A catheter delivery mechanism supporting quick change and a force sensing tracheal intubation robot using the same

Abstract

The application relates to a catheter conveying mechanism supporting quick replacement and a force sensing trachea cannula robot using the mechanism, and relates to the field of medical instruments. The application solves the problems of low tube placing precision and slow tube replacement speed of the existing trachea cannula mechanism. The catheter support is installed on the upper end surface of a longitudinal arm, a catheter motor is installed on the catheter 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 catheter support, a support cover is covered on the catheter support and covers the guide wheel sliding block mechanism and the pawl, a driven guide wheel is rotatably installed on the guide wheel sliding block mechanism, and the driven guide wheel is slid outward after the pawl is pushed to adjust the distance between the driven guide wheel and the driving guide wheel. The application is used for assisting doctors in inserting a trachea catheter into the trachea of a patient through the oral cavity before operation or after anesthesia to establish an artificial airway and assist the patient in breathing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a catheter delivery mechanism supporting rapid replacement and a force sensing tracheal intubation robot using the mechanism, which is used to assist doctors in establishing an artificial airway for patients before operation. BACKGROUND

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

[0003] Among them, the patent with the patent number CN114588456A and the applicant Hu Xiaomin is an invention patent with the patent name of a tracheal intubation mechanism and a tracheal intubation robot. In the tracheal intubation mechanism, the first and second rollers are used to clamp the tracheal tube. In order to adapt to tracheal tubes of different diameters, a baffle is rotatably arranged on the adapter and is slid into the corresponding groove, and the distance between the adjacent two rollers is limited by the insertion of the baffle, thereby adapting to different diameters. However, it is found that in the actual use process, since the distance between the adjacent two grooves is fixed, and the thickness between the adjacent two grooves is the adjustment accuracy of the rollers, since the thickness cannot be too thin, if it is too thin, although the adjustment accuracy between the adjacent two rollers can be improved, the thin thickness will cause deformation after long-term use under stress, which will cause a large error between the theoretical pushing position and the actual pushing position of the tracheal tube during pushing. Therefore, since the distance between the adjacent two rollers cannot be finely adjusted in this tracheal tube structure, the friction between the tracheal tubes is unstable after long-term use, and the tube placement accuracy is low. In addition, when the second roller is separated from the first roller, the adjusting piece needs to be slid in the third direction first, and then the baffle is slid into the groove at the corresponding position, thereby releasing and replacing the tracheal tube. The tube replacement process is complicated and requires accurate sliding of the baffle into the groove at the corresponding position, resulting in slow tube replacement.

[0004] In addition, due to the complex environment in the human oral cavity, the tongue muscle tissue occupies most of the space, and the video soft scope is easily blocked during insertion into the oropharynx of the patient, thereby losing direction, and the video soft scope cannot be used as low-cost disposable medical consumables, which will bring high cost and cross-infection risk. Both of these two methods are operated by doctors, and the experience and proficiency of doctors are highly dependent, and doctors are required to have high professionalism. Therefore, we have developed a force sensing tracheal intubation robot that can realize automatic intubation.

[0005] In summary, the existing tracheal intubation mechanism cannot fine-tune the distance between the 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

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

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

[0008] A catheter delivery mechanism supporting rapid replacement, comprising a catheter motor, a catheter support, a support cover, a driving guide roller, a driven guide roller, a pawl, a guide roller slider mechanism, and a driving guide roller core, the catheter support is installed on the upper end surface of the longitudinal arm, the catheter motor is installed on the catheter support and connected with the driving guide roller through the driving guide roller core, the guide roller slider mechanism and the pawl are embedded in the catheter support, the support cover covers the catheter support and covers the guide roller slider mechanism and the pawl, the driven guide roller is rotatably installed on the guide roller slider mechanism, and the distance between the driven guide roller and the driving guide roller is adjusted by sliding the driven guide roller outward after the pawl is actuated.

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

[0010] Further, the driven guide roller comprises a driven guide roller outer layer and a driven guide roller body, the driven guide roller body is sleeved on the driven guide roller core of the guide roller slider mechanism, and the driven guide roller outer layer is sleeved on the driven guide roller body.

