas delivery groove, and the conical tube is conical as a whole, and its front end opening is larger than the rear end opening.

[0013] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, the inner cavity space of the gas delivery groove and the inner cavity space of the petal-shaped hollow claw are interconnected, and a through hole for a straight tube to pass through and be fixed is opened in the central position of the front and rear surfaces of the gas delivery groove.

[0014] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, 7-10 anti-slip grooves are provided on the inner surface of the petal-shaped hollow claws to increase the static friction with the foreign bodies inside the bronchus, and 3-5 grooves are provided in the inner wall of the petal-shaped hollow claws for embedding and fixing memory titanium bars, and the memory titanium bars are all in a bow shape that bends outward.

[0015] In the above-mentioned technical solution of a flexible manipulator for removing bronchial foreign bodies, preferably, a trachea joint is provided between the air supply end of the servo air pump and the end of the trachea away from the central control handle, and the end of the negative pressure machine connection port away from the central control handle is connected to the air extraction end of the negative pressure machine.

[0016] It can be seen from the above technical solution that the present invention provides a flexible manipulator for removing bronchial foreign bodies. Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, the bronchus is expanded by an annular airbag, and multiple sets of petal-shaped hollow claws are inflated to make them straight, so as to be inserted between the obstruction and the inner wall of the bronchus. Negative pressure is extracted by a negative pressure tube, so that negative pressure is formed at the position of the hemispherical adhesive disc, thereby slightly stabilizing the obstruction and preventing the obstruction from moving along the bronchus.

[0018] 2. In the present invention, after the petal-shaped hollow claws are inserted around the blockage with the help of the gap opened by the annular airbag, the air in the petal-shaped hollow claws is extracted by a vacuum device, and the petal-shaped hollow claws are restored to an arc shape by the action of the memory titanium wire. The arc-shaped petal-shaped hollow claws can clamp the blockage and can grasp the spherical blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces and describes the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is the overall structural diagram of the flexible manipulator;

[0021] Figure 2 This is a schematic diagram of the central control handle;

[0022] Figure 3 This is a schematic diagram of the robot pipe after cutting;

[0023] Figure 4 This is a schematic diagram of the decomposed flexible mechanical claw;

[0024] Figure 5 This is a schematic diagram of the flexible robotic gripper after assembly;

[0025] Figure 6 This is a schematic diagram of the assembly of the flexible mechanical gripper and the negative pressure adhesive disc;

[0026] Figure 7 It is the overall schematic diagram of the flexible mechanical claw;

[0027] Figure 8 Schematic diagram of negative pressure sticky disc.

[0028] Attached Figure 1 -Attached Figure 8 The corresponding relationship of the parts is as follows:

[0029] 1. Central control handle; 2. Negative pressure machine connection port; 3. Flexible claw air supply valve; 4. Air supply connector; 5. Annular airbag air supply valve; 6. Sleeve; 7. Air pipe connector; 8. Servo air pump; 9. Annular airbag; 10. Flexible claw mechanism; 101. Air delivery groove; 102. Petal-shaped hollow claw; 103. Anti-slip groove; 104. Memory titanium strip; 11. Air pipe; 12. Flexible claw air supply pipe; 13. Negative pressure pipe; 14. Annular airbag air supply pipe; 15. Straight pipe; 16. Memory titanium wire; 17. Petal-shaped adhesive disc; 18. Conical pipe. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In order to more clearly explain and illustrate the technical solution and implementation of the present invention, several preferred specific embodiments for implementing the technical solution of the present invention are introduced below.

[0032] Embodiment: A preferred technical solution of a flexible manipulator for removing bronchial foreign bodies.

