Catheter conveying mechanism supporting quick replacement and force sensing tracheal intubation robot using same

Abstract

The invention discloses a catheter conveying mechanism supporting quick replacement and a force sensing tracheal intubation robot using the same, and relates to the field of medical instruments. The tracheal intubation mechanism solves the problems that an existing tracheal intubation mechanism is low in tube placing precision and low in tube replacing speed. A guide pipe support is installed on the upper end face of a longitudinal arm, a guide pipe motor is installed on the guide pipe support and connected with a driving guide wheel through a driving guide wheel core, a guide wheel sliding block mechanism and a pawl are embedded in the guide pipe support, and a support cover covers the guide pipe support and covers the guide wheel sliding block mechanism and the pawl. The driven guide wheel is rotationally installed on the guide wheel sliding block mechanism, and after the pawl is shifted, the driven guide wheel slides outwards to achieve adjustment of the distance between the driven guide wheel and the driving guide wheel. The tracheal catheter is used for assisting a doctor in inserting the tracheal catheter into the trachea of a patient through an oral cavity before an operation or after anesthesia, so that an artificial airway is established to assist the patient in breathing.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a catheter delivery mechanism supporting rapid replacement and a force-sensing endotracheal intubation robot using the mechanism, which are used to assist doctors in helping patients establish artificial airways before surgery. Background Art

[0002] In recent years, tracheal intubation robots using video soft scopes have become a development direction in the research and development of tracheal intubation surgery, such as: Fudan University's tracheal intubation robot operating trolley, Hu Xiaomin's tracheal intubation mechanism and tracheal intubation robot, and Harbin Institute of Technology's remote-controlled video soft scope tracheal intubation robot for general anesthesia.

[0003] Among them, the announcement number is CN114588456A, the applicant is Hu Xiaomin, and the patent name is an invention patent for an endotracheal intubation mechanism and an endotracheal intubation robot. In the endotracheal intubation mechanism, the first roller and the second roller are used to clamp the intubation tube. In order to adapt to endotracheal intubations of different diameters, a baffle is rotatably arranged on the adapter, and the baffle is slid into the corresponding card slot. The distance between two adjacent rollers is limited by the insertion of the baffle, and then the adaptation to different diameters is achieved. However, it is found in actual use that since the distance between two adjacent card slots is fixed, and the thickness between two adjacent card slots is the roller adjustment accuracy, since the thickness cannot be too thin, if it is too thin, although the adjustment accuracy between two adjacent rollers can be improved, the too thin thickness will cause deformation after long-term use and stress, which will cause a large error between the theoretical push position and the actual push position of the endotracheal intubation during the pushing process. Therefore, since the endotracheal tube structure cannot fine-tune the distance between two adjacent rollers, the friction between the endotracheal tubes is unstable after long-term use, resulting in a problem of low tube placement accuracy. In addition, when the second roller is separated from the first roller, it is necessary to first slide the adjustment member to the third direction, and then slide the baffle into the corresponding position of the slot, and then release the endotracheal tube, and replace the endotracheal tube. The tube replacement process has cumbersome steps, and the baffle needs to be accurately slid into the corresponding position of the slot, resulting in a slow tube replacement speed.

[0004] In addition, due to the complex environment in the human oral cavity and the tongue muscle tissue occupying most of the space, the soft videoscope is easily blocked from view and disoriented during the insertion of the soft videoscope into the patient's oropharynx. In addition, the soft videoscope cannot be used as a low-cost disposable medical consumable, which will bring high costs and cross-infection risks. Both methods are performed by doctors, which are highly dependent on the doctor's experience and proficiency, and require high professionalism from the doctor. Therefore, we have developed a force-sensing tracheal intubation robot that can achieve automatic intubation.

[0005] In summary, the existing tracheal intubation mechanism cannot fine-tune the distance between two adjacent rollers, resulting in unstable friction between the tracheal tubes after long-term use, low tube placement accuracy, and slow tube replacement speed. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that the distance between two adjacent rollers cannot be fine-tuned, resulting in unstable friction between tracheal tubes after long-term use, low tube placement accuracy, and slow tube replacement speed. Further, a catheter delivery mechanism that supports rapid replacement and a force-sensing tracheal intubation robot using the mechanism are provided.

