A variable stiffness single-degree-of-freedom bending support laryngoscope and its application method

Abstract

The application provides a single-bending-degree support laryngoscope with variable rigidity and a method for using the same. The device comprises a bendable joint, a driving component and a variable rigidity structure. The distal joint, the middle joint and the proximal joint are hollow structures and are in communication with each other to form an operation channel. The variable rigidity structure is installed in the operation channel. The variable rigidity structure comprises a distal rod, a connecting rod, a translation rod, a proximal rod, a horizontal sliding block and a sliding block frame. The driving component comprises a rudder, a front side driving line, a back side driving line, a guide wheel, a limiting wheel, a driving wheel and a tension spring. The application can be freely bent at a certain angle to expose a lesion site and has a larger field of view. The back side driving line is connected in series with the tension spring, so that self-adaptive adjustment is realized, the structural compliance is enhanced, the system is stable, and the robustness is good. The angle adjustment and the rigidity enhancement realized are both stepless adjustment, the adjustment range is large, and the device is suitable for various application requirements.

Description

Technical Field

[0001] This invention relates to a single-degree-of-freedom flexible laryngoscope with variable stiffness and its method of use, particularly a proximal variable stiffness structure. Background Technology

[0002] A laryngoscope with a suspension mechanism is a key instrument in minimally invasive transoral larynx surgery, commonly used to establish a channel from the patient's mouth to the lesion site in the larynx and to visualize it. Traditional clinical laryngoscopes are hollow metal tubes, the cavity of which accommodates the endoscope and surgical instruments. When the patient lies down in the olfactory position (cervicothoracic joint flexion, atlanto-occipital joint extension), the surgeon inserts the laryngoscope into the mouth and calibrates the larynx. Once the lesion site is successfully exposed, the laryngoscope is fixed in place to facilitate surgical procedures. This instrument frees the surgeon's hands, making transoral larynx surgery safer, more convenient, and increasing the success rate. However, traditional laryngoscopes have inherent limitations in their field of vision, making it difficult to expose lesions in the anterior laryngeal cavity. This invention proposes a variable-stiffness laryngoscope with a single degree of bending freedom. It can provide a wider field of vision through bending and maintain flexibility before exposing the lesion site for adjustment and compliance, while increasing stiffness after lesion exposure to provide a stable instrument channel.

[0003] A search revealed that Chinese invention patent application number CN202310894256.0 proposes a laryngoscope with a larynx and a support frame. The bending angle of the laryngoscope can be adjusted by rotating the middle joint in the larynx to suit the needs of different individuals. However, the joint of this laryngoscope must be adjusted and fixed externally and cannot be adjusted after insertion, resulting in limited flexibility and difficulty in improving the range of exposed vision during surgery.

[0004] Chinese invention patent application CN202322097644.4 proposes a visual curved laryngoscope support laryngoscope, which has a curved structure to reduce operational damage and irritation, and a camera is fixed inside the laryngoscope. However, the curved shape of this support laryngoscope is not adjustable and lacks additional adjustable degrees of freedom. The support laryngoscope of this invention retains a cavity in the middle for placing the camera, which can also be placed before insertion for the convenience of medical personnel.

[0005] Chinese invention patent application number CN202210125795.3 proposes a laryngoscope with adjustable distal opening diameter via a knob to accommodate different needs. However, this laryngoscope has a non-adjustable linear structure, limiting the field of view.

[0006] In addition, existing laryngoscopes cannot adjust their stiffness, while adjustable stiffness laryngoscopes can maintain flexible insertion before exposing the lesion to reduce harm to the patient, and increase stiffness after exposing the lesion to provide a stable operating space for other surgical instruments. Therefore, they can greatly improve the operation of medical staff, improve safety, and reduce trauma to patients. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention proposes a variable stiffness single-degree-of-freedom bending support laryngoscope and its usage method. This support laryngoscope can be bent via a line drive, and the overall stiffness of the device can be adjusted through a variable stiffness structure.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A variable stiffness single-degree-of-freedom bending laryngoscope, characterized in that it comprises a flexible joint, a driving component, and a variable stiffness structure. The flexible joint includes a distal joint, a middle joint, and a proximal joint. The distal joint is hinged to one end of the middle joint, and the proximal joint is hinged to the other end of the middle joint. The distal joint, middle joint, and proximal joint are all hollow structures and interconnected to form an operating channel.

