Driving rope traction module and tracheal intubation robot

Abstract

The invention relates to the technical field of medical instruments, and provides a driving rope traction module and a tracheal intubation robot. The driving rope traction module comprises a shell used for being connected with a driving guide pipe, and the driving guide pipe is connected with a driving rope; the driving mechanism is installed on the shell, and the driving end of the driving mechanism can move in the first moving direction and the second moving direction which are opposite; the moving block is used for being connected with a driving rope and slidably arranged on the shell, and the driving end of the driving mechanism is in transmission connection with the moving block; and the pressure sensor is arranged between the moving block and the driving end and is used for detecting the pressure applied to the moving block by the driving end in the first moving direction and the second moving direction. The driving rope traction module can ensure that the driving rope is in a tensioned state in the using process, the accuracy of bending control over a far-end active catheter by a tracheal intubation robot is improved, and the intubation operation difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a driving rope traction module and an endotracheal intubation robot. Background Art

[0002] As a key technology for saving lives, endotracheal intubation is widely used in emergency situations. Usually, an intubation tube is inserted into the trachea through the mouth or nose to ensure the patency of the respiratory tract, provide artificial ventilation for the patient, and prevent life-threatening crises caused by hypoxia of organ tissues. Field endotracheal intubation performed outside the hospital, especially its application under emergency conditions, has been proven to effectively improve the respiratory status of patients, especially in patients with severe brain injuries, and can significantly increase the survival rate.

[0003] Due to the curvature and narrowness of the respiratory tract, the intubation operation is difficult and requires medical staff to have rich experience and skills. If the operation is improper, it may cause tracheal injury or misinsertion into the esophagus, resulting in serious consequences. Especially the on-site emergency scenario increases the complexity and risk of the operation. Existing endotracheal intubation robots have poor accuracy in actively controlling the bending of the distal catheter in actual applications, making the intubation operation difficult and not conducive to efficient operation in emergency situations. Summary of the Invention

[0004] The present invention provides a driving rope traction module and an endotracheal intubation robot to solve the problem in the prior art that the accuracy of actively controlling the bending of the distal catheter by the endotracheal intubation robot is poor, resulting in difficult intubation operation.

[0005] The present invention provides a driving rope traction module, including: A housing for connecting an active catheter, and a driving rope is connected to the active catheter; A driving mechanism installed in the housing, and the driving end of the driving mechanism can move along opposite first and second moving directions; A moving block for connecting with the driving rope and slidably arranged in the housing, and the driving end of the driving mechanism is in transmission connection with the moving block; A pressure sensor arranged between the moving block and the driving end for detecting the pressure exerted by the driving end on the moving block in the first and second moving directions.

[0006] According to the driving rope traction module provided by the present invention, it further includes: An elastic member. The driving end has a first side facing the first moving direction and a second side facing the second moving direction. The elastic member is arranged between the first side and the moving block and between the second side and the moving block, and the elastic member is elastically abutted against the pressure sensor.

[0007] According to a driving rope traction module provided by the present invention, the driving end has a first side facing the first moving direction and a second side facing the second moving direction, the pressure sensor is a thin film force sensor, and the thin film force sensor is attached to the first side and the second side.

[0008] According to a driving rope traction module provided by the present invention, the housing includes a first housing and a second housing, the driving mechanism is installed in the first housing, the moving block is slidably arranged in the second housing, the first housing and the second housing are detachably connected, the second housing is used to connect the active catheter, the moving block is provided with a slot, and the driving end is inserted into the slot.

[0009] According to a driving rope traction module provided by the present invention, the driving mechanism includes a driving member, a lead screw, a slider and a transmission member, the driving member is connected to the lead screw, the slider is slidably arranged in the first housing and is threadedly connected to the lead screw, one end of the transmission member is fixed to the slider, and the other end is inserted into the slot.

[0010] According to a driving rope traction module provided by the present invention, it further includes: A thin film position sensor, fixed to the first housing; An elastic body, fixed to the moving block and elastically abutted against the thin film position sensor.

[0011] According to a driving rope traction module provided by the present invention, it further includes: A main control board, installed in the housing, and the driving mechanism and the pressure sensor are respectively communicatively connected to the main control board.

[0012] According to a driving rope traction module provided by the present invention, it further includes a screen, the screen is rotatably connected to the housing and communicatively connected to the main control board; and / or, it further includes a battery, the battery is installed in the housing and electrically connected to the main control board; and / or, it further includes a speaker, the speaker is installed in the housing and electrically connected to the main control board.