[0007] The technical solution of the present invention is:

[0008] A catheter conveying mechanism supporting rapid replacement comprises a catheter motor, a catheter bracket, a bracket cover, a driving guide wheel, a driven guide wheel, a ratchet, a guide wheel slider mechanism and a driving guide wheel core. The catheter bracket is mounted on the upper end surface of a longitudinal arm, the catheter motor is mounted on the catheter bracket and connected to the driving guide wheel through the driving guide wheel core, the guide wheel slider mechanism and the ratchet are embedded in the catheter bracket, the bracket cover is mounted on the catheter bracket and covers the guide wheel slider mechanism and the ratchet, the driven guide wheel is rotatably mounted on the guide wheel slider mechanism, and the driven guide wheel is slid outward after the ratchet is moved to adjust the distance between the driven guide wheel and the driving guide wheel.

[0009] Furthermore, the driving guide wheel comprises a driving guide wheel body and a driving guide wheel outer layer, the driving guide wheel body is sleeved on the driving guide wheel core, and the driving guide wheel outer layer is sleeved on the driving guide wheel body.

[0010] Furthermore, the driven guide wheel includes a driven guide wheel outer layer and a driven guide wheel body. The driven guide wheel body is sleeved on the driven guide wheel core on the guide wheel slider mechanism, and the driven guide wheel outer layer is sleeved on the driven guide wheel body.

[0011] Furthermore, the guide wheel slider mechanism includes a slider body, a ratchet bottom cover, a spring and a driven guide wheel core. The driven guide wheel core is vertically rotatably mounted on the slider body. The ratchet bottom cover is mounted on the lower end surface of the slider body, and the ratchet on the ratchet bottom cover is engaged with the pawl. One end of the spring is mounted on the bottom of the ratchet bottom cover, and the other end of the spring is against the catheter bracket.

[0012] Preferably, the tooth pitch between two adjacent ratchet teeth on the ratchet bottom cover is 1-5 mm.

[0013] Furthermore, the pawl includes a pawl body and an elastic member, the pawl body is a rod body with an obtuse angle, and a rotating shaft is provided in the middle of the rod body, one end of the rod body extends out of the catheter bracket, and the outer side of the other end of the rod body is engaged with the ratchet through the pawl head, one end of the elastic member is installed on the rod body on the side opposite to the pawl head, and the other end of the elastic member is against the catheter bracket.

[0014] The present invention also provides a force-sensing endotracheal intubation robot using a catheter delivery mechanism that supports rapid replacement, comprising a longitudinal arm, a guide bar motion mechanism, a catheter delivery mechanism, an insertion and extraction mechanism and a guide bar, wherein the guide bar motion mechanism is mounted on the upper end surface of one side of the longitudinal arm, and the insertion and extraction mechanism is mounted on the lower end surface of the other side of the longitudinal arm; one end of the guide bar is connected to the guide bar motion mechanism, and driven by the guide bar motion mechanism, the guide bar realizes rotational movement and propulsion movement, the other end of the guide bar is sleeved with a flexible endotracheal catheter, and the other end of the guide bar is sleeved with the flexible endotracheal catheter and then connected to the catheter delivery mechanism installed on the other side of the longitudinal arm, and the flexible endotracheal catheter is inserted into the airway along the guide bar under the action of the catheter delivery mechanism; wherein the catheter delivery mechanism pushes the flexible endotracheal catheter to the airway through the friction force of the guide wheel, and one of the guide wheels adjusts the spacing between it and the other guide wheel through the engagement of a pawl with a ratchet on a ratchet bottom cover.

[0015] Furthermore, the guide bar movement mechanism includes a guide bar axial motor, a threaded screw module, a feed slider, a guide bar rotating motor, a pressure sensor and a clamp. The threaded screw module is installed on the upper end surface of the longitudinal arm, the guide bar axial motor is connected to the threaded screw module through a coupling, the feed slider is installed on the threaded screw module, the guide bar rotating motor is connected to the feed slider, the pressure sensor and the clamp are sequentially installed on the right side of the feed slider, and one end of the guide bar is clamped by the clamp, and the other end of the guide bar extends toward the catheter conveying mechanism side.

[0016] Furthermore, the plug-in and pull-out mechanism comprises a base and a plug-in and pull-out slider, the base is mounted on the longitudinal arm, and the plug-in and pull-out slider is slidably mounted on the base.

[0017] Furthermore, it also includes a plurality of motor drivers, which are mounted on the lower end surface of the longitudinal arm.

[0018] Compared with the prior art, the present invention has the following effects:

[0019] 1. The guide wheel slider mechanism of the present invention adopts ratchets. The ratchet is engaged with the ratchet, so that the driven wheel can clamp the flexible tracheal tube in one direction. The driven guide wheel can be quickly separated from the flexible tracheal tube by moving the ratchet to separate it from the ratchet of the guide wheel slider. After separation, a new flexible tracheal tube 6 can be quickly removed and installed. Even after long-term use, the present invention will not deform the ratchet and the ratchet, thereby ensuring the accuracy of the distance adjustment between the active guide wheel and the driven guide wheel after long-term use.

