Variable-rigidity single-bending-degree-of-freedom self-retaining laryngoscope and using method thereof

Abstract

The invention provides a rigidity-variable single-bending-degree-of-freedom self-retaining laryngoscope and a using method thereof.The device comprises a bendable joint, a driving component and a rigidity-variable structure, a far-end joint, a middle joint and a near-end joint are all of hollow structures and communicate with one another to form an operation channel, and the rigidity-variable structure is installed in the operation channel; the variable stiffness structure comprises a far-end rod, a connecting rod, a translation rod, a near-end rod, a horizontal sliding block and a sliding block frame, the driving component comprises a steering engine, a front side driving line, a back side driving line, a guide wheel, a limiting wheel, a driving wheel and an extension spring, and the device can be freely bent at a certain angle to expose a focus part and has a larger visual field. And the back side driving line is connected in series with the extension spring, so that self-adaptive adjustment is realized, the structural compliance is enhanced, the system is stable, and the robustness is good. Stepless adjustment is achieved for angle adjustment and rigidity enhancement, the adjustment range is large, and various application requirements are met.

Description

Technical Field

[0001] The invention relates to a single-bending degree-of-freedom supporting laryngoscope with variable rigidity and a use method thereof, in particular to a proximal variable rigidity structure. Background Art

[0002] The support laryngoscope is a key instrument for minimally invasive peroral laryngeal surgery and is often used to establish a channel from the patient's mouth to the laryngeal lesion site and visualize it. The traditional clinical support laryngoscope is a hollow metal tube, the cavity of which can accommodate an endoscope and surgical instruments. When the patient lies down and is in the sniffing position (cervicothoracic joint flexion, atlanto-occipital joint extension), the doctor inserts the support laryngoscope into the mouth and calibrates the throat. After the lesion site is successfully exposed, the support laryngoscope is fixed to facilitate the doctor to perform the operation. The instrument can free the doctor's hands, making peroral laryngeal surgery safer, more convenient and more successful. However, the traditional support laryngoscope has an inherent field of view limitation, and it is difficult to expose the lesion area on the front side of the laryngeal cavity. The present invention proposes a support laryngoscope with variable stiffness and single bending freedom, which can provide a larger field of view through bending, and enable the support laryngoscope to remain flexible before exposing the lesion site to facilitate adjustment and provide compliance, and the stiffness is enhanced after exposing the lesion site to provide a stable instrument channel.

[0003] After searching, it was found that the Chinese invention patent with application number CN202310894256.0 proposed a support laryngoscope including a laryngeal tube and a support frame. By rotating the middle joint in the laryngeal tube, the bending angle of the laryngoscope can be adjusted to meet the needs of different people. However, the joint of the support laryngoscope must be adjusted and fixed outside the body and cannot be adjusted after insertion into the body, resulting in limited flexibility and difficulty in increasing the exposed field of view during surgery.

[0004] The Chinese invention patent with application number CN202322097644.4 proposes a visual curved laryngoscope supporting laryngoscope, which has a curved structure to reduce operation damage and stimulation intensity, and a camera is fixed inside the laryngoscope. However, the bending shape of the supporting laryngoscope cannot be adjusted, lacking additional adjustable degrees of freedom. The supporting laryngoscope of the present invention retains a cavity in the middle where a camera can be arranged, and the camera can also be arranged before insertion for the convenience of medical staff.

[0005] The Chinese invention patent with application number CN202210125795.3 proposes a support laryngoscope that can adjust the distal expansion diameter by turning a knob to meet the needs of different groups of people. However, the support laryngoscope is an unadjustable linear structure as a whole, and the exposed field of view is limited.

[0006] In addition, existing supported laryngoscopes are unable to achieve stiffness adjustment, while supported laryngoscopes with adjustable stiffness can maintain flexible insertion before exposing the lesion to reduce damage to the patient. After the lesion is exposed, the stiffness increases to provide a stable operating space for other surgical instruments. Therefore, it can greatly improve the operating method of medical staff, improve safety, and reduce trauma to patients. Summary of the invention

[0007] In order to solve the above technical problems, the present invention proposes a single bending degree of freedom supported laryngoscope with variable stiffness and a method of using the same. The supported laryngoscope can be bent by linear drive and the overall stiffness of the device can be adjusted by a variable stiffness structure.