[0013] The present invention also provides an endotracheal intubation robot, including an active catheter, a tracheal catheter, a driving rope and any one of the above driving rope traction modules; The active catheter is connected to the housing and is provided with an active bending section, the tracheal catheter is sleeved on the active bending section; one end of the driving rope is connected to the moving block, and the other end is connected to the end of the active bending section away from the housing.

[0014] According to the endotracheal intubation robot provided by the present invention, there are multiple driving mechanisms and multiple moving blocks, and the driving ends of the multiple driving mechanisms are connected to the multiple moving blocks in a one-to-one correspondence; A plurality of wire-passing groove groups are distributed circumferentially on the tube wall of the active bending tube section, and each of the wire-passing groove groups includes a plurality of wire-passing grooves distributed axially along the active conduit; a plurality of the driving ropes are arranged in one-to-one correspondence with the plurality of wire-passing groove groups, and the driving ropes are passed through the plurality of wire-passing grooves of the corresponding wire-passing groove groups.

[0015] The drive rope traction module and endotracheal intubation robot provided by the present invention are provided with a drive mechanism and a moving block, and the driving mechanism drives the moving block to move, so as to drive the drive rope to tighten and release the active catheter; a pressure sensor is provided between the moving block and the driving end of the drive mechanism to detect the pressure applied to the moving block by the driving end in the first moving direction and the second moving direction, so that the endotracheal intubation robot can servo-control the driving mechanism according to the pressure values ​​in the two directions, so as to adjust the tension of the drive rope, realize the adjustment of the stiffness of the front active catheter, and at the same time avoid the bending of the drive rope during the adjustment and control process, ensure that the drive rope is in a tensioned state, improve the accuracy of the endotracheal intubation robot's bending control of the distal active catheter, and reduce the difficulty of the intubation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a cross-sectional view of the drive rope traction module provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the internal structure of the main body in the drive rope traction module provided by the present invention.

[0019] Figure 3 It is a structural schematic diagram of the intubation connector in the drive rope traction module provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the external structure of the main body in the drive rope traction module provided by the present invention.

[0021] Figure 5 It is a partial structural schematic diagram of the main body in the drive rope traction module provided by the present invention.

[0022] Figure 6It is an explosion schematic diagram of the intubation connector, the active catheter and the tracheal catheter in the drive rope traction module provided by the present invention.

[0023] Figure 7 It is a connection schematic diagram of the intubation connector and the tracheal catheter in the drive rope traction module provided by the present invention.

[0024] Figure 8 It is an installation schematic diagram of the joint cover in the drive rope traction module provided by the present invention.

[0025] Figure 9 It is an overall structure schematic diagram of the tracheal intubation robot provided by the present invention.

[0026] Figure 10 It is a structure schematic diagram of the active catheter of the tracheal intubation robot provided by the present invention.

[0027] Figure 11 It is a partial cross-sectional view of the active catheter in the tracheal intubation robot provided by the present invention.

[0028] Figure 12 It is a structure schematic diagram of the active bending pipe section of the active catheter in the tracheal intubation robot provided by the present invention.

[0029] Figure 13 It is Figure 12 the top view of the active bending pipe section in

[0030] Figure 14 It is a three-dimensional schematic diagram of the pipe section of the active catheter in the tracheal intubation robot provided by the present invention.

[0031] Figure 15 It is one of the side views of the pipe section of the active catheter in the tracheal intubation robot provided by the present invention.

[0032] Figure 16 It is the second side view of the pipe section of the active catheter in the tracheal intubation robot provided by the present invention.

[0033] Figure 17 It is a schematic diagram of the usage state of the tracheal intubation robot provided by the present invention.