[0020] 2. A ratchet bottom cover on the catheter conveying mechanism of the present invention is provided with a ratchet, and the distance between the active guide wheel and the driven guide wheel is adjusted by the position of the pawl stuck on the ratchet. The distance adjustment is flexible, and the pitch between two adjacent ratchets is very short, only 1.5 mm. Therefore, it has a distance adjustment accuracy of millimeter level, and realizes fine adjustment of the distance between the two guide wheels.

[0021] 3. The tracheal intubation robot of the present invention clamps the magnetic guide strip in the clamp, and based on the magnetic guidance and push force feedback information, pushes and fine-tunes the rotation of the guide strip through the guide strip motion mechanism to automatically insert the guide strip into the glottis, and then inserts the flexible catheter into the glottis along the guide strip through the friction guide wheel of the catheter delivery mechanism. During the tracheal intubation process, only one medical assistant is needed to install and disassemble and lubricate the guide strip and tracheal catheter nearby, and there is no need for experienced anesthesiologists to operate the bronchoscope to visually find the glottis position.

[0022] 4. The cooperation of the catheter delivery mechanism and the insertion and extraction mechanism of the present invention can realize that after the intubation operation is completed, the flexible endotracheal tube can be quickly released and the endotracheal intubation robot and the guide strip can be evacuated from the work area together, so that the subsequent doctor can connect the endotracheal tube to the ventilator.

[0023] 5. In the process of inserting the flexible guide strip into the glottis, the present invention radially limits the flexible guide strip through the front screw guide rail seat to avoid distortion of the pushing force measurement caused by bending of the guide strip.

[0024] 6. When installing and removing the guide strip and the tracheal tube, the present invention uses an adjustable clamp and a movable driven wheel to achieve rapid replacement of medical consumables and improve intubation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is the overall structure diagram of the present invention;

[0026] Figure 2 It is the structural diagram of the plug-in and unplug mechanism and the motor driver;

[0027] Figure 3 is an exploded view of the catheter push delivery mechanism;

[0028] Figure 4 It is a structural diagram of the catheter push delivery mechanism;

[0029] Figure 5 It is the structural diagram of the guide wheel slider mechanism;

[0030] Figure 6 It is a three-dimensional exploded view of the catheter push delivery mechanism after removing the stent cover.

[0031] Figure 7 It is a schematic diagram of the structure of the pawl and the ratchet on the ratchet bottom cover in state one;

[0032] Figure 8 yes Figure 7 A partial enlarged view of the pawl and the ratchet teeth when they are engaged;

[0033] Fig. 9 is a schematic diagram of the structure of the pawl and the ratchet on the ratchet bottom cover in state 2;

[0034] Fig.10 yes Fig. 9 A partial enlarged view of the pawl and ratchet teeth when they are engaged.

[0035] In the figure: 1, longitudinal arm, 2, guide bar movement mechanism, 21, guide bar axial motor, 22, threaded screw module, 23, feed slider, 24, guide bar rotation motor, 25, pressure sensor, 26, clamp, 3 catheter conveying mechanism, 31, catheter motor, 32, catheter bracket, 33, bracket cover, 34, active guide wheel, 341, active guide wheel body, 342, active guide wheel outer layer, 35, driven guide wheel, 351, driven guide wheel outer layer, 352, driven guide wheel shaft, 36, ratchet, 361, claw body, 362, elastic member, 37, guide wheel slider mechanism, 371, slider body, 372, ratchet bottom cover, 373, spring, 374, driven guide wheel core, 38, active guide wheel core, 4, plug-in mechanism, 41, base, 42, plug-in slider, 5, guide bar, 6, flexible tracheal catheter, 7, motor driver. DETAILED DESCRIPTION

[0036] It should be noted that: in the embodiment of the present invention, the linear movement direction of the screw rod module is set as the X direction, the direction of the line connecting the centers of the two friction guide wheels of the catheter delivery mechanism is set as the Y direction, and the direction perpendicular to the longitudinal arm is set as the Z direction. In this embodiment, the direction of the guide bar being inserted into the oral cavity is the front direction, and the opposite direction is the rear direction.