[0010] The variable stiffness structure is installed within the operating channel. 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 is hinged to one end of the connecting rod, the translation rod is hinged to the other end of the connecting rod, the proximal rod is hinged to the other end of the translation rod, and the horizontal slider is hinged to the other end of the proximal rod. A sliding rod is provided on the slider frame, and the horizontal slider is slidably mounted on the sliding rod. A hand-tightening screw passes through the horizontal slider and abuts against the sliding rod. The distal rod has a distal hole and a proximal groove. The distal rod is fixed to the distal joint through the distal hole and mounted on the proximal joint through the proximal groove, allowing it to rotate around the proximal joint. A limiting protrusion is provided on the side of the translation rod, and a limiting groove is provided on the side of the proximal joint along its axial direction. The limiting protrusion is located within the limiting groove.

[0011] The drive component includes a servo motor, a front drive line, a rear drive line, a guide wheel, a limit wheel, a drive wheel, and a tension spring. The front drive line runs through the front of the distal joint, the middle joint, and the proximal joint. The rear drive line runs through the sides of the distal joint, the middle joint, and the proximal joint. The distal joint and the middle joint are anisotropic structures. The front drive line is connected to the drive wheel via the guide wheel and the limit wheel. The rear drive line is connected in series with a pre-stretched tension spring. The rear drive wheel is connected to the drive wheel via the guide wheel and the limit wheel. The tension spring is located between the guide wheel and the limit wheel. The output shaft of the servo motor is connected to the drive wheel.

[0012] As a preferred embodiment of the present invention, the distal rod, the connecting rod, and the translation rod are all flat rods.

[0013] As a preferred embodiment of the present invention: a mounting base is fixed below the proximal joint, and the guide wheel is movably mounted on the mounting base by fastening bolts.

[0014] As a preferred embodiment of the present invention: the drive component further includes a flange and a servo arm, the servo arm is connected to the drive wheel, the flange is mounted on the servo arm, and the servo is connected to the flange and the servo arm.

[0015] As a preferred embodiment of the present invention, the driving component further includes a handwheel and a sliding rod, the sliding rod being fixed on the handwheel, and the driving wheel being fixedly connected to the handwheel and the sliding rod.

[0016] As a preferred technical solution of the present invention, it further includes a laryngoscope end cap, a laryngoscope housing, a round cap, and a top cap. The mounting base, slider frame, limiting wheel, and drive wheel are respectively installed inside the laryngoscope housing. The laryngoscope end cap is installed on the laryngoscope housing and located above the mounting base. The round cap and the top cap are respectively installed above the laryngoscope housing. The round cap is located above the drive wheel, and the top cap is located above the slider frame and the limiting wheel.

[0017] As a preferred technical solution of the present invention: a slot is provided on the upper cover, and the proximal rod is located in the slot.

[0018] As a preferred embodiment of the present invention, it further includes a servo motor bracket, which is fixed to the side of the laryngoscope housing, and the servo motor is fixed on the servo motor bracket.

[0019] In the above structure: The present invention proposes a variable stiffness single-degree-of-freedom bending support laryngoscope, which includes a bendable joint, a driving component and a variable stiffness structure. The present application enables the support laryngoscope to achieve single-degree-of-freedom bending during operation through an adaptive linear driving method, so as to meet the needs of surgery.

[0020] The flexible joint includes a distal joint, two intermediate joints, and a proximal joint. The distal, intermediate, and proximal joints are all hollow structures and are interconnected to form an operating channel. The operating channel provides an operating path for the endoscope and instruments used in the surgical procedure, as well as a variable stiffness structure composed of flat connecting rods. The variable stiffness structure can adjust the system stiffness without affecting the operating channel.

[0021] The distal joint, two middle joints, and proximal joint are all connected by hinges. The distal joint and two middle joints are anisotropic structures, which can bend under the adjustment of the anterior and posterior drive lines. The posterior drive line is connected in series with a pre-stretched tension spring, which allows the laryngoscope to adaptively adjust when in contact with the outside, providing compliance. It can also restore the laryngoscope to a vertical position after the anterior drive line is relaxed, reducing system hysteresis. Both the anterior and posterior drive lines are controlled by drive wheels, which can be driven by a servo motor or manually by the operator rotating a handwheel.