[0008] To achieve the above object, the technical solution adopted by the present invention is: A single bending degree of freedom supporting laryngoscope with variable stiffness, characterized in that it comprises a bendable joint, a driving component and a variable stiffness structure, wherein the bendable joint comprises a distal joint, a middle joint and a proximal joint, wherein the distal joint is hinged at one end of the middle joint, and the proximal joint is hinged at the other end of the middle joint, and the distal joint, the middle joint and the proximal joint are all hollow structures and are interconnected to form an operation channel. The variable stiffness structure is installed in the operating channel, and the variable stiffness structure comprises a distal rod, a connecting rod, a translation rod, a proximal rod, a horizontal slider and a slider frame, the distal rod is hinged at one end of the connecting rod, the translation rod is hinged at the other end of the connecting rod, the proximal rod is hinged at the other end of the translation rod, the horizontal slider is hinged at the other end of the proximal rod, a sliding rod is arranged on the slider frame, the horizontal slider is slidably installed on the sliding rod, the hand screw passes through the horizontal slider and is arranged against the sliding rod, the distal rod is provided with a distal hole and a proximal sliding groove, the distal rod is fixed to the distal joint through the distal hole, is installed on the proximal joint through the proximal sliding groove and can rotate around the proximal joint, a limiting protrusion is arranged on the side of the translation rod, and a limiting groove is arranged on the side of the proximal joint along its axial direction, and the limiting protrusion is located in the limiting groove. The driving component includes a servo, a front driving line, a dorsal driving line, a guide wheel, a limiting wheel, a driving wheel and a tension spring. The front driving line is installed through the front of the distal joint, the middle joint and the proximal joint, and the dorsal driving line is installed through the sides of the distal joint, the middle joint and the proximal joint. The distal joint and the middle joint are both anisotropic structures. The front driving line is connected to the driving wheel via the guide wheel and the limiting wheel. The dorsal driving line is connected in series with a pre-stretched tension spring. The dorsal driving wheel is connected to the driving wheel via the guide wheel and the limiting wheel. The tension spring is located between the guide wheel and the limiting wheel. The output shaft of the servo is connected to the driving wheel.

[0009] As a preferred technical solution of the present invention: the distal rod, the connecting rod and the translation rod are all flat rods.

[0010] As a preferred technical solution of the present invention: a mounting seat is fixed below the proximal joint, and the guide wheel is movably mounted on the mounting seat by fastening bolts.

[0011] As a preferred technical solution of the present invention: the driving component further includes a flange and a steering gear arm, the steering gear arm is connected to the driving wheel, the flange is mounted on the steering gear arm, and the steering gear is connected to the flange and the steering gear arm.

[0012] As a preferred technical solution of the present invention: the driving component further includes a hand wheel and a sliding rod, the sliding rod is fixed on the hand wheel, and the driving wheel is fixedly connected to the hand wheel and the sliding rod.

[0013] As a preferred technical solution of the present invention: it also includes a laryngoscope end cover, a laryngoscope housing, a round cover and an upper cover, the mounting seat, the slider frame, the limiting wheel and the driving wheel are respectively installed in the laryngoscope housing, the laryngoscope end cover is installed on the laryngoscope housing and is located above the mounting seat, the round cover and the upper cover are respectively installed above the laryngoscope housing, the round cover is located above the driving wheel, and the upper cover is located above the slider frame and the limiting wheel.

[0014] As a preferred technical solution of the present invention: a slot is provided above the upper cover, and the proximal rod is located in the slot.

[0015] As a preferred technical solution of the present invention: it also includes a steering gear bracket, the steering gear bracket is fixed to the side of the laryngoscope housing, and the steering gear is fixed on the steering gear bracket.

[0016] In the above structure: the present invention proposes a single-degree-of-freedom bending supported laryngoscope with variable stiffness, including a bendable joint, a driving component and a variable stiffness structure. The present application uses an adaptive linear drive method to enable the supported laryngoscope to achieve single-degree-of-freedom bending during operation to meet the needs of surgery.

[0017] Among them, the flexible joint includes a distal joint, two middle joints and a proximal joint. The distal joint, the middle joint and the proximal joint are all hollow structures and are interconnected to form an operating channel. The operating channel is used to provide an operating channel for the endoscope and execution instruments in surgical operations and to install a variable stiffness structure composed of flat connecting rods. The variable stiffness structure can adjust the system stiffness without affecting the operating channel.

