Compact tracheal intubation robot and use method thereof

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a compact trachea cannula robot and a using method thereof. The robot comprises a supporting chassis, a supporting base rotationally installed on the supporting chassis through a connecting rod assembly, a double-layer parallel conveying mechanism arranged on the supporting base in a sliding mode, a tongue depressor mechanism arranged at the front end of the double-layer parallel conveying mechanism and a flexible section mechanism installed on the double-layer parallel conveying mechanism. The double-layer parallel conveying mechanism comprises a lower-layer linear conveying assembly and an upper-layer linear conveying assembly. A tongue depressor mechanism is arranged at the front end of the lower-layer linear conveying assembly, a flexible section mechanism is installed on the upper-layer linear conveying assembly, and the tongue depressor mechanism and the flexible section mechanism are arranged on the two layers of linear conveying assemblies which are independent of each other and associated with each other respectively so that separated linear driving of the tongue depressor mechanism and the flexible section mechanism can be achieved. The problems that in the prior art, tracheal intubation is large in occupied physical space, and a patient is prone to being injured are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a compact endotracheal intubation robot and a use method thereof. Background Art

[0002] Airway management has always been a core technical issue in anesthesia management. During preoperative preparations, patients who have been professionally anesthetized by a physician will temporarily lose the ability to breathe independently. Establishing a safe airway for the patient is directly related to the safety of the operation and the quality of the patient's prognosis. Tracheal intubation is the most commonly used technique in clinical scenarios. The core step is to pass the tracheal tube through the epiglottis, glottis and other anatomical structures of the human body, and finally reach the appropriate position in the trachea. However, it is not easy to achieve fast and accurate tracheal intubation. Due to the differences and complexity of the physiological structure of the airways of different patients, high proficiency is required for doctors who perform tracheal intubation. Advanced intelligent airway management tools can assist doctors in completing intubation, reduce the difficulty of operation, increase the success rate of intubation, and ensure the patient's perioperative safety.

[0003] In fact, due to the long years of learning for high-quality anesthesiologists and the harsh training conditions and environment, there has been a long-term shortage of tracheal intubation doctors in my country. If we want to solve this problem as soon as possible, it is obviously not enough to start with the training of anesthesiologists to achieve the expected goal. Therefore, the design and development of tracheal intubation robots that can replace high-quality anesthesiologists for tracheal intubation to a certain extent is particularly important. It can make the tracheal intubation operation more streamlined and simple, significantly improve the efficiency of tracheal intubation, and reduce the learning cost and training years of doctors accordingly.

[0004] The functions that the tracheal intubation robot needs to realize are as follows: 1. The forward and backward function of the flexible segment is used to simulate the operation process of the doctor using the non-dominant hand to deliver the flexible segment; 2. The function of bending the end of the flexible segment and changing the axial direction of the end is used to simulate the operation process of the doctor's dominant hand to move the bending control rod of the soft mirror; 3. The opening and closing function of the tongue depressor is used to simulate the operation process of the doctor using the laryngoscope to open the mouth and press the tongue. Existing tracheal intubation robots usually use a six-axis robotic arm to directly clamp the laryngoscope for tracheal intubation, or use a soft mirror mounted on a linear slide rail for tracheal intubation. The former occupies a large physical space because the robotic arm drives the laryngoscope to move, which is easy to cause damage to the patient, and can only open the patient's throat space, and the intubation action still needs to be completed by the doctor. The latter can achieve more precise linear propulsion, and at the same time has a mechanism to drive the overall rotation of the soft mirror and the bending of the end, but the continuous arrangement of the soft mirror installation space and stroke makes the mechanism occupy a large physical space along the propulsion direction, and the application scenario is limited. Summary of the invention

[0005] The purpose of the present invention is to overcome the defect of the prior art that the physical space occupied along the propulsion direction is large, and to provide a rope-driven dual linear drive mechanism, so that the tongue depressor and the flexible section are separately linearly driven, thereby greatly reducing the space occupied by a compact endotracheal intubation robot and its use method.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] As a first aspect, a compact endotracheal intubation robot comprises a supporting chassis, a supporting seat rotatably mounted on the supporting chassis via a connecting rod assembly, a double-layer parallel conveying mechanism slidably arranged on the supporting seat, a tongue depressor mechanism arranged at the front end of the double-layer parallel conveying mechanism, a flexible section mechanism mounted on the double-layer parallel conveying mechanism, and an endotrachea mounted on the flexible section mechanism via a Luer connector;

[0008] The double-layer parallel conveying mechanism comprises:

[0009] A lower linear conveying assembly is arranged on the support seat;

[0010] An upper linear conveying assembly connected to an output end of the lower linear conveying assembly;

[0011] The conveying directions of the upper linear conveying assembly and the lower linear conveying assembly are consistent with the insertion direction of the cannula and are independent of each other; the tongue depressor mechanism is installed at the front end of the lower linear conveying assembly, and the flexible segment mechanism is installed on the upper linear conveying assembly. The tongue depressor mechanism and the flexible segment mechanism are separately linearly driven.

[0012] Furthermore, the lower linear conveying assembly comprises:

[0013] A primary linear module arranged on the support seat along the insertion direction of the cannula;

[0014] The primary conveying frame is fixedly arranged with the output end of the primary linear module, and the primary linear module is started to drive the primary conveying frame and the support seat to slide back and forth along the insertion direction of the cannula.