[0011] Further, the guide roller slider mechanism comprises a slider body, a ratchet bottom cover, a spring, and a driven guide roller core, the driven guide roller core is vertically rotatably installed on the slider body, the ratchet bottom cover is installed on the lower end surface of the slider body, the ratchet on the ratchet bottom cover is engaged with the pawl, one end of the spring is installed on the bottom of the ratchet bottom cover, and the other end of the spring abuts against the catheter support.

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

[0013] Further, the pawl comprises a pawl body and an elastic member, the pawl body is a rod body with an obtuse angle, a rotating shaft is arranged at the middle part of the rod body, one end of the rod body extends out of the catheter support, the other end of the rod body is engaged with the ratchet through the pawl head on the outside, one end of the elastic member is installed on the rod body opposite to the pawl head, and the other end of the elastic member abuts against the catheter support.

[0014] The application also provides a force sensing tracheal intubation robot using a catheter delivery mechanism supporting quick replacement, which comprises a longitudinal arm, and further comprises a guide strip movement mechanism, a catheter delivery mechanism, a pulling and inserting mechanism and a guide strip, the guide strip movement mechanism is installed on the upper end face of one side of the longitudinal arm, and the pulling and inserting mechanism is installed on the lower end face of the other side of the longitudinal arm; one end of the guide strip is connected with the guide strip movement mechanism and realizes the rotary movement and the advancing movement of the guide strip under the driving of the guide strip movement mechanism, the other end of the guide strip is sleeved with a flexible tracheal catheter, and the other end of the guide strip is connected with the catheter delivery mechanism installed on the other side of the longitudinal arm after being sleeved with the flexible tracheal catheter, and the flexible tracheal catheter is inserted into the airway along the guide strip under the action of the catheter delivery mechanism; wherein the catheter delivery mechanism pushes the flexible tracheal catheter to the airway through the friction force of the guide wheels, and the meshing of one guide wheel with the ratchet teeth on the ratchet bottom cover through the pawl adjusts the distance between the one guide wheel and the other guide wheel.

[0015] Further, the guide strip movement mechanism comprises a guide strip axial motor, a threaded screw rod module, a feeding slide, a guide strip rotary motor, a pressure sensor and a gripper, the threaded screw rod module is installed on the upper end face of the longitudinal arm, the guide strip axial motor is connected with the threaded screw rod module through a shaft coupling, the feeding slide is installed on the threaded screw rod module, the guide strip rotary motor is connected with the feeding slide, the pressure sensor and the gripper are sequentially installed on the right side of the feeding slide, and one end of the guide strip is clamped through the gripper, and the other end of the guide strip extends to the side of the catheter delivery mechanism.

[0016] Still further, the pulling and inserting mechanism comprises a base and a pulling and inserting slide, the base is installed on the longitudinal arm, and the pulling and inserting slide is slidingly installed on the base.

[0017] Further, it further comprises a plurality of motor drivers, and the plurality of motor drivers are installed on the lower end face of the longitudinal arm.

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

[0019] 1. The guide wheel slide mechanism adopts ratchet teeth, the pawl is meshed on the ratchet teeth, the driven wheel can be clamped on the flexible tracheal catheter in one direction, the pawl is separated from the ratchet teeth by being pulled, the driven guide wheel can be quickly separated from the flexible tracheal catheter, and the new flexible tracheal catheter 6 can be quickly taken down and installed after being separated. Even after long-term use, the pawl and the ratchet teeth will not be deformed, thereby ensuring the accuracy of the distance adjustment between the driving guide wheel and the driven guide wheel after long-term use.

[0020] 2、The invention is provided with ratchet teeth on the ratchet bottom cover of the catheter conveying mechanism, and the distance between the driving guide wheel and the driven guide wheel is adjusted by the position of the pawl clamped on the ratchet teeth, the distance adjustment is flexible, the pitch between the adjacent two ratchet teeth is very short, only 1.5mm, so it has millimeter-level distance adjustment accuracy, and realizes the fine adjustment of the distance between the two guide wheels.