[0033] Refer to the instruction manual Figure 1 As shown;

[0034] It includes a central control handle 1, the front end of the central control handle 1 is connected to an air supply connector 4, the front end of the air supply connector 4 is provided with a sleeve 6, the interior of the sleeve 6 is wrapped with an annular airbag air supply pipe 14, a negative pressure pipe 13 and a flexible claw air supply pipe 12 arranged in sequence from top to bottom, and an annular airbag 9 is fixed to the end of the annular airbag air supply pipe 14, the flexible claw air supply pipe 12 and the negative pressure pipe 13 pass through the inside of the annular airbag 9, and a 4-6 petal-shaped adhesive disc 17 is fixedly connected to the end of the negative pressure pipe 13, and 3-5 memory titanium wires 16 are embedded and implanted in the interior of the petal-shaped adhesive disc 17;

[0035] A flexible claw mechanism 10 is fixed to the end of the flexible claw air supply pipe 12, wherein the flexible claw mechanism 10 includes an air delivery groove 101, 4-6 petal-shaped hollow claws 102 fixed at the front end of the air delivery groove 101, and 3-5 memory titanium bars 104 embedded in the petal-shaped hollow claws 102, and the interiors of the air delivery groove 101 and the petal-shaped hollow claws 102 are both hollow. After the petal-shaped hollow claws 102 grasp the foreign body, the air inside the petal-shaped hollow claws 102 is extracted while the air supply to the petal-shaped hollow claws 102 is stopped. Under the resetting action of the memory titanium bars 104, the petal-shaped hollow claws 102 are bent outward to firmly wrap the grasped foreign body. Moreover, the greater the negative pressure inside the petal-shaped hollow claws 102, the greater the bending amplitude of the memory titanium bars 104, thereby making the grasping of the foreign body more secure.

[0036] A straight tube 15 is fixedly passed through the interior of the gas delivery groove 101, a conical tube 18 is fixed to the front end of the straight tube 15, and the outer ring surface of the petal-shaped adhesive disc 17 is in contact with the inner surface of the conical tube 18; wherein, by pulling the negative pressure tube 13 through the two through holes on the left surface of the sleeve 6, the petal-shaped adhesive disc 17 is pulled by the negative pressure tube 13 to move inside the straight tube 15 and the conical tube 18 along the front-to-back direction, and by allowing the petal-shaped adhesive disc 17 to contact the inner side of the conical tube 18 during the pulling activity, the diameter of the petal-shaped adhesive disc 17 that closes together is adjusted, so as to adjust the negative pressure attraction force of the expanded section for blockages of different sizes.

[0037] In addition, since the petal-shaped adhesive disc 17 is made of soft material, in order to avoid the negative pressure channel being blocked due to the front end of the hemispherical adhesive disc gathering when the negative pressure tube is suctioning, a memory titanium wire 16 is arranged on the inner wall of the expanded section of the petal-shaped adhesive disc 17. The memory titanium wire 16 itself has the tension to expand outward. When the expanded section of the petal-shaped adhesive disc 17 enters the interior of the conical tube 18, the size of the front end opening can be adjusted.

[0038] A negative pressure machine connection port 2 is provided on the left surface of the central control handle 1, and a flexible claw air supply valve 3 and an air supply connector 4 are provided on the top surface and the right surface of the central control handle 1, respectively. An air pipe 11 is connected to the rear section of the right surface of the central control handle 1, and a servo air pump 8 is connected to the end of the air pipe 11 away from the central control handle 1. The negative pressure machine connection port 2 is connected to a medical negative pressure machine device, and the medical negative pressure machine device includes but is not limited to the models: DS508 variable frequency separation electric suction machine, MAX400-A1 medical vacuum negative pressure machine; the negative pressure machine connection port 2 is connected to the input end of the medical negative pressure machine device through a vacuum tube.

[0039] The left side surface of the sleeve 6 is provided with two through holes for the middle section of the negative pressure tube 13 to pass through the two through holes; the interior of the annular airbag 9 is hollow, and the front and rear surfaces of the annular airbag 9 are provided with two circular holes for the flexible claw air supply tube 12 and the negative pressure tube 13 to pass through respectively; the rear side surface of the annular airbag 9 is also provided with a through hole for the annular airbag air supply tube 14 to pass through.