[0015] Furthermore, the tongue depressor mechanism comprises:

[0016] An opening and closing movable frame is slidably arranged on the primary conveying frame through a sliding assembly;

[0017] An opening and closing fixed frame, fixedly mounted at the front end of the primary conveying frame;

[0018] An upper tongue depressor and a lower tongue depressor cooperate with each other and are both rotatably mounted on the opening and closing fixed frame, wherein the upper tongue depressor is rotatably connected to the opening and closing movable frame via a first connecting rod; and the lower tongue depressor is rotatably connected to the opening and closing movable frame via a second connecting rod;

[0019] The tongue depressing driving assembly is installed on the primary conveying frame and is used to drive the opening and closing movable frame to reciprocate along the cannula insertion direction relative to the primary conveying frame.

[0020] Furthermore, the tongue depressor drive assembly comprises:

[0021] A tongue depressing drive motor is installed on the primary conveying frame;

[0022] A tongue depressing driving gear is coaxially arranged with the output shaft of the tongue depressing driving motor;

[0023] A tongue depressing driving rack is mounted on the side plate of the opening and closing movable frame and cooperates with the tongue depressing driving gear;

[0024] When the tongue depressor driving gear is located at the front end of the tongue depressor driving rack, the upper tongue depressor and the lower tongue depressor are in a closed state; when the tongue depressor driving gear is located at the rear end of the tongue depressor driving rack, the upper tongue depressor and the lower tongue depressor are in an open state.

[0025] Furthermore, the upper linear conveying assembly comprises:

[0026] A secondary linear module is installed on the lower linear conveying assembly;

[0027] The secondary conveying plate is fixedly connected to the output end of the secondary linear module via a connecting piece; starting the secondary linear module drives the secondary conveying plate to slide back and forth along the cannula insertion direction.

[0028] Furthermore, the flexible segment mechanism comprises:

[0029] A flexible mounting frame, fixedly mounted on the secondary conveying plate;

[0030] A flexible tube assembly, the head end of which is fixedly mounted on a flexible mounting frame, and the tail end of which extends into the middle of the tongue depressor mechanism; the trachea sleeve is arranged on the outside of the flexible tube assembly;

[0031] Two drive mounting plates are symmetrically arranged on the secondary conveying plate and are respectively arranged on both sides of the flexible pipe assembly;

[0032] Four groups of flexible controllable driving units are arranged in pairs on the two driving mounting plates, and correspond to controlling the upward, downward, left and right bending directions of the ends of the flexible tube components respectively.

[0033] Furthermore, the flexible pipe assembly includes an uncontrollable flexible portion fixedly arranged on the flexible mounting frame, a controllable flexible portion fixedly connected to the uncontrollable flexible portion via a collar, and a hollow channel arranged between the uncontrollable flexible portion and the controllable flexible portion.

[0034] Furthermore, the flexible controllable drive unit includes a directional drive motor mounted on the drive mounting plate, a winding roller that is connected to the directional drive motor through a transmission assembly, at least one winding pulley mounted on the drive mounting plate, at least one guide wheel mounted on the secondary conveying plate, and an elastic steel wire traction rope;

[0035] One end of the elastic steel wire traction rope is fixed on the winding roller, and the other end is passed through the winding pulley and the guide wheel in sequence, passes through the hollow channel and is fixed on the controllable flexible part;

[0036] The ends of the four elastic steel wire traction ropes corresponding to the four groups of flexible controllable driving units are respectively fixed on the corresponding end inner walls of the upper, lower, left and right ends of the controllable flexible part.

[0037] Furthermore, the supporting chassis includes a bottom plate, at least three movable wheels installed on the lower end surface of the bottom plate, and a ground support column installed on the upper end surface of the bottom plate; one end of the connecting rod assembly is rotatably mounted on the ground support column.

[0038] As a second aspect, according to the above-mentioned method for using a compact endotracheal intubation robot, the method comprises the following steps:

[0039] S1: The position and posture of the support chassis and the support seat are determined, that is, the doctor pushes the support chassis to be set on one side of the bed, adjusts the connecting rod assembly so that the support seat moves to an appropriate position and posture, and the tongue depressor mechanism faces the human oral cavity, and the distance from the human oral cavity is set within a set distance range;

[0040] S2: state initialization setting, that is, the tongue depressor mechanism is in a closed state, the lower linear conveying assembly is located at the rear end of the support seat, the upper linear conveying assembly is located at the rear end of the lower linear conveying assembly, and the end of the flexible section mechanism is in a horizontal state;

[0041] S3: basic parameter setting, wherein the basic parameters include the maximum insertion depth a of the tongue depressor mechanism, the maximum opening angle b, the conveying interval δ of the lower linear conveying assembly, and the conveying interval β of the upper linear conveying assembly;

[0042] S3: Oral opening and epiglottis and tongue lifting and pressing, that is, the doctor controls the lower linear conveying assembly through remote control to drive the tongue depressor mechanism to move forward linearly, and controls the tongue depressor mechanism to open and maintain a continuous open state;

[0043] S4: Insertion and bending control of the flexible segment mechanism, that is, the doctor controls the start and stop of the four sets of flexible controllable drive units through remote control, adjusts the insertion direction of the flexible segment mechanism, controls the movement of the upper linear conveying assembly, and realizes the insertion action;

[0044] S5: The trachea is separated from the flexible segment mechanism, and tracheal intubation is completed;

[0045] S6: After completing the intubation, reset the operation.