[0021] 3、The tracheal intubation robot of the invention clamps the magnetic guide strip in the clamp, based on magnetic guidance and push force feedback information, realizes the pushing and fine adjustment of the rotating guide strip through the guide strip movement mechanism, to automatically complete the insertion of the guide strip into the glottis, and then inserts the flexible catheter along the guide strip into the glottis through the friction guide wheel of the catheter conveying mechanism. Only one medical auxiliary personnel is needed to assemble and disassemble and lubricate the guide strip and the tracheal catheter during the tracheal intubation process, without the need for experienced anesthesiologists to manipulate the tracheoscope to visually find the glottis position.

[0022] 4、The catheter conveying mechanism and the pulling and inserting mechanism of the invention work together to realize the rapid release of the flexible tracheal catheter after the intubation operation is completed, and the tracheal intubation robot is withdrawn from the work area together with the guide strip, which is convenient for the subsequent doctor to connect the tracheal catheter to the breathing machine.

[0023] 5、During the insertion of the flexible guide strip into the glottis, the flexible guide strip is radially limited by the front lead screw guide rail seat to avoid the distortion of the push force measurement caused by the bending of the guide strip.

[0024] 6、When assembling and disassembling the guide strip and the tracheal catheter, the adjustable tension clamp and the movable driven wheel are used to realize the rapid replacement of medical consumables and improve the intubation efficiency. BRIEF DESCRIPTION OF DRAWINGS

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

[0026] Figure 2 is the structure diagram of the pulling and inserting mechanism and the motor driver;

[0027] Figure 3 is the exploded view of the catheter pushing mechanism;

[0028] Figure 4 is the structure diagram of the catheter pushing mechanism;

[0029] Figure 5 is the structure diagram of the guide wheel sliding block mechanism;

[0030] Figure 6 is the three-dimensional exploded view of the catheter pushing mechanism after removing the support cover.

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

[0032] Figure 8 is Figure 7 partial enlarged view of the pawl and the ratchet when engaged;

[0033] Figure 9 is a schematic view of the structure of the pawl and the ratchet on the ratchet bottom cover in state two;

[0034] Figure 10 is Figure 9 partial enlarged view of the pawl and the ratchet when engaged.

[0035] In the figure: 1, longitudinal arm, 2, guide bar movement mechanism, 21, guide bar axial motor, 22, threaded rod module, 23, feed slide, 24, guide bar rotary motor, 25, pressure sensor, 26, gripper, 3 catheter conveying mechanism, 31, catheter motor, 32, catheter support, 33, support cover, 34, driving guide wheel, 341, driving guide wheel body, 342, driving guide wheel outer layer, 35, driven guide wheel, 351, driven guide wheel outer layer, 352, driven guide wheel shaft, 36, pawl, 361, pawl body, 362, elastic member, 37, guide wheel slide mechanism, 371, slide body, 372, ratchet bottom cover, 373, spring, 374, driven guide wheel core, 38, driving guide wheel core, 4, pulling and inserting mechanism, 41, base, 42, pulling and inserting slide, 5, guide bar, 6, flexible tracheal catheter, 7, motor driver. DETAILED DESCRIPTION

[0036] It should be noted that in the embodiments of the present application, the linear movement direction of the threaded rod module is set as X direction, the center line direction of the two friction guide wheels of the catheter conveying mechanism is set as Y direction, and the direction perpendicular to the longitudinal arm is set as Z direction. In this embodiment, the direction in which the guide bar is inserted into the oral cavity is forward, and vice versa.

[0037] Specific embodiment one: combined Figures 1 to 6 , Figures 7 to 10 This embodiment is described. The catheter conveying mechanism supporting rapid replacement in this embodiment is the catheter conveying mechanism 3. The catheter conveying mechanism 3 includes a catheter motor 31, a catheter support 32, a support cover 33, a driving guide wheel 34, a driven guide wheel 35, a pawl 36, a guide wheel slide mechanism 37, and a driving guide wheel core 38. The catheter support 32 is installed on the upper end surface of the longitudinal arm 1. The catheter motor 31 is installed on the catheter support 32 and connected with the driving guide wheel 34 through the driving guide wheel core 38. The guide wheel slide mechanism 37 and the pawl 36 are embedded in the catheter support 32. The support cover 33 covers the catheter support 32 and covers the guide wheel slide mechanism 37 and the pawl 36. The driven guide wheel 35 is rotatably installed on the guide wheel slide mechanism 37. After the pawl 36 is actuated, the driven guide wheel 35 slides outward to adjust the distance between the driven guide wheel 35 and the driving guide wheel 34.