[0037] Specific implementation method 1: Combination Figures 1 to 6 , Figures 7 to 10 The present embodiment is described. The catheter conveying mechanism supporting quick replacement in the present embodiment is the catheter conveying mechanism 3. The catheter conveying mechanism 3 includes a catheter motor 31, a catheter bracket 32, a bracket cover 33, an active guide wheel 34, a driven guide wheel 35, a ratchet 36, a guide wheel slider mechanism 37 and an active guide wheel core 38. The catheter bracket 32 ​​is mounted on the upper end surface of the longitudinal arm 1. The catheter motor 31 is mounted on the catheter bracket 32 ​​and connected to the active guide wheel 34 through the active guide wheel core 38. The guide wheel slider mechanism 37 and the ratchet 36 are embedded in the catheter bracket 32. The bracket cover 33 is covered on the catheter bracket 32 ​​and covers the guide wheel slider mechanism 37 and the ratchet 36. The driven guide wheel 35 is rotatably mounted on the guide wheel slider mechanism 37. After the ratchet 36 is turned, the driven guide wheel 35 is slid outward to adjust the distance between the driven guide wheel 35 and the active guide wheel 34.

[0038] The main function of the catheter delivery mechanism of this embodiment is to push the tracheal tube along the guide strip to insert into the airway. The mechanism has only one degree of freedom, and the motor drives the guide wheel core to transmit torque through the hexagonal key, and pushes the tracheal tube into the patient's airway through the friction force of the guide wheel.

[0039] The friction guide wheels (active guide wheel 34 and driven guide wheel 35) are wrapped with a metal guide wheel made of flexible polyurethane material, which increases the friction and improves the pushing effect. Below the driven guide wheel is a driven wheel slider based on a ratchet bar; when the ratchet is held, it can only clamp the driven guide wheel toward the active guide wheel, and maintain the clamping force through the ratchet action. The clamping force increases the positive pressure of the friction guide wheel, thereby increasing the friction; when the operator manually turns the ratchet, the driven wheel slider moves away from the active wheel under the action of the spring, realizing the rapid release of the tracheal tube.

[0040] When the pawl is engaged with the ratchet teeth, the driven guide wheel 35 can only move toward the driving guide wheel 34, thereby clamping the middle tracheal tube. When the pawl is separated from the ratchet teeth, the driven wheel quickly moves away from the driving wheel under the action of the elastic force of the elastic body (referring to the spring 373), releasing the middle tracheal tube, realizing rapid tube replacement (referring to the flexible tracheal tube), improving the tube replacement efficiency, and reducing the number of steps in the prior art when replacing the tube.

[0041] Then, the robot and the connected guide strip can be removed from the work area by using the plug-in and pull-out mechanism. At this point, there is no guide wheel stuck on the outside of the flexible endotracheal tube, no guide strip inside, and the airway remains alone in the patient's mouth.

[0042] Specific implementation method 2: Combination Figure 3 and Figure 4 The present embodiment is described. The driving guide wheel 34 of the present embodiment includes a driving guide wheel body 341 and a driving guide wheel outer layer 342. The driving guide wheel body 341 is sleeved on the driving guide wheel core 38, and the driving guide wheel outer layer 342 is sleeved on the driving guide wheel body 341. With such a configuration, the driving guide wheel body 341 is convenient for connecting with the driving guide wheel core 38, and the driving guide wheel outer layer 342 is convenient for generating friction with the flexible tracheal tube 6. The other components and connection relationships are the same as any one of the specific embodiments in the first embodiment.

[0043] Specific implementation method three: Combination Figure 3 to Figure 4 To illustrate this embodiment, the driven guide wheel 35 of this embodiment includes a driven guide wheel outer layer 351 and a driven guide wheel shaft 352. The driven guide wheel shaft 352 is mounted on the driven guide wheel core 374 on the guide wheel slider mechanism 37, and the driven guide wheel outer layer 351 is mounted on the driven guide wheel shaft 352.

[0044] In this way, the master and slave guide wheels and the master and slave guide wheel cores are matched with hexagonal key clearances, and can be easily removed for disinfection or replacement. The outer layers of the master and slave guide wheels are made of flexible polyester amine, which can increase the friction with the flexible tracheal tube.

[0045] The other structures and components are the same as any one of the specific embodiments 1 to 2.

[0046] Specific implementation method four: Combination Figure 3 to Figure 4 , Figures 7 to 10 To illustrate this embodiment, the guide wheel slider mechanism 37 of this embodiment includes a slider body 371, a ratchet bottom cover 372, a spring 373 and a driven guide wheel core 374, the driven guide wheel core 374 is vertically rotatably mounted on the slider body 371, the ratchet bottom cover 372 is mounted on the lower end surface of the slider body 371, and the ratchet on the ratchet bottom cover 372 is engaged with the pawl 36, one end of the spring 373 is mounted on the bottom of the ratchet bottom cover 372, and the other end of the spring 373 is against the catheter bracket 32.