[0018] The distal joint, two middle joints and the proximal joint are all connected by hinges. The distal joint and the two middle joints are anisotropic structures and can bend under the adjustment of the front driving line and the dorsal driving line. The dorsal driving line is connected in series with a pre-stretched tension spring, so that the supported laryngoscope can be adaptively adjusted in contact with the outside and has compliance. It can also restore the supported laryngoscope to a vertical state after relaxing the front driving line, reducing the hysteresis of the system. The front driving line and the dorsal driving line are both controlled by driving wheels, which can be driven by a servo or manually driven by the operator rotating a handwheel.

[0019] The operating channel is divided into two 6.5 mm*6 mm operating channels by a variable stiffness structure, which can accommodate three to four operating instruments working simultaneously, sufficient to meet surgical needs.

[0020] Among them, the variable stiffness structure includes a distal rod, a connecting rod, a translation rod, a proximal rod, a horizontal slider and a slider frame. The distal rod, the connecting rod, the translation rod, the proximal rod and the horizontal slider are all connected in a hinged manner. The distal rod is fixed to the distal joint through a distal hole and fixed to the proximal joint through a proximal slide groove, and can rotate around the proximal joint. The translation rod is limited by the limiting groove on the proximal joint and can translate in the axial direction of the proximal joint. The horizontal slider is limited by the slider frame and can only slide on the slide rod. The slide rod is horizontally set. Therefore, the horizontal slider can only move in the horizontal direction. The hand screw can adjust the friction force of the translation of the horizontal slider. By limiting the translation of the horizontal slider, the rotation of the distal rod around the proximal joint can be limited, thereby achieving the stiffness enhancement of the present application.

[0021] The principle of the variable stiffness structure is as follows: Assumptions: Link ACD is the distal rod, link CE is the connecting rod, link EF is the translation rod, link FG is the proximal rod, slider G is the horizontal slider, The variable stiffness structure has only two degrees of freedom: the rotational movement of the connecting rod ACD and the lateral movement of the slider G. Since the end of the connecting rod ACD is connected to the distal joint, the position of the distal joint determines the position of the slider G. By limiting the slider G, the stiffness of the supporting laryngoscope can be enhanced to achieve stability.

[0022] Input force in variable stiffness structure F inx and output force F out It can be calculated by the formula:

[0023] in l 1 and l 2 Respectively represent the length of the AB segment and the BC segment, so the locking force is provided by the hand screw to balance the external disturbance forceF out , thereby enhancing the system stiffness.

[0024] A method for using a laryngoscope with a single bending degree of freedom and variable stiffness, characterized in that it comprises the following steps: Before the operation begins, the hand screw is loosened to put the supported laryngoscope in a low-rigidity state. Then, the operator places the distal end of the supported laryngoscope into the patient's mouth and adjusts the rotation angle of the supported laryngoscope to expose the lesion site in the patient's larynx. After the lesion is exposed, the operator tightens the hand screw to enhance the rigidity of the supported laryngoscope and fixes the supported laryngoscope through the fixing frame. After the supported laryngoscope is fixed, the operator uses surgical instruments to enter the target area along the internal channel of the supported laryngoscope for surgery. After the operation is completed, the hand screw is loosened to restore the laryngoscope to a relaxed state and remove it from the patient's body.

[0025] In the above structure: before the operation begins, the hand screw is loosened to put the support laryngoscope in a low-rigidity state, and then the operator places the distal end of the support laryngoscope into the patient's mouth, adjusts the rotation angle of the support laryngoscope to expose the lesion site of the patient's larynx, and after the lesion is exposed, the operator tightens the hand screw to enhance the rigidity of the support laryngoscope and fixes the support laryngoscope through the fixing frame. After the support laryngoscope is fixed, the operator uses other surgical instruments (such as forceps, suction tubes, etc.) to enter the target area along the internal channel of the support laryngoscope for precise operation. During this period, the enhanced state of the support laryngoscope ensures the stability of the instrument path and avoids the risk of displacement. After the operation is completed, the hand screw is loosened to restore the laryngoscope to a relaxed state, which is convenient for safe removal from the patient's body.

[0026] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention is a wire-driven single-bending degree-of-freedom structure that can bend freely at a certain angle to expose the lesion site, and therefore has a larger field of view than a traditional supported laryngoscope.