[0040] The rear ends of the petal-shaped adhesive discs 17 are arranged in a circular array and fixed on the outer ring surface of the end of the negative pressure tube 13, and there is a gap of 2mm-3mm between the petal-shaped adhesive discs 17 when they are close to each other, so that the petal-shaped adhesive discs 17 can be pulled by the negative pressure tube 13 and contact the inner surface of the conical tube 18 and shrink together; a layer of medical colloid is adhered to the inner surface of the petal-shaped adhesive disc 17, which is used to adhere to the surface of foreign bodies inside the bronchus, and 3-5 through grooves are opened inside the petal-shaped adhesive disc 17, which are used for the memory titanium wire 16 to be embedded and fixed inside the petal-shaped adhesive disc 17, and the memory titanium wire 16 is in a straight state.

[0041] The front and rear ends of the straight tube 15 penetrate the front and rear sides of the gas delivery groove 101, and the outer ring surface of the straight tube 15 is fixedly connected to the inner wall of the circular hole inside the gas delivery groove 101, and the tapered tube 18 is tapered as a whole, and its front end opening is larger than the rear end opening; the inner cavity space of the gas delivery groove 101 and the inner cavity space of the petal-shaped hollow claw 102 are mutually connected, and a through hole for the straight tube 15 to penetrate and fix is ​​provided in the central position of the front and rear surfaces of the gas delivery groove 101; 7-10 anti-slip grooves 103 are provided on the inner surface of the petal-shaped hollow claw 102, which are used to increase the static friction with foreign bodies inside the bronchus, and 3-5 grooves for memory titanium bars 104 to be embedded and fixed are provided in the inner wall of the petal-shaped hollow claw 102, and the memory titanium bars 104 are all in a bow shape bent outward. An air pipe joint 7 is provided between the air supply end of the servo air pump 8 and the end of the air pipe 11 away from the central control handle 1, and the end of the negative pressure machine connection port 2 away from the central control handle 1 is connected to the air extraction end of the negative pressure machine.

[0042] According to the above-mentioned preferred technical solution, the workflow of the technical solution is described below:

[0043] It should be noted that a medical pinhole camera is also provided inside the negative pressure tube 13, located in the middle of the flap-shaped adhesive disc 17, to assist in finding foreign bodies in the bronchus. After finding the foreign bodies in the bronchus with the help of the medical pinhole camera, the annular airbag air supply valve 5 is screwed to control the gas rate delivered by the servo air pump 8 to the annular airbag air supply tube 14, so that the annular airbag 9 is slowly expanded above the foreign body by the air supply of the annular airbag air supply tube 14, and the bronchus above the foreign body is slightly opened.

[0044] When the end of the negative pressure tube 13 approaches the foreign object, the negative pressure at the end of the negative pressure tube 13 pulls the foreign object. At the same time, the negative pressure tube 13 moves backward slightly from the inside of the annular airbag 9, so that the petal-shaped adhesive disc 17 that adheres to the surface of the foreign object is affected by the convergence of the conical tube 18 and wraps the surface of the foreign object.

[0045] After rotating the flexible claw air supply valve 3 to control the flexible claw air supply pipe 12 to supply air to the air delivery groove 101, the air delivery groove 101 diverts the gas to the inside of the flap-shaped hollow claw 102, so that the originally bent flap-shaped hollow claw 102 becomes straight, and is inserted around the foreign object along the gap opened by the annular airbag 9. After stopping the air supply to the flap-shaped hollow claw 102, the memory titanium bar 104 forces the flap-shaped hollow claw 102 to return to a bent state and hold the foreign object.

[0046] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone should be aware that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, fall within the protection scope of the present invention. Finally, it should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions that can be implemented in this application, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects that can be produced by this application and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in this application.