[0047] In this configuration, the ratchet on one side of the ratchet bottom cover 372 meshes with the pawl 36, so that when the pawl 36 acts, the guide wheel slider mechanism 37 can only move in the direction close to the active guide wheel 34; when the pawl 36 is released, the guide wheel slider mechanism 37 can move in the Y direction and automatically move away from the active guide wheel 34 under the action of the spring 373. Other components and connection relationships are the same as any one of the specific embodiments one to three.

[0048] Specific implementation method five: Combination Figure 3 to Figure 4 To illustrate this embodiment, the pitch between two adjacent ratchet teeth on the ratchet bottom cover 372 of this embodiment is 1-5 mm, preferably 1.5 mm.

[0049] Such arrangement facilitates fine adjustment of the distance between the two guide wheels. Other components and connection relationships are the same as any one of the specific implementation modes 1 to 4.

[0050] Specific implementation method six: Combination Figure 3 To illustrate this embodiment, the pawl 36 of this embodiment includes a pawl body 361 and an elastic member 362. The pawl body 361 is a rod body with an obtuse angle, and a rotating shaft is provided in the middle of the rod body. One end of the rod body extends out of the catheter bracket 32, and the outer side of the other end of the rod body is engaged with the ratchet through the pawl head. One end of the elastic member 362 is installed on the rod body on the side opposite to the pawl head, and the other end of the elastic member 362 is against the inside of the catheter bracket 32.

[0051] Such arrangement facilitates the cooperation with the ratchet teeth. The other components and connection relationships are the same as any one of the specific implementation modes 1 to 5.

[0052] In addition, combined Figures 7 to 10 The principle and technical effect of the present invention when the pawl and the ratchet are in meshing state are described as follows:

[0053] Compared with the traditional limit plate type (for example, the announcement number is CN114588456A), the ratchet bar of the present invention is more convenient to adjust and has higher adjustment accuracy. The reason is that the accuracy of the ratchet bar of the present invention is 1.5mm or even less, and the limit plate is at least 2mm. Although the limit plate that is too thin can improve the accuracy, its reliability decreases gradually with the decrease of thickness. Therefore, the reliability of the ratchet bar of the present invention is higher. In addition, the limit plate will deform after long-term use under stress.

[0054] The present invention installs the spring 373 on the other side (that is, on the side of the driven guide wheel). Under the elastic force of the spring 373, the driven guide wheel 35 moves toward the driving guide wheel 34, thereby realizing the automatic clamping of the driven guide wheel 35. When the positive pressure required by the flexible tracheal tube 6 is small, the spring force is equal to the positive pressure, and the ratchet 36 works on the ratchet working surface (such as Fig.10 The green slope in the figure shows that in one ratchet tooth, the distance between the two guide wheels (the driven guide wheel 35 and the active guide wheel 34) can change linearly; when a larger positive pressure is required, the slider body 371 is manually moved toward the active guide wheel 35 so that the pawl 36 is against the non-working surface of the next ratchet tooth (such as Figure 8 The blue vertical plane) has a fixed distance between the two guide wheels, and the distance changes discretely when they hit different ratchets. This allows the distance between the two guide wheels to be adjusted linearly between multiple discrete values, with higher distance adjustment accuracy and more comprehensive adjustment methods (the limit piece only has discrete changes).

[0055] The ratchet structure adopted by the present invention is easy to operate and the guide wheel is automatically clamped.

[0056] Specific implementation method seven: Combination Figures 1 to 6 The present embodiment is described. The present embodiment includes a longitudinal arm 1, which also includes a guide bar movement mechanism 2, a catheter conveying mechanism 3, an insertion and extraction mechanism 4 and a guide bar 5. The guide bar movement mechanism 2 is installed on the upper end surface of one side of the longitudinal arm 1, and the insertion and extraction mechanism 4 is installed on the lower end surface of the other side of the longitudinal arm 1; one end of the guide bar 5 is connected to the guide bar movement mechanism 2, and the guide bar 5 realizes rotational movement and propulsion movement under the drive of the guide bar movement mechanism 2, and the other end of the guide bar 5 is sleeved with a flexible tracheal tube 6, and the other end of the guide bar 5 is sleeved with the flexible tracheal tube 6 and then connected to the catheter conveying mechanism 3 installed on the other side of the longitudinal arm 1, and the flexible tracheal tube 6 is inserted into the airway along the guide bar 5 under the action of the catheter conveying mechanism 3; wherein, the catheter conveying mechanism 3 pushes the flexible tracheal tube 6 to the airway through the friction force of the guide wheel, and one of the guide wheels adjusts the distance between it and the other guide wheel through the engagement of the pawl 36 with the ratchet on the ratchet bottom cover 372.