[0046] The beneficial effects of the compact endotracheal intubation robot and the use method thereof of the present invention are:

[0047] The present invention abandons the traditional independent use of laryngoscope and soft mirror, and cleverly integrates the functional modules of laryngoscope and soft mirror by setting a double-layer parallel conveying mechanism parallel to the insertion direction of the cannula, arranges a tongue depressor mechanism at the front end of the lower linear conveying assembly, and installs a flexible segment mechanism on the upper linear conveying assembly. The tongue depressor mechanism and the flexible segment mechanism are respectively configured on two layers of linear conveying assemblies that are independent of each other and interrelated to each other, so as to realize the separate linear drive of the tongue depressor mechanism and the flexible segment mechanism, and solves the problem of large physical space occupied and easy damage to patients caused by directly clamping the laryngoscope with a six-axis robotic arm or carrying a soft mirror on a linear slide rail for tracheal intubation in the prior art. The present invention integrates modules with laryngoscope function and soft mirror function on the double-layer parallel conveying mechanism, greatly reduces the overall size of the robot, thereby avoiding the situation in which the robot in the prior art causes damage to the patient due to the large physical space. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0049] Figure 1 It is a stereoscopic diagram of a tracheal intubation robot according to an embodiment of the present invention.

[0050] Figure 2 It is a partial structural schematic diagram of a tracheal intubation robot according to an embodiment of the present invention.

[0051] Figure 3 yes Figure 2 Partial exploded view.

[0052] Figure 4 It is a three-dimensional diagram of a tongue depressor mechanism according to a first embodiment of the present invention.

[0053] Figure 5 yes Figure 4 main view.

[0054] Figure 6 It is a structural schematic diagram of a flexible controllable driving unit according to an embodiment of the present invention.

[0055] Figure 7 It is a structural schematic diagram of a supporting chassis according to Embodiment 1 of the present invention.

[0056] Figure 8This is a flow chart of a method for using the endotracheal intubation robot according to a second embodiment of the present invention.

[0057] Fig. 9 1 is a state transition diagram of the endotracheal intubation robot according to the second embodiment of the present invention.

[0058] Fig.10 1 is a driving process diagram of the tongue depressor mechanism according to the second embodiment of the present invention.

[0059] Fig.11 This is a diagram of the driving process of the controllable flexible portion according to the second embodiment of the present invention.

[0060] In the figure: 1, supporting chassis, 11, bottom plate, 12, moving wheel, 13, floor support column, 2, connecting rod assembly, 3, support seat, 4, double-layer parallel conveying mechanism, 41, lower linear conveying assembly, 411, first-level linear module, 412, first-level conveying frame, 42, upper linear conveying assembly, 421, second-level linear module, 422, second-level conveying plate, 5, tongue depressor mechanism, 51, opening and closing movable frame, 52, sliding assembly, 53, opening and closing fixed frame, 54, upper tongue depressor, 55, lower tongue depressor, 56, tongue depressor drive assembly, 561, pressure Tongue drive motor, 562, tongue depressing drive gear, 563, tongue depressing drive rack, 57, first connecting rod, 58, second connecting rod, 6, flexible section mechanism, 61, flexible mounting frame, 62, flexible tube assembly, 621, uncontrollable flexible part, 622, controllable flexible part, 623, sleeve, 63, drive mounting plate, 64, flexible controllable drive unit, 641, direction drive motor, 642, winding roller, 643, winding pulley, 644, guide wheel, 645, elastic steel wire traction rope, 646, guide ring, 7, trachea, 8, Luer connector. DETAILED DESCRIPTION

[0061] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0062] Embodiment 1

[0063] like Figure 1-Figure 7The specific embodiment of a compact tracheal intubation robot of the present invention shown in the figure comprises a supporting chassis 1, a supporting seat 3 rotatably mounted on the supporting chassis 1 through a connecting rod assembly 2, a double-layer parallel conveying mechanism 4 slidably arranged on the supporting seat 3, a tongue depressor mechanism 5 arranged at the front end of the double-layer parallel conveying mechanism 4, a flexible section mechanism 6 mounted on the double-layer parallel conveying mechanism 4, and an trachea 7 mounted on the flexible section mechanism 6 through a Luer connector 8. It is further explained that the double-layer parallel conveying mechanism 4 in the first embodiment comprises a lower-layer linear conveying assembly 41 arranged on the supporting seat 3 and an upper-layer linear conveying assembly 42 connected to the output end of the lower-layer linear conveying assembly 41.

[0064] Among them, the conveying directions of the upper linear conveying component 42 and the lower linear conveying component 41 are consistent with the insertion direction of the cannula and are independent of each other; the tongue depressor mechanism 5 is installed at the front end of the lower linear conveying component 41, and the flexible segment mechanism 6 is installed on the upper linear conveying component 42, and the tongue depressor mechanism 5 and the flexible segment mechanism 6 are separately linearly driven.

[0065] The present invention abandons the traditional independent use of laryngoscope and soft mirror, and cleverly integrates the functional modules of laryngoscope and soft mirror by setting a double-layer parallel conveying mechanism 4 parallel to the insertion direction of the cannula, and sets a tongue depressor mechanism 5 at the front end of the lower linear conveying component 41, and installs a flexible segment mechanism 6 on the upper linear conveying component 42. The tongue depressor mechanism 5 and the flexible segment mechanism 6 are respectively arranged on two layers of linear conveying components that are independent of each other and interrelated to each other to realize the separate linear drive of the tongue depressor mechanism 5 and the flexible segment mechanism 6, which solves the problem of large physical space occupied and easy damage to patients caused by the use of a six-axis robotic arm to directly clamp the laryngoscope or the use of a soft mirror on a linear slide rail for tracheal intubation in the prior art. The present invention integrates modules with laryngoscope function and soft mirror function on the double-layer parallel conveying mechanism 4, greatly reducing the overall size of the robot, thereby avoiding the situation in which the robot in the prior art causes damage to the patient due to the large physical space.

[0066] like Figure 3 As shown, the lower linear conveying assembly 41 in this embodiment includes a first-level linear module 411 and a first-level conveying frame 412 arranged on the support seat 3 along the insertion direction of the cannula. The first-level conveying frame 412 is fixed to the output end of the first-level linear module 411. Starting the first-level linear module 411 drives the first-level conveying frame 412 and the support seat 3 to slide back and forth along the insertion direction of the cannula.