[0022] 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 to work at the same time, which is sufficient to meet the needs of surgery.

[0023] 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, connecting rod, translation rod, proximal rod, and horizontal slider are all connected by hinges. The distal rod is fixed to the distal joint through a distal hole and to the proximal joint through a proximal groove, and can rotate around the proximal joint. The translation rod is limited by a 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 sliding rod. The sliding rod is horizontally set, so the horizontal slider can only move in the horizontal direction. The friction force of the horizontal slider translation can be adjusted by hand-tightening the screw. 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 this application.

[0024] The principle of variable stiffness structures is as follows:

[0025] Assumptions: Link ACD is the distal link, link CE is the connecting link, link EF is the translation link, link FG is the proximal link, and slider G is the horizontal slider.

[0026] The variable stiffness structure has only two degrees of freedom: the rotational motion 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 laryngoscope can be enhanced to achieve stability.

[0027] Input force in variable stiffness structure F inx and output force F out It can be calculated using the formula:

[0028]

[0029] in l 1 and l 2These represent the lengths of segments AB and BC, respectively. Therefore, by hand-tightening the screws, a locking force can be provided to balance external disturbances. F out This enhances the system's stiffness.

[0030] A method for using a variable stiffness single-degree-of-freedom bending laryngoscope, characterized by comprising the following steps:

[0031] Before the surgery begins, the hand screw is loosened to allow the laryngoscope to relax. Then, the operator inserts the distal end of the laryngoscope into the patient's mouth and adjusts its rotation angle to expose the lesion in the patient's larynx. After the lesion is exposed, the operator tightens the hand screw to increase the rigidity of the laryngoscope and secures it with a fixation bracket. Once the laryngoscope is secured, the operator uses surgical instruments to advance along the internal channel of the laryngoscope to the target area to perform the surgery. After the surgery is completed, the hand screw is loosened to allow the laryngoscope to relax and is removed from the patient's body.

[0032] In the above structure: Before the surgery begins, the hand-tightened screw is loosened to allow the laryngoscope to reach a low-rigidity state. The operator then inserts the distal end of the laryngoscope into the patient's mouth, adjusting its rotation angle to expose the lesion in the larynx. After exposure, the operator tightens the hand-tightened screw to increase the rigidity of the laryngoscope and secures it with a fixation bracket. Once fixed, the operator uses other surgical instruments (such as forceps, suction tubes, etc.) to precisely manipulate the target area along the internal channel of the laryngoscope. During this process, the enhanced state of the laryngoscope ensures instrument path stability and avoids the risk of displacement. After the surgery, the hand-tightened screw is loosened to allow the laryngoscope to return to a relaxed state for safe removal from the patient.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] (1) The present invention is a single-degree-of-freedom structure driven by a line, which can bend freely at a certain angle to expose the lesion site, thus having a larger field of view than the traditional support laryngoscope.

[0035] (2) The line drive structure of the present invention includes a front drive line and a back drive line. The back drive line is connected in series with a tension spring, thereby realizing adaptive adjustment, enhancing structural compliance, system stability, and good robustness.

[0036] (3) The present invention adopts a proximal locking linkage variable stiffness structure, which can greatly enhance the structural stiffness, and the method of adjusting the stiffness of the laryngoscope externally is safe and reliable.

[0037] (4) The angle adjustment and stiffness enhancement achieved by the present invention are both stepless adjustments with a large adjustment range, which are suitable for various application needs. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall assembly structure in an embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of the bendable component and the driving component in an embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram of the variable stiffness structure in an embodiment of the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of the bendable joint in an embodiment of the present invention.

[0042] Figure 5 This is a schematic diagram of the variable stiffness structure in an embodiment of the present invention.