[0057] The tracheal intubation robot of this embodiment mainly controls the insertion of the guide bar into the glottis of the patient and the push of the tracheal tube along the guide bar into the patient's airway under the guidance of the external guide magnet and the force sensing feedback, so as to realize the tracheal intubation operation. Based on this analysis, the main mechanical mechanism of the robot is mainly divided into three parts: the guide bar movement mechanism, the tube delivery mechanism and the insertion and extraction mechanism. Among them, the guide bar adopts a magnetic guide bar, and the specific implementation principle refers to the content disclosed in the announcement number CN111419405B.

[0058] In this embodiment, the guide bar moving mechanism 2 installed on the longitudinal arm 1 is used to push and rotate the guide bar 5 moving into the oral cavity. The tube delivery mechanism 3 is used to push the flexible tracheal tube 6 moving along the guide bar. The insertion and extraction mechanism 4 is used to position and install the tracheal intubation robot.

[0059] Specific implementation method eight: Combination Figure 1 to Figure 2 To illustrate this embodiment, the guide bar movement mechanism 2 of this embodiment includes a guide bar axial motor 21, a threaded screw module 22, a feed slider 23, a guide bar rotation motor 24, a pressure sensor 25 and a clamp 26. The threaded screw module 22 is installed on the upper end surface of the longitudinal arm 1, the guide bar axial motor 21 is connected to the threaded screw module 22 through a coupling, the feed slider 23 is installed on the threaded screw module 22, the guide bar rotation motor 24 is connected to the feed slider 23, the pressure sensor 25 and the clamp 26 are sequentially installed on the right side of the feed slider 23, and one end of the guide bar 5 is clamped by the clamp 26, and the other end of the guide bar 5 extends to the side of the catheter conveying mechanism 3.

[0060] The guide bar motion mechanism 2 of this embodiment mainly realizes the control of the guide bar feeding and rotational movement, as well as the monitoring of the guide bar pushing force. The guide bar motion mechanism has two degrees of freedom, namely the axial feeding of the guide bar and the rotation around the axis. The guide bar motion mechanism adopts a threaded screw module, and the feed slider on the screw is driven by the feed motor to realize the axial movement of the guide bar; the rotary motor on the feed slider controls the guide bar to rotate in a small range, so as to fine-tune the angle of the guide bar inserted into the glottis, so that it can be accurately inserted into the glottis. The pressure sensor and the clamp are directly connected to the rotary motor for real-time monitoring of the pushing force. The clamp is designed as a drill chuck structure similar to that of an electric drill. The slotted clamping core can clamp the guide bar under the squeezing of the clamping nut, and the guide bar can be quickly replaced by loosening the clamping nut. In addition, the guide bar motion mechanism optimizes the screw seat at the front end of the threaded screw module, and adds a circular hole for radially limiting the guide bar. The clamp, the front screw guide rail seat and the guide wheel of the catheter motion structure jointly limit the guide bar to prevent the guide bar from bending at a large angle during the feeding process, thereby causing distortion of the end push force. Other components and connection relationships are the same as those of the specific implementation method one.

[0061] The input shaft of the guide bar axial motor 21 drives the threaded screw module 22 through the coupling to realize the forward and backward movement of the feed slider 23. The output shaft of the guide bar rotation motor 24 on the feed slider 23 is directly connected to the pressure sensor 25 and the clamp 26. The guide bar 5 is clamped by the clamp 26, thereby realizing the forward and backward movement and rotational movement of the guide bar. The pressure sensor 25 collects the pushing force of the guide bar 5, which can be used as a judgment of the insertion condition of the guide bar.

[0062] The threaded screw module 22 in this embodiment can also be replaced by a ball screw or a trapezoidal screw.

[0063] Specific implementation method nine: Combination Figure 2 This embodiment is described. In this embodiment, the plug-in and pull-out mechanism 4 includes a base 41 and a plug-in and pull-out slider 42 . The base 41 is installed on the longitudinal arm 1 , and the plug-in and pull-out slider 42 is slidably installed on the base 41 .

[0064] In this configuration, the plug-in and pull-out mechanism is composed of a pluggable slider and a robot positioning and mounting block. After the catheter is inserted into the glottis of the patient, the guide bar needs to be withdrawn. The plug-in and pull-out mechanism can realize the rapid withdrawal of the robot together with the guide bar after the intubation is completed, avoiding the waste of a long time for the guide bar to be withdrawn from the catheter. The other components and connection relationships are the same as any one of the specific implementation methods one to eight.