[0067] As a preferred embodiment, the primary linear module 411 includes an electric push rod installed inside the support seat 3, a primary linear slide rail arranged on the support seat 3 along the insertion direction of the cannula, and a plurality of primary sliders arranged in cooperation with the primary linear slide rail, and the plurality of primary sliders are fixedly connected to the primary conveying frame 412. Among them, the electric push rod adopts a small electric push rod with an encoder with a rated voltage of 12V and a stroke of 200mm. The fixed end of the electric push rod is installed on the support seat 3, and the telescopic end of the electric push rod that can be telescoped forward and backward is connected to the primary conveying frame 412 installed with one end of the tongue depressor mechanism 5. When in use, the electric push rod is started to make the primary conveying frame 412 slide relative to the support seat 3 to realize the function of the front and rear linear displacement of the tongue depressor mechanism 5.

[0068] The upper linear conveying assembly 42 in this embodiment includes a secondary linear module 421 and a secondary conveying plate 422 mounted on the lower linear conveying assembly 41. The secondary conveying plate 422 is fixedly connected to the output end of the secondary linear module 421 through a connecting piece, and starting the secondary linear module 421 drives the secondary conveying plate 422 to slide back and forth along the cannula insertion direction.

[0069] As a preferred embodiment, the secondary linear module 421 in this embodiment includes a secondary drive motor installed on the primary conveying frame 412, a screw rod coaxially arranged with the output shaft of the secondary drive motor, a nut seat matched with the screw rod transmission, a connecting plate fixedly arranged with the nut seat, a secondary linear guide rail installed on the upper end surface of the primary conveying frame 412, and a plurality of secondary sliders slidably matched with the secondary linear guide rail, wherein the secondary conveying plate 422 and the connecting plate and the secondary slider are all fixedly arranged. The connecting plate is used to connect the secondary conveying frame with the output end of the secondary linear module 421. When in use, the secondary drive motor is started to drive the secondary conveying plate 422 to slide relative to the primary conveying frame 412 through the screw rod and nut pair, so as to realize the forward and backward linear movement of the flexible section mechanism 6 installed on the secondary conveying frame.

[0070] It should be understood that any structure with a linear conveying function that can be purchased on the market or easily thought of by technical personnel in this field can be applied to the primary linear module 411 and / or the secondary linear module 421, and no absolute limitation is made on the specific structure of the primary linear module 411 and the secondary linear module 421.

[0071] like Figure 4 and Figure 5As shown, the tongue depressor mechanism 5 in this embodiment includes an opening and closing movable frame 51, an opening and closing fixed frame 53, an upper tongue depressor 54 and a lower tongue depressor 55 that cooperate with each other and are both rotatably mounted on the opening and closing fixed frame 53, and a tongue depressor drive assembly 56, wherein the opening and closing movable frame 51 is slidably mounted on the primary conveying frame 412 through a sliding assembly 52; the opening and closing fixed frame 53 is fixedly mounted on the front end of the primary conveying frame 412; the upper tongue depressor 54 and the lower tongue depressor 55 that cooperate with each other and are both rotatably mounted on the opening and closing fixed frame 53, the upper tongue depressor 54 is rotatably connected to the opening and closing movable frame 51 through a first connecting rod 57; the lower tongue depressor 55 is rotatably connected to the opening and closing movable frame 51 through a second connecting rod 58; the tongue depressor drive assembly 56 is mounted on the primary conveying frame 412, and is used to drive the opening and closing movable frame 51 to reciprocate relative to the primary conveying frame 412 along the insertion direction of the cannula. In this embodiment, the first connecting rod 57 and the second connecting rod 58 are both rotatably matched with the upper tongue depressor 54 or the lower tongue depressor 55 through a rotating shaft.

[0072] It should be further explained that the tongue depressing driving assembly 56 in this embodiment includes: a tongue depressing driving motor 561 installed on the primary conveying frame 412, a tongue depressing driving gear 562 coaxially arranged with the output shaft of the tongue depressing driving motor 561, and a tongue depressing driving rack 563 installed on the side plate of the opening and closing movable frame 51, and the tongue depressing driving rack 563 cooperates with the tongue depressing driving gear 562. When the tongue depressing driving gear 562 is located at the front end of the tongue depressing driving rack 563, the upper tongue depressor 54 and the lower tongue depressor 55 are in a closed state; when the tongue depressing driving gear 562 is located at the rear end of the tongue depressing driving rack 563, the upper tongue depressor 54 and the lower tongue depressor 55 are in an open state.

[0073] The opening and closing movable frame 51 is slidably arranged with the primary conveying frame 412 through a sliding assembly 52 arranged on the outer side wall of the primary conveying frame 412. The sliding assembly 52 includes a linear slide rail fixedly arranged on the outer side wall of the primary conveying frame 412 and a plurality of small sliders slidably matched with the linear slide rail. The small sliders are fixedly connected with the opening and closing movable frame 51, wherein the side of the opening and closing movable frame 51 is a mirror-image L-shaped structure, and the mirror-image L-shaped structure enables its end to have sufficient height to cooperate with the upper tongue depressor 54 for rotation. Specifically, the tongue depressor drive motor 561 is started to drive the tongue depressor drive gear 562 to rotate, so that the tongue depressor drive rack 563 meshed with it reciprocates along the insertion direction, and the opening and closing movable frame 51 moves forward and backward, and the forward and backward linear motion of the opening and closing movable frame 51 is converted into the rotational motion of the first connecting rod 57 and the second connecting rod 58. The second connecting rod 58 and the opening and closing fixed frame 53 rotate relatively, and rotate up and down relatively following the forward and backward linear motion of the opening and closing movable frame 51.