[0027] (2) The wire drive structure of the present invention includes a front drive wire and a back drive wire, and the back drive wire is connected in series with a tension spring, thereby achieving adaptive adjustment, enhancing structural compliance, and making the system stable and robust.

[0028] (3) The present invention adopts a proximal locking connecting rod variable stiffness structure, which can greatly enhance the structural stiffness, and the method of adjusting the stiffness of the laryngoscope support in vitro is highly safe and reliable.

[0029] (4) The angle adjustment and stiffness enhancement achieved by the present invention are both stepless adjustments with a wide adjustment range, suitable for various application requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall assembly structure in an embodiment of the present invention.

[0031] Figure 2 Schematic diagram of the structure of the bendable component and the driving component in the embodiment of the present invention.

[0032] Figure 3 Schematic diagram of the structure of the variable stiffness structure in the embodiment of the present invention.

[0033] Figure 4 Schematic diagram of the structure of a bendable joint in an embodiment of the present invention.

[0034] Figure 5 1 is a schematic diagram of a variable stiffness structure in an embodiment of the present invention.

[0035] List of reference numerals: 1. Distal joint; 2. Middle joint; 3. Proximal joint; 4. Laryngoscope end cover; 5. Laryngoscope housing; 6. Servo bracket; 7. Servo; 8. Fixed frame; 9. Round cover; 10. Upper cover; 11. Proximal rod; 12. Front drive line; 13. Dorsal drive line; 14. Guide wheel; 15. Fastening bolt; 16. Limit wheel; 17. Flange; 18. Servo arm; 19. Drive wheel; 20. Hand wheel; 21. Sliding rod; 22. Tension spring; 23. Distal rod; 24. Connecting rod; 25. Translation rod; 26. Horizontal slider; 27. Thumb screw; 28. Slider frame; 29. ​​Mounting seat; 30. Sliding rod. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: like Figure 1-5 As shown, the present invention proposes a single bending degree of freedom supporting laryngoscope with variable stiffness, including a bendable joint, a driving component and a variable stiffness structure, wherein the bendable joint includes a distal joint 1, a middle joint 2 and a proximal joint 3, wherein the distal joint 1 is hinged at one end of the middle joint 2, and the proximal joint 3 is hinged at the other end of the middle joint 2, wherein the distal joint 1, the middle joint 2 and the proximal joint 3 are all hollow structures and are interconnected to form an operation channel, The variable stiffness structure is installed in the operation channel, and includes a distal rod 23, a connecting rod 24, a translation rod 25, a proximal rod 11, a horizontal slider 26 and a slider frame 28. The distal rod 23 is hinged at one end of the connecting rod 24, the translation rod 25 is hinged at the other end of the connecting rod 24, the proximal rod 11 is hinged at the other end of the translation rod 25, the horizontal slider 26 is hinged at the other end of the proximal rod 11, and a slider frame 28 is provided with a slider 30. The horizontal slider 26 is slidably mounted on the slide bar 30, the hand screw 27 passes through the horizontal slider 26 and is arranged against the slide bar 30, the distal rod 23 is provided with a distal hole and a proximal slide groove, the distal rod 23 is fixed to the distal joint 1 through the distal hole, and is installed on the proximal joint 3 through the proximal slide groove and can rotate around the proximal joint 3, a limiting protrusion is arranged on the side of the translation rod 25, and a limiting groove is arranged on the side of the proximal joint 3 along its axial direction, and the limiting protrusion is located in the limiting groove, The driving component includes a steering gear 7, a front driving line 12, a back driving line 13, a guide wheel 14, a limiting wheel 16, a driving wheel 19 and a tension spring 22. The front driving line 12 is installed in front of the distal joint 1, the middle joint 2 and the proximal joint 3, and the back driving line 13 is installed on the side of the distal joint 1, the middle joint 2 and the proximal joint 3. The distal joint 1 and the middle joint 2 are both anisotropic structures. The front driving line 12 is connected to the driving wheel 19 through the guide wheel 14 and the limiting wheel 16. The back driving line 13 is connected in series with the pre-stretched tension spring 22. The back driving wheel 19 is connected to the driving wheel 19 through the guide wheel 14 and the limiting wheel 16. The tension spring 22 is located between the guide wheel 14 and the limiting wheel 16. The output shaft of the steering gear 7 is connected to the driving wheel 19. The distal rod 23, the connecting rod 24 and the translation rod 25 are all flat rods. A mounting seat 29 is fixed below the proximal joint 3, and the guide wheel 14 is movably mounted on the mounting seat 29 by means of a fastening bolt 15. The driving component further comprises a flange 17 and a steering arm 18, wherein the steering arm 18 is connected to the driving wheel 19, the flange 17 is mounted on the steering arm 18, and the steering gear 7 is connected to the flange 17 and the steering arm 18. The driving component further comprises a handwheel 20 and a sliding rod 21, wherein the sliding rod 21 is fixed to the handwheel 20, and the driving wheel 19 is fixedly connected to the handwheel 20 and the sliding rod 21. It also includes a laryngoscope end cover 4, a laryngoscope housing 5, a round cover 9 and an upper cover 10. The mounting seat 29, the slider frame 28, the limiting wheel 16 and the driving wheel 19 are respectively mounted in the laryngoscope housing 5. The laryngoscope end cover 4 is mounted on the laryngoscope housing 5 and is located above the mounting seat 29. The round cover 9 and the upper cover 10 are respectively mounted above the laryngoscope housing 5. The round cover 9 is located above the driving wheel 19, and the upper cover 10 is located above the slider frame 28 and the limiting wheel 16. A slot is opened above the upper cover 10, and the proximal rod 11 is located in the slot. It also includes a steering gear bracket 6, which is fixed to the side of the laryngoscope housing 5, and the steering gear 7 is fixed to the steering gear bracket 6.