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

[0039] The friction guide wheel (the driving guide wheel 34 and the driven guide wheel 35) is wrapped with a flexible polyurethane material, which increases the friction and improves the pushing effect. Under the driven guide wheel is a driven wheel slider based on a ratchet strip; when the pawl is retained, it can only make the driven guide wheel clamped towards the driving guide wheel, and the clamping force is maintained through the action of the pawl, which increases the normal pressure of the friction guide wheel and further improves the friction; when the operator manually actuates the pawl, the driven wheel slider moves away from the driving wheel under the action of the spring, achieving rapid release of the tracheal tube.

[0040] When the pawl is engaged with the ratchet, the driven guide wheel 35 can only move towards the driving guide wheel 34, thereby clamping the tracheal tube in the middle. When the pawl is disengaged from the ratchet, the driven wheel quickly moves away from the driving wheel under the action of the elastic body (i.e. the spring 373), releasing the tracheal tube in the middle, achieving rapid tube replacement (i.e. flexible tracheal tube), improving tube replacement efficiency, and reducing the process of existing technology.

[0041] Then use the plug-in mechanism to withdraw the robot and the connected guide strip from the working area, so that there is no guide wheel clamping outside the flexible tracheal tube and no guide strip inside the flexible tracheal tube, and the airway is left alone in the patient's oral cavity.

[0042] Specific implementation method two: combination Figure 3 and Figure 4 This embodiment is described. The driving guide wheel 34 of this 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. In this way, the driving guide wheel body 341 is convenient to connect with the driving guide wheel core 38, and the driving guide wheel outer layer 342 is convenient to generate friction force with the flexible tracheal tube 6. The other components and connection relationships are the same as any one of the specific implementation methods one.

[0043] Specific implementation method three: combination Figures 3 to 4 This embodiment is described. 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 sleeved on the driven guide wheel core 374 of the guide wheel slider mechanism 37, and the driven guide wheel outer layer 351 is sleeved on the driven guide wheel shaft 352.

[0044] In this way, the master-slave driving guide wheel and the master-slave driving guide wheel core are gap-fitted with a hexagonal key, which can be easily removed for disinfection or replacement. The master-slave driving guide wheel outer layer is made of flexible polyester ammonia, which can increase the friction with the flexible tracheal tube.

[0045] Other structures and compositions are the same as any one of the first to second embodiments.

[0046] Fourth embodiment: in combination Figures 3 to 4 、 Figures 7 to 10 In this embodiment, the guide wheel sliding block mechanism 37 comprises a sliding block 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 installed on the sliding block body 371, the ratchet bottom cover 372 is installed on the lower end surface of the sliding block body 371, and the ratchet on the ratchet bottom cover 372 is engaged with the pawl 36, one end of the spring 373 is installed on the bottom of the ratchet bottom cover 372, and the other end of the spring 373 abuts against the catheter support 32.

[0047] In this way, the ratchet on one side of the ratchet bottom cover 372 is engaged with the pawl 36, so that when the pawl 36 acts, the guide wheel sliding block mechanism 37 can only move towards the driven guide wheel 34; when the pawl 36 is released, the guide wheel sliding block mechanism 37 can move in the Y direction and automatically move away from the driven guide wheel 34 under the action of the spring 373. Other components and connection relationships are the same as any one of the first to third embodiments.

[0048] Fifth embodiment: in combination Figures 3 to 4 In this embodiment, the tooth pitch between the two adjacent ratchets on the ratchet bottom cover 372 is 1-5 mm. Preferably, it is 1.5 mm.

[0049] In this way, it is convenient to realize the fine adjustment of the distance between the two guide wheels. Other components and connection relationships are the same as any one of the first to fourth embodiments.