[0074] The first connecting rod 57 and the opening and closing fixed frame 53 rotate relative to each other, and the upper tongue depressor 54 rotates up and down relatively following the front-to-back linear motion of the opening and closing movable frame 51, and rotates simultaneously with the lower tongue depressor 55, wherein the rotation directions of the upper tongue depressor 54 and the lower tongue depressor 55 are always opposite, thereby realizing the closing or opening action of the upper tongue depressor 54 and the lower tongue depressor 55.

[0075] Specifically, see Fig. 9 and Fig.10 When the tongue depressor driving motor 561 rotates counterclockwise, it drives the tongue depressor driving gear 562 to rotate counterclockwise, drives the tongue depressor driving rack 563 meshing therewith to move forward, drives the first connecting rod 57 and the second connecting rod 58 to rotate, thereby driving the lower tongue depressor plate 55 and the upper tongue depressor plate 54 to rotate and open, until the first connecting rod 57 and the second connecting rod 58 reach a vertical position, at which time the tongue depressor driving gear 562 is located at the rear end of the tongue depressor driving rack 563, the opening and closing movable frame 51 reaches the farthest distance relative to the primary conveying frame 412, and the upper tongue depressor plate 54 and the lower tongue depressor plate 55 are opened to the maximum extent. On the contrary, the tongue depressor plate performs a closing operation.

[0076] like Figure 6 As shown, the flexible section mechanism 6 in this embodiment includes: a flexible mounting frame 61, a flexible tube assembly 62, two drive mounting plates 63, and four groups of flexible controllable drive units 64. The flexible mounting frame 61 is fixedly mounted on the secondary conveying plate 422; the head end of the flexible tube assembly 62 is fixedly mounted on the flexible mounting frame 61, and the end extends into the middle of the tongue depressor mechanism 5. The trachea 7 is sleeved on the outside of the flexible tube assembly 62. When the flexible section mechanism 6 conveys the trachea 7 to the appropriate position, the Luer connector 8 is opened to separate the trachea 7 from the flexible section mechanism 6. When the flexible section mechanism 6 is reset and retracted under the drive of the double-layer parallel conveying mechanism 4, the flexible tube assembly 62 is pulled out of the trachea 7 to retain the trachea 7 in the conveying position, thereby completing the intubation action of the trachea 7. Two drive mounting plates 63 are symmetrically arranged on the secondary conveying plate 422, and are respectively arranged on both sides of the flexible tube assembly 62; four groups of flexible controllable drive units 64, wherein two flexible controllable drive units 64 are arranged on two drive mounting plates 63, and the four flexible controllable drive units 64 correspond to control the upward, downward, left and right bending directions of the end of the flexible tube assembly 62 respectively. Figure 3 For reference.

[0077] Among them, the flexible tube assembly 62 includes an uncontrollable flexible part 621 fixedly set on the flexible mounting frame 61, a controllable flexible part 622 fixedly connected to the uncontrollable flexible part 621 through a ring 623, and a hollow channel set between the uncontrollable flexible part 621 and the controllable flexible part 622.

[0078] It should be further explained that the flexible controllable drive unit 64 in this embodiment includes a direction drive motor 641 installed on the drive mounting plate 63, a winding roller 642 that is arranged to be driven by the direction drive motor 641 through a transmission assembly, at least one winding pulley 643 installed on the drive mounting plate 63, at least one guide wheel 644 installed on the secondary conveying plate 422, and an elastic steel wire traction rope 645. One end of the elastic steel wire traction rope 645 is fixed on the winding roller 642, and the other end is successively passed around the winding pulley 643 and the guide wheel 644, and is fixed on the controllable flexible part 622 through the hollow channel. The ends of the four elastic steel wire traction ropes 645 corresponding to the four groups of flexible controllable drive units 64 are respectively fixed on the corresponding end inner walls of the upper, lower, left and right ends of the controllable flexible part 622. The flexible controllable drive unit 64 in this embodiment also includes a guide ring 646 arranged on the drive mounting plate 63, and the setting of the wire ring is used to limit the position and tension of the elastic steel wire traction rope 645.

[0079] The drive mounting plate 63 is configured to support a direction drive motor 641 and a winding roller. A group of flexible controllable drive units 64 include two winding pulleys 643. The two winding pulleys 643 are arranged side by side as winding guide devices for the elastic steel wire traction rope 645. Two groups of flexible controllable drive units 64 on a drive mounting plate 63 correspond to four winding pulleys 643. The four winding pulleys 643 are arranged to correspond to the winding of two elastic steel wire traction ropes 645 respectively. Each group of flexible controllable driving units 64 corresponds to a winding roller 642 and a guide wheel 644. The four winding rollers 642 are fixed to the mounting frame of the direction driving motor 641 with screws, and are connected to the output shaft of the direction driving motor 641 through a transmission assembly. One end of the corresponding elastic steel wire traction rope 645 is adhered to the winding roller 642 with silicone rubber. The other end of the elastic steel wire traction rope 645 passes through the corresponding two winding pulleys 643 and a guide wheel 644 in turn, and then enters the middle channel from the entrance of the uncontrollable flexible part 621 until it reaches the middle position of the controllable flexible part 622 and adheres to the inner wall of the controllable flexible part 622.

[0080] As an implementation method, the controllable flexible portion 622 is made of a metal tube cut in one piece, and the linear array cuts in the left and right and up and down directions enable a relatively large bending in two orthogonal directions under the pull of the elastic steel wire traction rope 645, wherein the ends of the traction rope are respectively glued and fixed at four 90-degree intervals at the farthest end of the central axis of the controllable flexible section. The uncontrollable flexible portion 621 is composed of a black rubber tube on the outside, and has four metal spring tubes inside as channels for the elastic steel wire traction rope 645, and the ends of the spring tubes are respectively glued to the ends of the black rubber tubes for fixation.