[0043] List of reference numerals in the attached diagram:

[0044] 1. Distal joint; 2. Middle joint; 3. Proximal joint; 4. Laryngoscope end cap; 5. Laryngoscope housing; 6. Servo bracket; 7. Servo; 8. Mounting bracket; 9. Round cap; 10. Top cap; 11. Proximal rod; 12. Front drive cable; 13. Back drive cable; 14. Guide wheel; 15. Fastening bolt; 16. Limiting wheel; 17. Flange; 18. Servo arm; 19. Drive wheel; 20. Handwheel; 21. Sliding rod; 22. Tension spring; 23. Distal rod; 24. Connecting rod; 25. Translation rod; 26. Horizontal slider; 27. Hand screw; 28. Sliding block bracket; 29. ​​Mounting base; 30. Sliding rod. Detailed Implementation

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0046] like Figure 1-5 As shown, this invention proposes a variable stiffness single-degree-of-freedom bending laryngoscope, comprising a bendable joint, a drive component, and a variable stiffness structure. The bendable joint includes a distal joint 1, a middle joint 2, and a proximal joint 3. The distal joint 1 is hinged to one end of the middle joint 2, and the proximal joint 3 is hinged to the other end of the middle joint 2. The distal joint 1, middle joint 2, and proximal joint 3 are all hollow structures and are interconnected to form an operating channel.

[0047] The variable stiffness structure is installed in the operating channel. 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 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, and the horizontal slider 26 is hinged to the other end of the proximal rod 11. A slide rod 30 is provided on the slider frame 28. The horizontal slider 26 is slidably mounted on the slide rod 30. The hand-tightening screw 27 passes through the horizontal slider 26 and abuts against the slide rod 30. The distal rod 23 is provided with a distal hole and a proximal groove. The distal rod 23 is fixed to the distal joint 1 through the distal hole and is mounted on the proximal joint 3 through the proximal groove and can rotate around the proximal joint 3. The translation rod 25 is provided with a limiting protrusion on its side. The proximal joint 3 is provided with a limiting groove on its side along its axial direction. The limiting protrusion is located in the limiting groove.

[0048] The drive components include a servo motor 7, a front drive line 12, a rear drive line 13, a guide wheel 14, a limiting wheel 16, a drive wheel 19, and a tension spring 22. The front drive line 12 is installed through the front of the distal joint 1, the middle joint 2, and the proximal joint 3. The rear drive 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 anisotropic structures. The front drive line 12 is connected to the drive wheel 19 via the guide wheel 14 and the limiting wheel 16. The rear drive line 13 is connected in series with the pre-stretched tension spring 22. The rear drive wheel 19 is connected to the drive 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. The output shaft of the servo motor 7 is connected to the drive wheel 19. The distal rod 23, the connecting rod 24, and the translation rod 25 are all flat rods. A mounting base 29 is fixed below the proximal joint 3, and the guide wheel 14 is movably mounted on the mounting base 29 by fastening bolts 15. The drive component also includes a flange 17 and a servo arm 18. The servo arm 18 is connected to the drive wheel 19, and the flange 17 is mounted on the servo arm 18. The servo 7 is connected to the flange 17 and the servo arm 18. The drive component also includes a handwheel 20 and a sliding rod 21. The sliding rod 21 is fixed to the handwheel 20, and the drive wheel 19 is fixedly connected to the handwheel 20 and the sliding rod 21. The system also includes a laryngoscope end cap 4, a laryngoscope housing 5, a round cap 9, and an upper cap 10. The mounting base 29, slider bracket 28, limiting wheel 16, and drive wheel 19 are respectively installed inside the laryngoscope housing 5. The laryngoscope end cap 4 is installed on the laryngoscope housing 5 and located above the mounting base 29. The round cap 9 and the upper cap 10 are respectively installed above the laryngoscope housing 5. The round cap 9 is located above the drive wheel 19, and the upper cap 10 is located above the slider bracket 28 and the limiting wheel 16. A slot is formed on the upper cap 10, and the proximal rod 11 is located within the slot. The system also includes a servo motor bracket 6, which is fixed to the side of the laryngoscope housing 5, and the servo motor 7 is fixed to the servo motor bracket 6.

[0049] The present invention proposes a variable stiffness single-degree-of-freedom bending support laryngoscope, comprising a bendable joint, a drive component, and a variable stiffness structure. This application enables the support laryngoscope to achieve single-degree-of-freedom bending during operation through an adaptive linear drive method, in order to meet the needs of surgery.

[0050] The flexible joint includes a distal joint 1, two intermediate joints 2, and a proximal joint 3. The distal joint 1, intermediate joints 2, and 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 instruments used in the surgical procedure, as well as 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.