[0034] Reference numerals: 100. Housing; 1. Main body; 11. First housing; 111. First engaging member; 113. Guide groove; 12. Driving mechanism; 121. Driving member; 122. Lead screw; 123. Slide block; 124. Guide rod; 125. Transmission member; 126. Coupling; 127. Elastic body; 131. Main control board; 132. Connecting board; 133. Endoscope connector; 14. Screen; 15. Battery; 16. Speaker; 17. Position sensor; 2. Active catheter; 21. Active bending section; 211. Pipe section; 2111. Body part; 21111. Through hole; 21112. First arc-shaped chute; 21113. Second arc-shaped chute; 21114. Third arc-shaped chute; 2112. Limiting part; 2113. Wire trough; 2114. First connecting part; 21141. Rotating part; 21141a. First limiting surface; 21141b. Second limiting surface; 21142. Third arc part; 2115. Second connecting part; 21151. First arc part; 21152. Second arc part; 22. Rigid section; 23. Passive bending section; 24. Endoscope; 25. Instrument channel; 26. Treatment instrument; 3. Tracheal catheter; 4. Driving rope; 5. Intubation connector; 51. Second housing; 511. Second engaging member; 512. First positioning hole; 513. Slide rail; 514. Connector; 515. Connector cover; 52. Moving block; 521. Slot; 53. Elastic member; 54. Pressure sensor. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "first" and "second" are used for numbering product components for clear description and do not represent any substantial difference. The terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations. In addition, the meaning of "a plurality" is two or more. In the description of the specification and the claims, "and / or" means at least one of the connected objects, and the character " / " generally means an "or" relationship between the associated objects before and after.

[0037] The following will combine with Figures 1 - 17 to describe the drive rope traction module and the tracheal intubation robot of the present invention.

[0038] The drive rope traction module provided by the embodiment of the present invention is used for a tracheal intubation robot. As Figure 1 , Figure 2 and Figure 3 shown, the drive rope traction module includes a housing 100, a drive mechanism 12, a moving block 52 and a pressure sensor 54. The housing 100 is used to connect to the active catheter 2, and the active catheter 2 is connected with a drive rope 4. The drive mechanism 12 is installed in the housing 100, and the drive end of the drive mechanism 12 can move along opposite first and second moving directions. The moving block 52 is used to connect with the drive rope 4 and is slidably arranged in the housing 100. The drive end of the drive mechanism 12 is in transmission connection with the moving block 52. The pressure sensor 54 is arranged between the moving block 52 and the drive end of the drive mechanism 12, and is used to detect the pressure applied by the drive end to the moving block 52 in the first and second moving directions.

[0039] It can be understood that the sliding direction of the moving block 52 is the same as the driving direction of the drive mechanism 12, that is, when the drive end of the drive mechanism 12 moves along the first moving direction or the second moving direction, the moving block 52 is correspondingly driven to move along the first moving direction or the second moving direction.

[0040] During tracheal intubation, the operator can control the action of the drive mechanism 12 through the operating mechanism on the tracheal intubation robot according to the bending shape of the patient's airway, so that the drive mechanism 12 drives the moving block 52 to move, and the moving block 52 drives the drive rope 4 to apply a driving force to the active bending section 21 of the active catheter 2, so that the active bending section 21 generates a bend. An endotracheal tube 3 is sleeved outside the active bending section 21. When the active bending section 21 bends, it can drive the endotracheal tube 3 to bend synchronously.

[0041] Specifically, when the drive end of the drive mechanism 12 moves along the first moving direction, the drive rope 4 is tightened through the moving block 52. When the drive end of the drive mechanism 12 moves along the second moving direction, the drive rope 4 is released through the moving block 52. The drive end of the drive mechanism 12 has a first side facing the first moving direction and a second side facing the second moving direction. A pressure sensor 54 is arranged on the first side, and is used to detect the pressure applied by the drive end of the drive mechanism 12 to the moving block 52 along the first moving direction; a pressure sensor 54 is also arranged on the second side, and is used to detect the pressure applied by the drive end of the drive mechanism 12 to the moving block 52 along the second moving direction.

[0042] Among them, the pressure sensor 54 on the first side and the pressure sensor 54 on the second side can be two independent pressure sensors 54. Alternatively, the pressure sensor 54 on the first side and the pressure sensor 54 on the second side are the same pressure sensor 54, that is, the sensing end of the pressure sensor 54 covers both the first side and the second side at the same time.

[0043] During the tracheal intubation process, the tracheal intubation robot can control the driving mechanism 12 according to the pressure value feedback by the pressure sensor 54 to servo-control the tension on the driving rope 4 and achieve the adjustment of the stiffness of the front-end catheter. Among them, when the driving end of the driving mechanism 12 moves along the second moving direction to release the driving rope 4, if the pressure detected by the pressure sensor 54 on the second side exceeds the set value, it indicates that the driving rope 4 is bent. At this time, the control system controls the driving mechanism 12 to move in the reverse direction, so that the driving end of the driving mechanism 12 switches to move along the first direction to tighten the driving rope 4.