[0081] like Figure 6As shown, the flexible mounting frame 61 includes a flexible segment wire entry frame and a flexible segment wire exit frame fixedly arranged on the secondary conveying plate 422. The setting of the guide wheel 644 turns the elastic steel wire traction rope 645 output from the winding roller 642 180 degrees into the channel in the flexible tube assembly 62 for subsequent direction control of the controllable flexible part 622.

[0082] As an implementation method, see Figure 7 The supporting chassis 1 in this embodiment includes a bottom plate 11, at least three moving wheels 12 installed on the lower end surface of the bottom plate 11, and a ground support column 13 installed on the upper end surface of the bottom plate 11; one end of the connecting rod assembly 2 is rotatably mounted on the ground support column 13. Among them, the connecting rod assembly 2 includes a first connecting rod fixedly mounted on the ground support rod by a fastening screw and a second connecting rod rotatably connected to the first connecting rod, and the second connecting rod is rotatably connected to the support seat 3. When in use, the position of the first connecting rod on the ground support rod can be adjusted, and the height of the support seat 3 can be adjusted, so that the compact tracheal intubation robot of the present application has a wider range of applications.

[0083] Embodiment 2

[0084] Based on the usage method of the above-mentioned compact endotracheal intubation robot, such as Figure 8 As shown, the following steps are included:

[0085] S1: The positions and postures of the support chassis 1 and the support seat 3 are determined, that is, the doctor pushes the support chassis 1 to be set on one side of the bed, adjusts the connecting rod assembly 2 to move the support seat 3 to an appropriate position and posture, and the tongue depressor mechanism 5 faces the human oral cavity, and the distance from the human oral cavity is set within a set distance range.

[0086] S2: Status initialization setting, that is, the tongue depressor mechanism 5 is in a closed state, the lower linear conveying component 41 is located at the rear end of the support seat 3, the upper linear conveying component 42 is located at the rear end of the lower linear conveying component 41, and the end of the flexible section mechanism 6 is in a horizontal state.

[0087] S3: Basic parameter setting, the basic parameters include the maximum insertion depth a of the tongue depressor mechanism 5 , the conveying interval δ of the lower linear conveying component 41 , and the conveying interval β of the upper linear conveying component 42 .

[0088] S3: The oral cavity is opened and the epiglottis and tongue are lifted and pressed. That is, the doctor controls the lower linear conveying component 41 through remote control to drive the tongue depressor mechanism 5 to move forward linearly, and controls the tongue depressor mechanism 5 to open and maintain a continuous open state.

[0089] S4: Insertion and bending control of the flexible segment mechanism 6, that is, the doctor controls the start and stop of the four groups of flexible controllable drive units 64 through remote control, adjusts the insertion direction of the flexible segment mechanism 6, controls the movement of the upper linear conveying component 42, and realizes the insertion action.

[0090] S5: The trachea 7 is separated from the flexible section mechanism 6, and the intubation of the trachea 7 is completed; it should be noted here that before the use of the tracheal intubation robot, the trachea 7 to be inserted is sleeved on the outside of the flexible tube assembly 62 of the flexible section mechanism 6, and is clamped on the flexible mounting frame 61 of the flexible section mechanism 6 through the Luer connector 8. When the flexible section mechanism 6 is driven to move by starting the double-layer parallel conveying mechanism 4 and the trachea 7 is conveyed to the appropriate position in the human oral cavity, the Luer connector 8 is opened, so that the trachea 7 is separated from the flexible section mechanism 6, and the flexible tube assembly 62 is pulled out of the trachea 7.

[0091] S6: After completing the intubation, reset the operation.

[0092] The double-layer parallel conveying mechanism 4 in the tracheal intubation robot can independently replace the doctor to perform laryngoscope and soft mirror intubation, and can also replace the doctor to perform laryngoscope and soft mirror combined intubation during the tracheal intubation process. Figures 9 to 11 As shown, the implementation process is as follows:

[0093] Before performing tracheal intubation, the doctor pushes the supporting chassis 1 to the side of the designated bed and adjusts the connecting rod assembly so that the tracheal intubation robot body reaches the ideal tracheal intubation position and posture. The front end of the entire body should face the human oral cavity and be at an appropriate distance, that is, the tongue depressor mechanism 5 on the supporting seat 3 faces the human oral cavity and the distance from the human oral cavity is within a set distance range, for example, the distance range is 2CM to 5CM.

[0094] Then, the state of the whole machine is initialized, that is, the tongue depressor mechanism 5 is in a closed state, the lower linear conveying assembly 41 is located at the rear end of the support seat 3, the upper linear conveying assembly 42 is located at the rear end of the lower linear conveying assembly 41, and the end of the flexible section mechanism 6 is in a horizontal state; when the above conditions are met, the entire machine is in an initial state. The basic parameters of the whole machine are set, including the maximum insertion depth a of the tongue depressor mechanism 5, the conveying interval δ of the lower linear conveying assembly 41, and the conveying interval β of the upper linear conveying assembly 42. The setting of the basic parameters avoids excessive movement of each mechanism and ensures the stability of the whole machine.