Claims

1. A flexible manipulator for removing bronchial foreign bodies, comprising a central control handle (1), It is characterized in that The front end of the central control handle (1) is connected to an air supply connector (4), and a sleeve (6) is provided at the front end of the air supply connector (4). The sleeve (6) is wrapped with an annular airbag air supply pipe (14), a negative pressure pipe (13) and a flexible claw air supply pipe (12) arranged in sequence from top to bottom; the annular airbag air supply pipe (14) is located above the negative pressure pipe (13), the flexible claw air supply pipe (12) is located below the negative pressure pipe (13), and an annular airbag (9) is fixed to the end of the annular airbag air supply pipe (14), the flexible claw air supply pipe (12) and the negative pressure pipe (13) pass through the inside of the annular airbag (9), and 4-6 petal-shaped adhesive discs (17) are fixedly connected to the end of the negative pressure pipe (13), and 3-5 memory titanium wires (16) are embedded and implanted in the inside of the petal-shaped adhesive disc (17); A flexible claw mechanism (10) is fixed at the end of the flexible claw air supply pipe (12), wherein the flexible claw mechanism (10) includes a gas delivery groove (101), 4-6 petal-shaped hollow claws (102) fixed at the front end of the gas delivery groove (101), and 3-5 memory titanium bars (104) embedded in the petal-shaped hollow claws (102), and the inside of the gas delivery groove (101) and the petal-shaped hollow claws (102) are both hollow, and a straight tube (15) is fixed through the inside of the gas delivery groove (101), and a tapered tube (18) is fixed at the front end of the straight tube (15), and the outer ring surface of the petal-shaped adhesive disc (17) is in contact with the inner side surface of the tapered tube (18); A negative pressure machine connection port (2) is provided on the left side surface of the central control handle (1), a flexible claw air supply valve (3) and an air supply connector (4) are provided on the top surface and the right side surface of the central control handle (1), respectively, and an air pipe (11) is connected to the rear section of the right side surface of the central control handle (1), and a servo air pump (8) is connected to the end of the air pipe (11) away from the central control handle (1).

2. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that The left side surface of the sleeve (6) is provided with two through holes for allowing the middle section of the negative pressure tube (13) to pass through the two through holes.

3. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that The interior of the annular airbag (9) is in a hollow state, and two circular holes are provided on the front and rear surfaces of the annular airbag (9), through which the flexible claw air supply pipe (12) and the negative pressure pipe (13) pass respectively. The rear side surface of the annular airbag (9) is also provided with a through hole through which the annular airbag air supply pipe (14) passes.

4. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that The rear ends of the petal-shaped adhesive discs (17) are arranged in a circular array and fixed on the outer ring surface of the end of the negative pressure tube (13), and there is a gap of 2mm-3mm between the petal-shaped adhesive discs (17) close to each other, so that the petal-shaped adhesive discs (17) can be pulled by the negative pressure tube (13) and contact the inner surface of the conical tube (18) to be retracted.

5. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that A layer of medical colloid is adhered to the inner surface of the flap-shaped adhesive disc (17) for adhering to the surface of foreign matter inside the bronchus, and 3-5 through grooves are opened inside the flap-shaped adhesive disc (17) for the memory titanium wire (16) to be embedded and fixed inside the flap-shaped adhesive disc (17), and the memory titanium wire (16) is in a straight state.

6. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that The front end of the straight tube (15) penetrates the front side of the gas delivery groove (101), and the rear end of the straight tube (15) penetrates the rear side of the gas delivery groove (101), and the outer ring surface of the straight tube (15) is fixedly connected to the inner wall of the circular hole inside the gas delivery groove (101), and the tapered tube (18) is tapered as a whole, and its front end opening is larger than the rear end opening.

7. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that The inner cavity space of the gas delivery groove (101) and the inner cavity space of the petal-shaped hollow claw (102) are interconnected, and a through hole for the straight pipe (15) to penetrate and fix is ​​provided at the central position of the front and rear surfaces of the gas delivery groove (101).

8. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that The inner surface of the petal-shaped hollow claw (102) is provided with 7-10 anti-slip grooves (103) for increasing the static friction with foreign matter inside the bronchus, and the inner wall of the petal-shaped hollow claw (102) is provided with 3-5 grooves for embedding and fixing the memory titanium strip (104), and the memory titanium strip (104) is in the shape of an arch that bends outward.

9. A flexible manipulator for removing bronchial foreign bodies according to claim 1, It is characterized in that An air pipe joint (7) is provided between the air delivery end of the servo air pump (8) and the end of the air pipe (11) away from the central control handle (1), and the end of the negative pressure machine connection port (2) away from the central control handle (1) is connected to the air extraction end of the negative pressure machine.

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