[0050] Sixth embodiment: in combination Figure 3 In this embodiment, the pawl 36 comprises a pawl body 361 and a resilient member 362, the pawl body 361 is a rod body with an obtuse angle, and a rotating shaft is arranged at the middle part of the rod body, one end of the rod body extends out of the catheter support 32, the other end of the rod body is engaged with the ratchet through a pawl head, one end of the resilient member 362 is installed on the rod body opposite to the pawl head, and the other end of the resilient member 362 abuts against the catheter support 32.

[0051] In this way, it is convenient to cooperate with the ratchet. Other components and connection relationships are the same as any one of the first to fifth embodiments.

[0052] In addition, in combination Figures 7 to 10 In this embodiment, the principle and technical effect of the pawl engaged with the ratchet are explained.

[0053] Compared with the conventional limiting sheet type (for example, CN114588456A) adjustment mode, the ratchet rack of the present application is more convenient, and the adjustment precision is higher. The reason is that the precision of the ratchet rack of the present application is 1.5 mm or even less, and the limiting sheet is at least 2 mm. Although a too thin limiting sheet can improve the precision, the reliability thereof decreases with the decrease of the thickness, so the reliability of the ratchet rack of the present application is higher. In addition, the limiting sheet deforms after being stressed for a long time.

[0054] The spring 373 is installed on the other side (that is, on the side of the driven guide wheel), and the driven guide wheel 35 moves towards the driving guide wheel 34 under the action of the elastic force of the spring 373, so as to realize the automatic clamping of the driven guide wheel 35. When the required positive pressure of the flexible tracheal tube 6 is small, the spring force is equal to the positive pressure, and the pawl 36 works on the ratchet working surface (for example, the green inclined surface in Figure 10 , in a ratchet, the distance between the two guide wheels (the driven guide wheel 35 and the driving guide wheel 34) can be linearly changed; when a larger positive pressure is required, the slider body 371 is manually moved towards the driving guide wheel 35, so that the pawl 36 abuts against the non-working surface of the next ratchet (for example, Figure 8 , the distance between the two guide wheels is fixed, and the distance changes discretely when abutting against different ratchets. This makes the distance between the two guide wheels increase linearly between multiple discrete values, and the distance adjustment precision is higher, and the adjustment mode is more comprehensive (the limiting sheet only has discrete changes).

[0055] The pawl structure adopted by the present application is simple to operate, and the guide wheels are automatically clamped.

[0056] Specific implementation manner seven: in combination Figures 1 to 6 This embodiment is described, and the embodiment includes a longitudinal arm 1, which further includes a guide strip movement mechanism 2, a catheter conveying mechanism 3, a pulling and inserting mechanism 4 and a guide strip 5. The guide strip movement mechanism 2 is installed on the upper end face of one side of the longitudinal arm 1, and the pulling and inserting mechanism 4 is installed on the lower end face of the other side of the longitudinal arm 1. One end of the guide strip 5 is connected with the guide strip movement mechanism 2, and the rotation movement and the advancing movement of the guide strip 5 are realized under the driving of the guide strip movement mechanism 2. The other end of the guide strip 5 is sleeved with a flexible tracheal tube 6, and after the other end of the guide strip 5 is sleeved with the flexible tracheal tube 6, the other end is connected with the catheter conveying mechanism 3 installed on the other side of the longitudinal arm 1. The flexible tracheal tube 6 is inserted into the airway along the guide strip 5 under the action of the catheter conveying mechanism 3. The catheter conveying mechanism 3 pushes the flexible tracheal tube 6 to the airway through the friction force of the guide wheels. One of the guide wheels adjusts the distance between the other guide wheel through the engagement of the pawl 36 and the ratchet on the ratchet bottom cover 372.

[0057] The tracheal intubation robot of the embodiment mainly realizes the control of the insertion of the guide strip into the glottis of the patient and the insertion of the tracheal tube into the airway of the patient under the guidance of the externally guided magnet and the force sensing feedback, so as to realize the tracheal intubation operation. Through analysis, the robot main body mechanical mechanism is mainly divided into three parts: a guide strip movement mechanism, a catheter conveying mechanism and a pulling and inserting mechanism. Among them, the guide strip adopts a magnetic guide strip, and the specific implementation principle is referred to the content disclosed in CN111419405B.