[0037] The present invention proposes a single-degree-of-freedom bending supported laryngoscope with variable stiffness, comprising a bendable joint, a driving component and a variable stiffness structure. The present application uses an adaptive linear drive method to enable the supported laryngoscope to achieve single-degree-of-freedom bending during operation to meet the needs of surgery.

[0038] Among them, the flexible joint includes a distal joint 1, two middle joints 2 and a proximal joint 3. The distal joint 1, the middle joint 2 and the proximal joint 3 are all hollow structures and are interconnected to form an operating channel. The operating channel is used to provide an operating channel for the endoscope and execution instruments in surgical operations and to install a variable stiffness structure composed of flat connecting rods. The variable stiffness structure can adjust the system stiffness without affecting the operating channel.

[0039] The distal joint 1, the two middle joints 2 and the proximal joint 3 are all connected by hinges. The distal joint 1 and the two middle joints 2 are anisotropic structures and can be bent under the adjustment of the front driving line 12 and the dorsal driving line 13. The dorsal driving line 13 is connected in series with the pre-stretched tension spring 22, so that the supported laryngoscope can be adaptively adjusted in contact with the outside, has compliance, and can restore the supported laryngoscope to a vertical state after relaxing the front driving line 12, thereby reducing the hysteresis of the system; the front driving line 12 and the dorsal driving line 13 are both controlled by the driving wheel 19, and the driving wheel 19 can be driven by the servo 7 or manually driven by the operator rotating the handwheel 20.

[0040] The operating channel is divided into two 6.5 mm*6 mm operating channels by a variable stiffness structure, which can accommodate three to four operating instruments working simultaneously, sufficient to meet surgical needs.

[0041] Among them, the variable stiffness structure includes a distal rod 23, a connecting rod 24, a translation rod 25, a proximal rod 11, a horizontal slider 26 and a slider frame 28. The distal rod 23, the connecting rod 24, the translation rod 25, the proximal rod 11 and the horizontal slider 26 are all connected in a hinged manner. The distal rod 23 is fixed to the distal joint 1 through a distal hole and is fixed to the proximal joint 3 through a proximal slide groove, and can rotate around the proximal joint 3. The translation rod 25 is limited by the limiting groove on the proximal joint 3 and can translate in the axial direction of the proximal joint 3. The horizontal slider 26 is limited by the slider frame 28 and can only slide on the slide rod 30. The slide rod 30 is horizontally set. Therefore, the horizontal slider 26 can only move in the horizontal direction. The hand screw 27 can adjust the friction force of the translation of the horizontal slider 26. By limiting the translation of the horizontal slider 26, the rotation of the distal rod 23 around the proximal joint 3 can be limited, thereby achieving the stiffness enhancement of the present application.