[0065] In this embodiment, the plug-in slider 42 is installed on the mechanical arm beside the operating table to fix and adjust the working position of the tracheal intubation robot. The base 41 is installed on the back of the longitudinal arm 1 and can slide freely on the base along the X direction. During the tracheal intubation process, since the robot arm is installed tilted downward, the plug-in slider 41 is located at the front end of the base under the action of gravity; when the tracheal intubation operation is completed, the medical assistant can move the plug-in slider 42 backward, so that the tracheal intubation robot and the guide bar 5 are evacuated from the working area together, leaving only the flexible tracheal tube 6 that needs to be connected to the ventilator.

[0066] Specific implementation method ten: Combination Figure 2 To explain this embodiment, this embodiment further includes a plurality of motor drivers 7 , which are mounted on the lower end surface of the longitudinal arm 1 .

[0067] In this way, a motor is driven to move respectively, and the guide bar axial motor 21, the guide bar rotation motor 24 and the guide tube motor 31 are driven respectively. Other components and connection relationships are the same as any one of the specific embodiments 1 to 9.

[0068] Combination Figures 1 to 10 The working principle of the present invention is described:

[0069] The medical assistant first installs the endotracheal intubation robot to the working area through the base so that the X-axis is in the same straight line as the patient's mouth and throat as much as possible, moves the plug-in slider to the front end of the base, moves the feed slider 23 of the guide bar movement mechanism 2 to the rear end of the threaded screw, and puts the flexible endotracheal tube 6 on the guide bar 5, the end of the guide bar is clamped on the clamp 26, the middle part of the guide bar is limited by the screw seat at the front end of the threaded screw module, and the front end of the guide bar is 2 to 3 cm away from the incisors in the patient's mouth. The rear side of the airbag of the flexible endotracheal tube 6 is clamped between the master and slave guide wheels by the movable guide wheel slider mechanism 37.

[0070] Secondly, insert the guide bar 5 into the patient's mouth. The guide bar axial motor 21 drives the threaded screw to drive the clamp 26 on the feed slider 23 to move forward in the X direction, thereby pushing the guide bar 5 into the patient's mouth. During this period, the resistance encountered by the guide bar 5 will be reflected on the pressure sensor 25, so that the control system can determine the movement state of the guide bar 5. When the control system determines that the guide bar encounters an obstacle and needs to rotate the guide bar 5, it sends a command to the guide bar rotation motor 24 to drive the clamp 26 to rotate around the X direction; when it is determined that the guide bar is not correctly inserted into the glottis and needs to be retracted, it sends a command to the guide bar axial motor 21 to drive the clamp 26 to retract along the X direction and reinsert it. During the forward process, the guide bar is jointly limited by the screw seat at the front end of the threaded screw module and the flexible tracheal tube 6 clamping position to limit its large-angle bending, thereby avoiding the distortion of the push resistance.

[0071] Next, after the guide strip 5 is completely pushed into place, the control system sends a command to the catheter motor 31 to drive the active guide wheel 34 to insert the flexible endotracheal tube 6 into the patient's airway along the guide strip 5. When it is inserted into place, the medical assistant pushes the ratchet 36 to release the flexible endotracheal tube 6, and at the same time moves the plug-in and unplug slider backward to move the robot arm together with the guide strip 5 clamped thereon out of the working area. Finally, the flexible endotracheal tube 6 remaining in the patient's airway is connected to the ventilator to complete the intubation operation.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A catheter delivery mechanism supporting rapid replacement, characterized in that: It comprises a catheter motor (31), a catheter bracket (32), a bracket cover (33), a driving guide wheel (34), a driven guide wheel (35), a ratchet (36), a guide wheel slider mechanism (37) and a driving guide wheel core (38). The catheter bracket (32) is mounted on the upper end surface of the longitudinal arm (1); the catheter motor (31) is mounted on the catheter bracket (32) and connected to the active guide wheel (34) through the active guide wheel core (38); the guide wheel slider mechanism (37) and the ratchet (36) are embedded in the catheter bracket (32); the bracket cover (33) is mounted on the catheter bracket (32) and covers the guide wheel slider mechanism (37) and the ratchet (36); the driven guide wheel (35) is rotatably mounted on the guide wheel slider mechanism (37); after the ratchet (36) is moved, the driven guide wheel (35) is slid outward to adjust the distance between the driven guide wheel (35) and the active guide wheel (34).

2. A catheter delivery mechanism supporting rapid replacement according to claim 1, characterized in that: The driving guide wheel (34) comprises a driving guide wheel body (341) and a driving guide wheel outer layer (342). The driving guide wheel body (341) is sleeved on the driving guide wheel core (38), and the driving guide wheel outer layer (342) is sleeved on the driving guide wheel body (341).