[0058] The guide strip movement mechanism 2 installed on the longitudinal arm 1 is used to push and rotate the guide strip 5 moving into the oral cavity. The catheter conveying mechanism 3 is used to push the flexible tracheal tube 6 moving along the guide strip. The pulling and inserting mechanism 4 is used to position the tracheal intubation robot hand.

[0059] Specific implementation method eight: combination Figures 1 to 2 In this embodiment, the guide strip movement mechanism 2 includes a guide strip axial motor 21, a threaded screw rod module 22, a feed slide 23, a guide strip rotating motor 24, a pressure sensor 25 and a clamp 26. The threaded screw rod module 22 is installed on the upper end face of the longitudinal arm 1, the guide strip axial motor 21 is connected with the threaded screw rod module 22 through a shaft coupling, the feed slide 23 is installed on the threaded screw rod module 22, the guide strip rotating motor 24 is connected with the feed slide 23, the pressure sensor 25 and the clamp 26 are sequentially installed on the right side of the feed slide 23, and one end of the guide strip 5 is clamped through the clamp 26, and the other end of the guide strip 5 extends to the side of the catheter conveying mechanism 3.

[0060] The guide strip movement mechanism 2 of the embodiment mainly realizes the control of the guide strip feeding and rotating movement, and the monitoring of the guide strip pushing force. The guide strip movement mechanism has two degrees of freedom, i.e. the guide strip axial feeding and the rotation around the axis. The guide strip movement mechanism adopts a threaded screw rod module, and the guide strip axial movement is realized by driving the feed slide on the screw rod through the feed motor; the rotating motor on the feed slide controls the small range rotation of the guide strip, so as to finely adjust the angle of the guide strip inserted into the glottis, so that it can be accurately inserted into the glottis. The pressure sensor and the clamp are directly connected with the rotating motor, which is used for real-time monitoring of the pushing force. The clamp is designed as a drill chuck structure similar to an electric drill, and the slotted clamping core can clamp the guide strip under the extrusion of the clamping nut, and the guide strip can be quickly replaced by loosening the clamping nut. In addition, the guide strip movement mechanism optimizes the screw rod seat at the front end of the threaded screw rod module, and increases a round hole for radially limiting the guide strip. The clamp, the front end screw rod guide rail seat and the guide wheel of the catheter movement structure jointly limit the guide strip, so as to avoid the large angle bending of the guide strip in the feeding process, and thus avoid the distortion of the end pushing force. The other components and connection relationship are the same as those in the specific embodiment one.

[0061] The guide strip axial motor 21 drives the feed slide 23 forward and backward through the coupling and threaded rod module 22. The guide strip rotary motor 24 is directly connected to the pressure sensor 25 and the clamp 26. The clamp 26 clamps the guide strip 5, thereby realizing the forward and backward movement and rotation of the guide strip. The pressure sensor 25 collects the pushing force of the guide strip 5, which can be used as a judgment of the insertion of the guide strip.

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

[0063] Specific embodiment nine: combination Figure 2 This embodiment is described. The insertion and extraction mechanism 4 includes a base 41 and an insertion and extraction slide 42. The base 41 is installed on the longitudinal arm 1, and the insertion and extraction slide 42 is slidingly installed on the base 41.

[0064] In this way, the insertion and extraction mechanism is composed of a pluggable slide and a robot positioning mounting block. The guide strip needs to be removed after the catheter is inserted into the patient's glottis. The insertion and extraction mechanism can quickly remove the robot together with the guide strip after the intubation is completed, avoiding the waste of a long time in removing the guide strip from the catheter. The other components and connection relationships are the same as any one of embodiments one to eight.

[0065] The insertion and extraction slide 42 in this embodiment is installed on the mechanical arm beside the operating bed, which is used 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 along the X direction on the base. During the tracheal intubation process, the insertion and extraction slide 42 is located at the front end of the base due to the downward inclination of the robot under the action of gravity. When the tracheal intubation operation is completed, the medical auxiliary personnel can move the insertion and extraction slide 42 backward, so that the tracheal intubation robot and the guide strip 5 are removed from the working area together, leaving only the flexible tracheal catheter 6 that needs to be connected to the breathing machine.