[0042] Figure 5 It is the principle diagram of the variable stiffness structure, and its principle is as follows: Assumptions: connecting rod ACD is the distal rod 23, connecting rod CE is the connecting rod 24, connecting rod EF is the translation rod 25, connecting rod FG is the proximal rod 11, and slider G is the horizontal slider 26. The variable stiffness structure has only two degrees of freedom: the rotational movement of the connecting rod ACD and the lateral movement of the slider G. Since the end of the connecting rod ACD is connected to the distal joint 1, the position of the distal joint 1 determines the position of the slider G. By limiting the slider G, the stiffness of the supporting laryngoscope can be enhanced to achieve stability.

[0043] Input force in variable stiffness structure F inx and output force F out It can be calculated by the formula:

[0044] in l 1 and l 2 Respectively represent the length of the AB segment and the BC segment, so the locking force is provided by the hand screw to balance the external disturbance force F out , thereby enhancing the system stiffness.

[0045] The present invention provides a method for using a single bending degree of freedom supported laryngoscope with variable stiffness, comprising the following steps: Before the operation begins, the hand screw 27 is loosened to put the support laryngoscope in a low-rigidity state. Then, the operator places the distal end of the support laryngoscope into the patient's mouth and adjusts the rotation angle of the support laryngoscope to expose the lesion site in the patient's larynx. After the lesion is exposed, the operator tightens the hand screw 27 to enhance the rigidity of the support laryngoscope and fixes the support laryngoscope through the fixing frame 8. After the support laryngoscope is fixed, the operator uses surgical instruments to enter the target area along the internal channel of the support laryngoscope to perform surgery. After the operation is completed, the hand screw 27 is loosened to restore the laryngoscope to a relaxed state and remove it from the patient's body.

[0046] Specifically, before the operation begins, the hand screw 27 is loosened to put the support laryngoscope in a low-rigidity state. Then the operator places the distal end of the support laryngoscope into the patient's mouth and adjusts the rotation angle of the support laryngoscope to expose the lesion site of the patient's larynx. After the lesion is exposed, the operator tightens the hand screw 27 to enhance the rigidity of the support laryngoscope and fixes the support laryngoscope through the fixing frame 8. After the support laryngoscope is fixed, the operator uses other surgical instruments (such as forceps, suction tubes, etc.) along the internal channel of the support laryngoscope to enter the target area for precise operation. During this period, the enhanced state of the support laryngoscope ensures the stability of the instrument path and avoids the risk of displacement. After the operation is completed, the hand screw 27 is loosened to restore the laryngoscope to a relaxed state, which is convenient for safe removal from the patient's body.

[0047] Based on the above structure and method, the present application can bend freely at a certain angle to expose the lesion site, so it has a larger field of view than traditional supported laryngoscopes. The dorsal drive line 13 in the present application is connected in series with the tension spring 22 to achieve adaptive adjustment, enhance structural compliance, and make the system stable and robust. The present application can greatly enhance the structural stiffness by adopting a proximal locked connecting rod variable stiffness structure, and the method of adjusting the stiffness of the supported laryngoscope in vitro is highly safe and reliable. The angle adjustment and stiffness enhancement achieved by the present application are both stepless adjustments with a large adjustment range, suitable for various application requirements. The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. A single bending degree of freedom supported laryngoscope with variable stiffness, characterized in that: The invention comprises a bendable joint, a driving component and a variable stiffness structure, wherein the bendable joint comprises a distal joint (1), a middle joint (2) and a proximal joint (3), wherein the distal joint (1) is hinged at one end of the middle joint (2), and the proximal joint (3) is hinged at the other end of the middle joint (2), and the distal joint (1), the middle joint (2) and the proximal joint (3) are all hollow structures and are interconnected to form an operation channel. The variable stiffness structure is installed in the operation channel, and comprises a distal rod (23), a connecting rod (24), a translation rod (25), a proximal rod (11), a horizontal slider (26) and a slider frame (28), wherein the distal rod (23) is hinged to one end of the connecting rod (24), the translation rod (25) is hinged to the other end of the connecting rod (24), the proximal rod (11) is hinged to the other end of the translation rod (25), the horizontal slider (26) is hinged to the other end of the proximal rod (11), and a slider frame (28) is provided with a slider (30 ), the horizontal slider (26) is slidably mounted on the slide bar (30), the hand screw (27) passes through the horizontal slider (26) and is arranged against the slide bar (30), the distal rod (23) is provided with a distal hole and a proximal slide groove, the distal rod (23) is fixed to the distal joint (1) through the distal hole, and is installed on the proximal joint (3) through the proximal slide groove and can rotate around the proximal joint (3), a limiting protrusion is arranged on the side of the translation rod (25), and a limiting groove is arranged on the side of the proximal joint (3) along its axial direction, and the limiting protrusion is located in the limiting groove, The driving component comprises a steering gear (7), a front driving line (12), a back driving line (13), a guide wheel (14), a limit wheel (16), a driving wheel (19) and a tension spring (22); the front driving line (12) is installed through the front of the distal joint (1), the middle joint (2) and the proximal joint (3); the back driving line (13) is installed through the side of the distal joint (1), the middle joint (2) and the proximal joint (3); the distal joint (1) and the middle joint (2) are installed (2) are all anisotropic structures, the front driving line (12) is connected to the driving wheel (19) via the guide wheel (14) and the limiting wheel (16), the back driving line (13) is connected in series with the pre-stretched tension spring (22), the back driving wheel (19) is connected to the driving wheel (19) via the guide wheel (14) and the limiting wheel (16), the tension spring (22) is located between the guide wheel (14) and the limiting wheel (16), and the output shaft of the steering gear (7) is connected to the driving wheel (19).