[0095] The doctor controls the extension of the electric push rod through remote control operation, driving the tongue depressor mechanism 5 and the flexible section mechanism 6 to move forward linearly as a whole, until the tongue depressor smoothly enters the human oral cavity and reaches the maximum insertion depth of the tongue depressor, and then stops the extension movement of the electric push rod. At this time, the tongue depressor is still in a closed state. Then, the doctor controls the tongue depressor drive motor 561 to rotate counterclockwise through remote control, and drives the opening and closing movable frame 51 to move forward in a straight line through the meshing movement of the gear rack, and drives the lower tongue depressor 55 and the upper tongue depressor 54 to rotate in the directions away from each other, thereby realizing the opening action of the tongue depressor mechanism 5, and when the tongue depressor reaches the maximum opening angle, stops the counterclockwise drive of the tongue depressor drive motor 561, thereby opening the patient's mouth and keeping it in a continuously open state. At the same time, the rotation and squeezing of the lower tongue depressor 55 can make the patient's epiglottis and tongue be lifted and compressed to a certain extent, replacing the doctor's work of operating a traditional laryngoscope, providing a wider field of view of the airway cavity, and exposing the glottis as much as possible to the field of view of the miniature camera installed at the end of the controllable flexible part 622, that is, completing the patient's oral opening and the lifting and pressing of the epiglottis and tongue. It should be understood that a miniature camera is provided at the end of the flexible part 622, which can ensure that the flexible section mechanism 6 delivers the trachea 7 to a precise position, thereby improving the intubation accuracy of the robot.

[0096] Since the four groups of flexible controllable drive units 64 are fixedly connected to the mounting plate, they can control the slider in the secondary linear module 421 to move forward linearly through remote control, thereby driving the secondary conveying plate 422 on the slider fixedly connected to the secondary linear module 421 to move forward, thereby driving the flexible section mechanism 6 to move forward as a whole, that is, driving the trachea 7 to be inserted into the patient's mouth, thereby realizing the insertion action of the trachea 7.

[0097] The bending motions in the two orthogonal directions of up and down and left and right corresponding to the end of the controllable flexible part 622 are respectively realized by pulling the four elastic steel wire traction ropes 645 adhered to the inner side of the end thereof, and the four traction ropes respectively pass through the controllable flexible part 622, the ring 623, the uncontrollable flexible part 621, the flexible segment outlet frame, the flexible inlet frame and the corresponding guide wheels 644, the winding pulley 643 and the wire loop respectively, and finally reach and adhere to the corresponding winding rollers 642. The doctor controls the direction drive motors 641 corresponding to the four elastic steel wire traction ropes 645 to rotate respectively and simultaneously through remote control operation, so as to realize the separate control of the length of the four elastic steel wire traction ropes 645, that is, to realize the control of the bending motions in the two orthogonal directions of up and down and left and right of the controllable flexible part 622, that is, to realize the insertion and bending control of the flexible segment mechanism 6, so as to replace the operation of rotating the soft mirror and turning the soft mirror bending knob by hand when the doctor operates the soft mirror.

[0098] Finally, the doctor manually pushes the trachea 7 along the flexible section mechanism 6 into the designated position of the patient's trachea, indicating that the intubation process is completed. At this time, the trachea 7 is separated from the flexible section mechanism 6 through the Luer connector 8. After the separation is completed, the whole machine is reset, that is, first start the double-layer parallel conveying mechanism 4 to restore the upper linear conveying assembly 42 to the initial state and at the same time adjust the flexible section mechanism 6 to return to the normal state, then control the tongue depressor mechanism 5 to return to the closed state, and then start the double-layer parallel conveying mechanism 4 again to restore the lower linear conveying assembly 41 to the initial state.

[0099] The compact endotracheal intubation robot is used to perform intubation on a patient, and the tongue depressor mechanism 5 and the flexible segment mechanism 6 can be separated and linearly driven, which greatly reduces the physical space occupied by the robot and expands the application scenarios.

[0100] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A compact endotracheal intubation robot, It is characterized in that It comprises a supporting chassis (1), a supporting seat (3) rotatably mounted on the supporting chassis (1) via a connecting rod assembly (2), a double-layer parallel conveying mechanism (4) slidably arranged on the supporting seat (3), a tongue depressor mechanism (5) arranged at the front end of the double-layer parallel conveying mechanism (4), a flexible section mechanism (6) mounted on the double-layer parallel conveying mechanism (4), and an air pipe (7) mounted on the flexible section mechanism (6) via a Luer connector (8); The double-layer parallel conveying mechanism (4) comprises: A lower linear conveying assembly (41) is arranged on the support seat (3); An upper linear conveying component (42) is connected to the output end of the lower linear conveying component (41); The conveying directions of the upper linear conveying assembly (42) and the lower linear conveying assembly (41) are both consistent with the insertion direction of the cannula and are independent of each other; the tongue depressor mechanism (5) is installed at the front end of the lower linear conveying assembly (41), and the flexible segment mechanism (6) is installed on the upper linear conveying assembly (42); the tongue depressor mechanism (5) and the flexible segment mechanism (6) are separately linearly driven.

2. A compact endotracheal intubation robot according to claim 1, It is characterized in that The lower linear conveying assembly (41) comprises: A primary linear module (411) arranged on the support seat (3) along the insertion direction of the cannula; The primary conveying frame (412) is fixedly arranged at the output end of the primary linear module (411), and the primary linear module (411) is started to drive the primary conveying frame (412) and the support seat (3) to slide back and forth along the cannula insertion direction.

3. A compact endotracheal intubation robot according to claim 2, It is characterized in that The tongue depressor mechanism (5) comprises: An opening and closing movable frame (51) is slidably arranged on the primary conveying frame (412) via a sliding assembly (52); An opening and closing fixed frame (53) is fixedly mounted on the front end of the primary conveying frame (412); An upper tongue depressor (54) and a lower tongue depressor (55) are mutually matched and rotatably mounted on an opening and closing fixed frame (53), wherein the upper tongue depressor (54) is rotatably connected to the opening and closing movable frame (51) via a first connecting rod (57); and the lower tongue depressor (55) is rotatably connected to the opening and closing movable frame (51) via a second connecting rod (58); The tongue depressing driving assembly (56) is mounted on the primary conveying frame (412) and is used to drive the opening and closing movable frame (51) to reciprocate relative to the primary conveying frame (412) along the cannula insertion direction.