[0066] Specific embodiment ten: combination Figure 2 This embodiment is described. The embodiment also includes a plurality of motor drives 7, which are installed on the lower end surface of the longitudinal arm 1.

[0067] In this way, one motor is driven to move respectively, and the guide strip axial motor 21, the guide strip rotary motor 24 and the catheter motor 31 are driven respectively. The other components and connection relationships are the same as any one of embodiments one to nine.

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

[0069] The medical auxiliary personnel first install the tracheal intubation robot to the working area through the base, so that the X direction is in line with the patient's oral pharynx as much as possible, the pulling and inserting slider is moved to the front end of the base, the feeding slider 23 of the guide bar movement mechanism 2 is moved to the rear end of the threaded screw rod, the flexible tracheal catheter 6 is sleeved on the guide bar 5, the guide bar end is clamped on the clamp 26, the guide bar middle is limited by the screw rod seat at the front end of the threaded screw rod module, the guide bar front end is 2-3 cm away from the teeth in the patient's oral cavity, and the rear side of the air bag of the flexible tracheal catheter 6 is clamped in the middle of the main and driven guide wheels by the movable guide wheel slider mechanism 37.

[0070] Secondly, the guide bar 5 is inserted into the patient's oral cavity. The clamp 26 on the feeding slider 23 is driven by the threaded screw rod driven by the guide bar axial motor 21 to move forward in the X direction, and then the guide bar 5 is pushed to move into the patient's oral cavity. During the movement, the resistance encountered by the guide bar 5 will be reflected on the pressure sensor 25, so that the movement state of the guide bar 5 is determined by the control system. When the control system determines that the guide bar needs to be rotated due to obstacles, the guide bar rotation motor 24 is sent a command to drive the clamp 26 to rotate around the X direction; when it is determined that the guide bar needs to be reinserted due to the fact that it is not correctly inserted into the glottis, the guide bar axial motor 21 is sent a command to drive the clamp 26 to retreat along the X direction and reinsert. In the advancing process, the guide bar is limited by the screw rod seat at the front end of the threaded screw rod module and the clamping position of the flexible tracheal catheter 6, so that the guide bar cannot make large-angle bending, thereby avoiding distortion of the pushing resistance.

[0071] Then, after the guide bar 5 is completely pushed into position, the control system sends a command to the catheter motor 31 to drive the driving guide wheel 34 to insert the flexible tracheal catheter 6 along the guide bar 5 into the patient's airway. When it is inserted into position, the medical auxiliary personnel actuate the pawl 36, thereby releasing the flexible tracheal catheter 6, and moving the pulling and inserting slider backward, the robot hand is moved out of the working area together with the guide bar 5 clamped thereon, and finally the flexible tracheal catheter 6 left in the patient's airway is connected to the breathing machine, and the intubation operation is completed.

[0072] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A catheter delivery mechanism supporting rapid exchange, characterized by: It includes conduit motor (31), conduit support (32), support cover (33), active guide pulley (34), driven guide pulley (35), pawl (36), guide pulley slider mechanism (37) and active guide pulley core (38), Conduit support (32) is installed on the upper end surface of longitudinal arm (1), conduit motor (31) is installed on conduit support (32) and is connected with active guide pulley (34) through active guide pulley core (38), guide pulley slider mechanism (37) and pawl (36) are embedded in conduit support (32), support cover (33) covers conduit support (32) and covers guide pulley slider mechanism (37) and pawl (36), driven guide pulley (35) is rotatably installed on guide pulley slider mechanism (37), and driven guide pulley (35) is slid outward after pawl (36) is actuated, so that the distance between driven guide pulley (35) and active guide pulley (34) is adjusted; Guide pulley slider mechanism (37) includes slider body (371), ratchet bottom cover (372), spring (373) and driven guide pulley core (374), driven guide pulley core (374) is vertically rotatably installed on slider body (371), ratchet bottom cover (372) is installed on the lower end surface of slider body (371), the ratchet on ratchet bottom cover (372) is engaged with pawl (36), one end of spring (373) is installed on the bottom of ratchet bottom cover (372), and the other end of spring (373) abuts against conduit support (32); The pitch between two adjacent ratchets on ratchet bottom cover (372) is 1-5 mm; Pawl (36) includes claw body (361) and elastic member (362), claw body (361) is a rod body with an obtuse angle, the middle part of the rod body is provided with a rotating shaft, one end of the rod body extends out of conduit support (32), the other end of the rod body is engaged with the claw head outside, one end of elastic member (362) is installed on the rod body opposite to the claw head, and the other end of elastic member (362) abuts against the inside of conduit support (32); Conduit conveying mechanism (3) pushes flexible tracheal conduit (6) to the airway through the friction of the guide pulleys, one of the guide pulleys adjusts the distance with the other guide pulley through the engagement of pawl (36) and the ratchet on ratchet bottom cover (372); Driven guide pulley (35) moves towards active guide pulley (34) under the elastic force of spring (373), so that automatic clamping is realized, when the required positive pressure of flexible tracheal conduit (6) is small, pawl (36) works on the inclined surface of the ratchet, and the distance between the two guide pulleys can be linearly changed in one ratchet, when a larger positive pressure is required, active guide pulley (35) is manually moved, so that pawl (36) abuts against the vertical surface of the next ratchet, and the distance between the two guide pulleys is fixed, and the distance is discretely changed.