2. The variable stiffness single bending degree of freedom support laryngoscope according to claim 1, characterized in that: The distal rod (23), the connecting rod (24) and the translation rod (25) are all flat rods.

3. The variable stiffness single bending degree of freedom supporting laryngoscope according to claim 1, characterized in that: A mounting seat (29) is fixed below the proximal joint (3), and the guide wheel (14) is movably mounted on the mounting seat (29) via a fastening bolt (15).

4. The variable stiffness single bending degree of freedom supporting laryngoscope according to claim 1, characterized in that: The driving component further comprises a flange (17) and a steering gear arm (18), wherein the steering gear arm (18) is connected to a driving wheel (19), the flange (17) is mounted on the steering gear arm (18), and the steering gear (7) is connected to the flange (17) and the steering gear arm (18).

5. The variable stiffness single bending degree of freedom supporting laryngoscope according to claim 1, characterized in that: The driving component further comprises a hand wheel (20) and a sliding rod (21), wherein the sliding rod (21) is fixed on the hand wheel (20), and the driving wheel (19) is fixedly connected to the hand wheel (20) and the sliding rod (21).

6. The variable stiffness single bending degree of freedom supporting laryngoscope according to claim 1, characterized in that: The invention also comprises a laryngoscope end cover (4), a laryngoscope housing (5), a round cover (9) and an upper cover (10); the mounting seat (29), the slider frame (28), the limiting wheel (16) and the driving wheel (19) are respectively mounted in the laryngoscope housing (5); the laryngoscope end cover (4) is mounted on the laryngoscope housing (5) and is located above the mounting seat (29); the round cover (9) and the upper cover (10) are respectively mounted above the laryngoscope housing (5); the round cover (9) is located above the driving wheel (19); and the upper cover (10) is located above the slider frame (28) and the limiting wheel (16).

7. The variable stiffness single bending degree of freedom supporting laryngoscope according to claim 6, characterized in that: A slot is provided above the upper cover (10), and the proximal rod (11) is located in the slot.

8. A variable stiffness single bending degree of freedom supporting laryngoscope according to claim 1 or 6, characterized in that: It also comprises a steering gear bracket (6), wherein the steering gear bracket (6) is fixed on the side of the laryngoscope housing (5), and the steering gear (7) is fixed on the steering gear bracket (6).

9. A method for using a variable stiffness single bending degree of freedom supported laryngoscope according to any one of claims 1 to 8, characterized in that: The steps include: Before the operation begins, the hand screw (27) is loosened to put the support laryngoscope in a low-rigidity state. Then, the operator places the distal end of the support laryngoscope into the patient's mouth and adjusts the rotation angle of the support laryngoscope to expose the lesion site on the patient's larynx. After the lesion is exposed, the operator tightens the hand screw (27) to enhance the rigidity of the support laryngoscope and fixes the support laryngoscope through the fixing frame (8). After the support laryngoscope is fixed, the operator uses surgical instruments to enter the target area along the internal channel of the support laryngoscope to perform surgery. After the operation is completed, the hand screw (27) is loosened to restore the laryngoscope to a relaxed state and remove it from the patient's body.

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