3. A catheter delivery mechanism supporting rapid replacement according to claim 1, characterized in that: The driven guide wheel (35) comprises a driven guide wheel outer layer (351) and a driven guide wheel body (352). The driven guide wheel body (352) is sleeved on a driven guide wheel core (374) on a guide wheel slider mechanism (37), and the driven guide wheel outer layer (351) is sleeved on the driven guide wheel body (352).

4. A catheter delivery mechanism supporting rapid replacement according to claim 1, characterized in that: The guide wheel slider mechanism (37) comprises a slider body (371), a ratchet bottom cover (372), a spring (373) and a driven guide wheel core (374), wherein the driven guide wheel core (374) is vertically rotatably mounted on the slider body (371), the ratchet bottom cover (372) is mounted on the lower end surface of the slider body (371), and the ratchet on the ratchet bottom cover (372) is engaged with the pawl (36), one end of the spring (373) is mounted on the bottom of the ratchet bottom cover (372), and the other end of the spring (373) is against the catheter bracket (32).

5. A catheter delivery mechanism supporting rapid replacement according to claim 4, characterized in that: The tooth pitch between two adjacent ratchet teeth on the ratchet bottom cover (372) is 1-5 mm.

6. A catheter delivery mechanism supporting rapid replacement according to claim 1, characterized in that: The ratchet (36) comprises a ratchet body (361) and an elastic member (362); the ratchet body (361) is a rod body with an obtuse angle, and a rotating shaft is provided in the middle of the rod body; one end of the rod body extends out of the catheter bracket (32), and the outer side of the other end of the rod body is meshed with the ratchet teeth through the ratchet head; one end of the elastic member (362) is mounted on the rod body on the side opposite to the ratchet head, and the other end of the elastic member (362) is against the inside of the catheter bracket (32).

7. A force sensing endotracheal intubation robot using a catheter delivery mechanism supporting rapid exchange according to any one of claims 1 to 6, comprising a longitudinal arm (1), characterized in that: It also includes a guide strip moving mechanism (2), a catheter conveying mechanism (3), an insertion and extraction mechanism (4) and a guide strip (5). The guide bar movement mechanism (2) is installed on the upper end surface of one side of the longitudinal arm (1), and the plug-in and pull-out mechanism (4) is installed on the lower end surface of the other side of the longitudinal arm (1); One end of the guide strip (5) is connected to the guide strip moving mechanism (2), and the guide strip (5) is driven by the guide strip moving mechanism (2) to realize rotational movement and propulsive movement. The other end of the guide strip (5) is sleeved with a flexible tracheal tube (6). After the other end of the guide strip (5) is sleeved with the flexible tracheal tube (6), it is connected to a tube conveying mechanism (3) installed on the other side of the longitudinal arm (1). Under the action of the tube conveying mechanism (3), the flexible tracheal tube (6) is inserted into the airway along the guide strip (5); The catheter delivery mechanism (3) pushes the flexible endotracheal catheter (6) into the airway through the friction of the guide wheel, wherein the distance between one guide wheel and the other guide wheel is adjusted by the engagement of the pawl (36) with the ratchet on the ratchet bottom cover (372).

8. A force sensing endotracheal intubation robot according to claim 7, characterized in that: The guide bar movement mechanism (2) comprises a guide bar axial motor (21), a threaded screw module (22), a feed slider (23), a guide bar rotation motor (24), a pressure sensor (25) and a clamp (26). The threaded screw module (22) is mounted on the upper end surface of the longitudinal arm (1), the guide bar axial motor (21) is connected to the threaded screw module (22) through a coupling, the feed slider (23) is mounted on the threaded screw module (22), the guide bar rotation motor (24) is connected to the feed slider (23), the pressure sensor (25) and the clamp (26) are sequentially mounted on the right side of the feed slider (23), and one end of the guide bar (5) is clamped by the clamp (26), and the other end of the guide bar (5) extends toward the catheter conveying mechanism (3) side.

9. A force sensing endotracheal intubation robot according to claim 7 or 8, characterized in that: The plug-in and pull-out mechanism (4) comprises a base (41) and a plug-in and pull-out slider (42); the base (41) is mounted on the longitudinal arm (1), and the plug-in and pull-out slider (42) is slidably mounted on the base (41).

10. A force sensing endotracheal intubation robot according to claim 9, characterized in that: It also includes a plurality of motor drivers (7) which are mounted on the lower end surface of the longitudinal arm (1).

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