[0051] 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, which can bend under the adjustment of the anterior drive line 12 and the dorsal drive line 13. The dorsal drive line 13 is connected in series with the pre-stretched tension spring 22, which allows the laryngoscope to adaptively adjust when in contact with the outside, and has compliance. It can also restore the laryngoscope to a vertical state after the anterior drive line 12 is relaxed, reducing the hysteresis of the system. The anterior drive line 12 and the dorsal drive line 13 are both controlled by the drive wheel 19, which can be driven by the servo motor 7 or manually driven by the operator rotating the handwheel 20.

[0052] 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 to work at the same time, which is sufficient to meet the needs of surgery.

[0053] 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, connecting rod 24, translation rod 25, proximal rod 11, and horizontal slider 26 are all connected by hinges. The distal rod 23 is fixed to the distal joint 1 through a distal hole and to the proximal joint 3 through a proximal 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 slider 30. The slider 30 is horizontally set, so the horizontal slider 26 can only move in the horizontal direction. The hand-tightening screw 27 can adjust the friction of the horizontal slider 26 translation. 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 this application.

[0054] Figure 5 This is a schematic diagram of a variable stiffness structure, and its principle is shown below:

[0055] Assumptions: Link ACD is the distal link 23, link CE is the connecting link 24, link EF is the translation link 25, link FG is the proximal link 11, and slider G is the horizontal slider 26.

[0056] The variable stiffness structure has only two degrees of freedom: the rotational motion 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 laryngoscope can be enhanced to achieve stability.

[0057] Input force in variable stiffness structure F inx and output force F out It can be calculated using the formula:

[0058]

[0059] in l 1 and l 2 These represent the lengths of segments AB and BC, respectively. Therefore, by hand-tightening the screws, a locking force can be provided to balance external disturbances. F out This enhances the system's stiffness.

[0060] The present invention proposes a method for using a variable stiffness single-degree-of-freedom bending support laryngoscope, comprising the following steps:

[0061] Before the surgery begins, the hand screw 27 is loosened to bring the laryngoscope to a low-rigidity state. Then, the operator inserts the distal end of the laryngoscope into the patient's mouth and adjusts the rotation angle of the laryngoscope to expose the lesion in the patient's larynx. After the lesion is exposed, the operator tightens the hand screw 27 to increase the rigidity of the laryngoscope and fixes it in place using the fixation bracket 8. After the laryngoscope is fixed, the operator uses surgical instruments to advance along the internal channel of the laryngoscope to the target area to perform the surgery. After the surgery is completed, the hand screw 27 is loosened to restore the laryngoscope to a relaxed state and it is removed from the patient's body.

[0062] Specifically, before the surgery begins, the hand-tightening screw 27 is loosened to bring the laryngoscope to a low-rigidity state. The operator then inserts the distal end of the laryngoscope into the patient's mouth and adjusts its rotation angle to expose the lesion in the patient's larynx. After the lesion is exposed, the operator tightens the hand-tightening screw 27 to increase the rigidity of the laryngoscope and secures it using the fixation bracket 8. Once the laryngoscope is fixed, the operator uses other surgical instruments (such as forceps, suction tubes, etc.) to precisely operate along the internal channel of the laryngoscope to the target area. During this process, the reinforced state of the laryngoscope ensures stable instrument path and avoids the risk of displacement. After the surgery, the hand-tightening screw 27 is loosened to restore the laryngoscope to a relaxed state, facilitating its safe removal from the patient's body.

[0063] Based on the above structure and method, this application can be freely bent at a certain angle to expose the lesion site, thus providing a larger field of view than traditional support laryngoscopes. The dorsal drive line 13 in this application is connected in series with the tension spring 22, thereby achieving adaptive adjustment, enhancing structural compliance, system stability, and robustness. This application, by employing a proximal locking linkage variable stiffness structure, can significantly enhance structural stiffness, and the method of adjusting the stiffness of the support laryngoscope externally is highly safe and reliable. The angle adjustment and stiffness enhancement achieved in this application are both stepless, with a large adjustment range, suitable for various application needs.