4. A compact endotracheal intubation robot according to claim 3, It is characterized in that The tongue depressing drive assembly (56) comprises: A tongue depressing drive motor (561) is mounted on the primary conveying frame (412); A tongue depressing driving gear (562) is coaxially arranged with the output shaft of the tongue depressing driving motor (561); A tongue depressing driving rack (563) is mounted on the side plate of the opening and closing movable frame (51) and cooperates with the tongue depressing driving gear (562); When the tongue depressor driving gear (562) is located at the front end of the tongue depressor driving rack (563), the upper tongue depressor (54) and the lower tongue depressor (55) are in a closed state; when the tongue depressor driving gear (562) is located at the rear end of the tongue depressor driving rack (563), the upper tongue depressor (54) and the lower tongue depressor (55) are in an open state.

5. A compact endotracheal intubation robot according to claim 1, It is characterized in that The upper linear conveying assembly (42) comprises: A secondary linear module (421) is installed on the lower linear conveying assembly (41); The secondary conveying plate (422) is fixedly connected to the output end of the secondary linear module (421) via a connecting piece; the secondary linear module (421) is started to drive the secondary conveying plate (422) to slide back and forth along the cannula insertion direction.

6. A compact endotracheal intubation robot according to claim 5, It is characterized in that The flexible segment mechanism (6) comprises: A flexible mounting frame (61) fixedly mounted on the secondary conveying plate (422); A flexible tube assembly (62), the head end of which is fixedly mounted on a flexible mounting frame (61), and the tail end of which extends into the middle of the tongue depressor mechanism (5); the trachea (7) is sleeved on the outside of the flexible tube assembly (62); Two drive mounting plates (63) are symmetrically arranged on the secondary conveying plate (422) and are respectively arranged on both sides of the flexible pipe assembly (62); Four groups of flexible controllable drive units (64) are arranged in pairs on the two drive mounting plates (63) to respectively control the upward, downward, leftward and rightward bending directions of the end of the flexible tube assembly (62).

7. A compact endotracheal intubation robot according to claim 6, Features: The flexible pipe assembly (62) comprises an uncontrollable flexible portion (621) fixedly arranged on the flexible mounting frame (61), a controllable flexible portion (622) fixedly connected to the uncontrollable flexible portion (621) via a collar (623), and a hollow channel arranged between the uncontrollable flexible portion (621) and the controllable flexible portion (622).

8. A compact endotracheal intubation robot according to claim 7, Features: The flexible controllable driving unit (64) comprises a directional driving motor (641) mounted on the driving mounting plate (63), a winding roller (642) which is arranged to be driven by the directional driving motor (641) through a transmission assembly, at least one winding pulley (643) mounted on the driving mounting plate (63), at least one guide wheel (644) mounted on the secondary conveying plate (422), and an elastic steel wire traction rope (645); One end of the elastic steel wire traction rope (645) is fixed on the winding roller (642), and the other end is passed through the winding pulley (643) and the guide wheel (644) in sequence, passes through the hollow channel, and is fixed on the controllable flexible part (622); The ends of the four elastic steel wire traction ropes (645) corresponding to the four groups of flexible controllable drive units (64) are respectively fixed on the corresponding end inner walls of the upper, lower, left and right ends of the controllable flexible part (622).

9. A compact endotracheal intubation robot and a method of using the same according to claim 1, Features: The supporting chassis (1) comprises a bottom plate (11), at least three movable wheels (12) mounted on the lower end surface of the bottom plate (11), and a ground support column (13) mounted on the upper end surface of the bottom plate (11); one end of the connecting rod assembly (2) is rotatably mounted on the ground support column (13).

10. A method for using a compact endotracheal intubation robot according to any one of claims 5 to 8, It is characterized in that The following steps are involved: S1: The positions and postures of the support chassis (1) and the support seat (3) are determined, that is, the doctor pushes the support chassis (1) to be set on one side of the bed, adjusts the connecting rod assembly (2) so that the support seat (3) moves to an appropriate position and posture, and the tongue depressor mechanism (5) faces the human oral cavity, and the distance from the human oral cavity is set within a set distance range; S2: state initialization setting, that is, the tongue depressor mechanism (5) is in a closed state, the lower linear conveying assembly (41) is located at the rear end of the support seat (3), the upper linear conveying assembly (42) is located at the rear end of the lower linear conveying assembly (41), and the end of the flexible section mechanism (6) is in a horizontal state; S3: basic parameter setting, the basic parameters including the maximum insertion depth a, the maximum opening angle b, the conveying interval δ of the lower linear conveying component (41), and the conveying interval β of the upper linear conveying component (42) of the tongue depressor mechanism (5); S3: Oral opening and epiglottis and tongue lifting and pressing, that is, the doctor controls the lower linear conveying component (41) through remote control to drive the tongue depressor mechanism (5) to move forward linearly, and controls the tongue depressor mechanism (5) to open and maintain a continuous open state; S4: Insertion and bending control of the flexible segment mechanism (6), that is, the doctor controls the start and stop of the four sets of flexible controllable drive units (64) through remote control, adjusts the insertion direction of the flexible segment mechanism (6), controls the movement of the upper linear conveying component (42), and realizes the insertion action; S5: the trachea (7) is separated from the flexible section mechanism (6), and the intubation of the trachea (7) is completed; S6: After completing the intubation, reset the operation.

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