2. A catheter delivery mechanism supporting quick change according to claim 1, characterized in that: Active guide pulley (34) includes active guide pulley body (341) and active guide pulley outer layer (342), active guide pulley body (341) is sleeved on active guide pulley core (38), and active guide pulley outer layer (342) is sleeved on active guide pulley body (341).

3. A catheter delivery mechanism supporting quick change 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 the driven guide wheel core (374) on the guide wheel slider mechanism (37), and the driven guide wheel outer layer (351) is sleeved on the driven guide wheel body (352).

4. A force sensing tracheal intubation robot using a rapid exchange supported catheter delivery mechanism according to any one of claims 1-3, comprising a longitudinal arm (1), characterized in that: It also comprises a guide strip movement mechanism (2), a catheter conveying mechanism (3), a pulling and inserting mechanism (4) and a guide strip (5), The guide strip movement mechanism (2) is installed on the upper end face of one side of the longitudinal arm (1), and the pulling and inserting mechanism (4) is installed on the lower end face of the other side of the longitudinal arm (1). One end of the guide strip (5) is connected with the guide strip movement mechanism (2) and realizes the rotary movement and the advancing movement of the guide strip (5) under the driving of the guide strip movement mechanism (2), the other end of the guide strip (5) is sleeved with the flexible tracheal catheter (6), and after the other end of the guide strip (5) is sleeved with the flexible tracheal catheter (6), the other end is connected with the catheter conveying mechanism (3) installed on the other side of the longitudinal arm (1), and the flexible tracheal catheter (6) is inserted into the airway along the guide strip (5) under the action of the catheter conveying mechanism (3).

5. The force sensing tracheal intubation robot of claim 4, wherein: The guide strip movement mechanism (2) comprises a guide strip axial motor (21), a threaded screw rod module (22), a feeding slider (23), a guide strip rotary motor (24), a pressure sensor (25) and a gripper (26), The threaded screw rod module (22) is installed on the upper end face of the longitudinal arm (1), the guide strip axial motor (21) is connected with the threaded screw rod module (22) through a shaft coupling, the feeding slider (23) is installed on the threaded screw rod module (22), the guide strip rotary motor (24) is connected with the feeding slider (23), the pressure sensor (25) and the gripper (26) are sequentially installed on the right side of the feeding slider (23), one end of the guide strip (5) is clamped through the gripper (26), and the other end of the guide strip (5) extends to the side of the catheter conveying mechanism (3).

6. The force sensing tracheal intubation robot of claim 5, wherein: The pulling and inserting mechanism (4) comprises a base (41) and a pulling and inserting slider (42), the base (41) is installed on the longitudinal arm (1), and the pulling and inserting slider (42) is slidingly installed on the base (41).

7. The force sensing tracheal intubation robot of claim 6, wherein: It also comprises a plurality of motor drivers (7), and the plurality of motor drivers (7) are installed on the lower end face of the longitudinal arm (1). It also comprises a plurality of motor drivers (7), and the plurality of motor drivers (7) are installed on the lower end face of the longitudinal arm (1).

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