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A variable stiffness single-bend degree of freedom support laryngoscope, characterized by: The application relates to a flexible joint, a driving component and a variable rigidity structure, the flexible joint comprising a distal joint (1), a middle joint (2) and a proximal joint (3), the distal joint (1) being hinged at one end of the middle joint (2), the proximal joint (3) being hinged at the other end of the middle joint (2), the distal joint (1), the middle joint (2) and the proximal joint (3) being hollow structures and being communicated with each other to form an operation channel, The variable rigidity structure is installed in the operation channel, the variable rigidity structure comprising a distal rod (23), a connecting rod (24), a translation rod (25), a proximal rod (11), a horizontal sliding block (26) and a sliding block frame (28), the distal rod (23) being hinged at one end of the connecting rod (24), the translation rod (25) being hinged at the other end of the connecting rod (24), the proximal rod (11) being hinged at the other end of the translation rod (25), the horizontal sliding block (26) being hinged at the other end of the proximal rod (11), the sliding block frame (28) being provided with a sliding rod (30), the horizontal sliding block (26) being slidingly installed on the sliding rod (30), a hand screw (27) penetrating through the horizontal sliding block (26) and being arranged against the sliding rod (30), the distal rod (23) being provided with a distal hole and a proximal sliding slot, the distal rod (23) being fixed on the distal joint (1) through the distal hole and being installed on the proximal joint (3) through the proximal sliding slot and being capable of rotating around the proximal joint (3), the translation rod (25) being provided with a limiting protrusion on the side, the proximal joint (3) being provided with a limiting slot on the side along the axial direction, the limiting protrusion being located in the limiting slot, The driving component comprising a rudder (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) penetrating through and being installed in front of the distal joint (1), the middle joint (2) and the proximal joint (3), the back driving line (13) penetrating through and being 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) being anisotropic structures, the front driving line (12) being connected to the driving wheel (19) through the guide wheel (14) and the limiting wheel (16), the back driving line (13) being connected in series with the pre-tensioned tension spring (22), the back driving line (13) being connected to the driving wheel (19) through the guide wheel (14) and the limiting wheel (16), the tension spring (22) being located between the guide wheel (14) and the limiting wheel (16), the output shaft of the rudder (7) being connected to the driving wheel (19).

2. A variable stiffness single dofs support laryngoscope according to claim 1, wherein: The distal rod (23), the connecting rod (24) and the translation rod (25) are all flat rods.

3. A variable stiffness single dofs support laryngoscope according to claim 1, wherein: The proximal joint (3) is fixed with a mounting base (29) below, the guide wheel (14) being movably installed on the mounting base (29) through a fastening bolt (15).

4. A variable stiffness single dofs support laryngoscope according to claim 1, wherein: The driving part further comprises a flange plate (17) and a rudder arm (18), the rudder arm (18) is connected to a driving wheel (19), the flange plate (17) is installed on the rudder arm (18), and the rudder (7) is connected with the flange plate (17) and the rudder arm (18).

5. A variable stiffness single dofs support laryngoscope according to claim 1, characterized in that: The driving part further comprises a hand wheel (20) and a sliding rod (21), the sliding rod (21) is fixed on the hand wheel (20), and the driving wheel (19) is fixedly connected with the hand wheel (20) and the sliding rod (21).

6. A variable stiffness single dofs support laryngoscope according to claim 3, wherein: Further comprising a laryngoscope end cover (4), a laryngoscope shell (5), a round cover (9) and an upper cover (10), the mounting seat (29), the sliding block frame (28), the limiting wheel (16) and the driving wheel (19) are respectively installed in the laryngoscope shell (5), the laryngoscope end cover (4) is installed on the laryngoscope shell (5) and above the mounting seat (29), the round cover (9) and the upper cover (10) are respectively installed above the laryngoscope shell (5), the round cover (9) is above the driving wheel (19), and the upper cover (10) is above the sliding block frame (28) and the limiting wheel (16).

7. A variable stiffness single bend degree of freedom support laryngoscope according to claim 6, wherein: A slot hole is formed above the upper cover (10), and the proximal rod (11) is located in the slot hole.

8. A variable stiffness single dofs support laryngoscope according to claim 1 or 6, wherein: Further comprising a rudder support (6), the rudder support (6) is fixed on the side of the laryngoscope shell (5), and the rudder (7) is fixed on the rudder support (6).

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