[0044] The driving rope traction module provided by the embodiment of the present invention drives the moving block 52 to move through the driving mechanism 12 to drive the driving rope 4 to tighten and release the active catheter 2; by arranging the pressure sensor 54 between the moving block 52 and the driving end of the driving mechanism 12 to detect the pressure applied by the driving end to the moving block 52 in the first moving direction and the second moving direction, the tracheal intubation robot can servo-control the driving mechanism 12 according to the pressure values in the two directions to adjust the tension of the driving rope 4, achieve the adjustment of the stiffness of the front-end active catheter 2, and at the same time avoid the bending of the driving rope 4 during the adjustment control process, ensure that the driving rope 4 is in a tightened state, improve the accuracy of the bending control of the distal active catheter 2 by the tracheal intubation robot, reduce the difficulty of the intubation operation, and facilitate the efficient operation in the case of first aid.

[0045] As Figure 1 shown, the driving rope traction module provided by some embodiments of the present invention further includes an elastic member 53. Elastic members 53 are provided between the first side of the driving end of the driving mechanism 12 and the moving block 52 and between the second side of the driving end of the driving mechanism 12 and the moving block 52. The elastic member 53 is elastically abutted against the pressure sensor 54.

[0046] Among them, one of the pressure sensor 54 and the elastic member 53 is fixed to the driving end of the driving mechanism 12, and the other is fixed to the moving block 52. Optionally, the moving block 52 is provided with a slot 521, the driving end of the driving mechanism 12 is inserted into the slot 521, and the pressure sensor 54 is arranged between the driving end and the wall of the slot 521. The elastic member 53 is an elastic structural member not limited to a spring bead, as long as it can be elastically abutted against the pressure sensor 54 to ensure that the pressure sensor 54 can detect the pressure applied by the transmission member 125 to the moving block 52.

[0047] Taking the case where the pressure sensor 54 is fixed to the driving end of the driving mechanism 12 as an example, the two elastic members 53 are respectively arranged on two opposite groove walls in the slot 521, and are elastically abutted against the pressure sensors 54 on the first side and the second side of the driving end of the driving mechanism 12 in a one-to-one correspondence.

[0048] When the tension of the driving rope 4 is 0, the elastic member 53 can still apply a certain pressure to the pressure sensor 54. When the tension of the driving rope 4 is greater than 0, the pressure applied by the elastic member 53 to the pressure sensor 54 increases. In this way, the problem that tiny pressure cannot obtain measurement data due to being in the measurement dead zone of the sensor can be avoided, the sensitivity of force perception is improved, and it is beneficial to the precise control of the driving mechanism 12 over the active bending pipe section 21.

[0049] Optionally, the pressure sensor 54 is a thin-film force sensor, and the thin-film force sensor is attached to the first side and the second side of the driving end of the driving mechanism 12. The thin-film force sensor occupies a small space and is suitable for being arranged in the narrow space between the moving block 52 and the transmission member 125, which is beneficial to the miniaturized design of the main body 1 structure. When the installation space is sufficient, the pressure sensor 54 can also adopt other sensors for pressure measurement, such as piezoelectric sensors.

[0050] As Figure 1 shown, in some embodiments of the present invention, the housing 100 includes a first housing 11 and a second housing 51. The driving mechanism 12 is installed in the first housing 11, and the moving block 52 is slidably arranged in the second housing 51. The first housing 11 and the second housing 51 are detachably connected. The second housing 51 is used to connect the active catheter 2. The moving block 52 is provided with a slot 521, and the driving end of the driving mechanism 12 is inserted into the slot 521.

[0051] Among them, the driving rope traction module provided by the embodiments of the present invention includes a main body 1 and an intubation connector 5. The main body 1 includes a first housing 11 and a driving mechanism 12, and the intubation connector 5 includes a second housing 51 and a moving block 52. The second housing 51 is detachably connected to the first housing 11, and the driving end of the driving mechanism 12 is inserted into the slot 521 of the moving block 52, that is, the driving end of the driving mechanism 12 is detachably connected to the moving block 52, realizing the detachable connection between the intubation connector 5 and the main body 1. In this way, active catheters 2 and tracheal catheters 3 of different sizes can be replaced according to the airway sizes of different patients, improving the adaptability of the tracheal intubation robot. At the same time, the active catheter 2 and the intubation connector 5 can be used as disposable items to ensure aseptic operation and eliminate the limitation of the application range of the robot due to the difficulty of repeated disinfection in emergency scenarios. The main body 1 can be reused to reduce the use cost. By establishing a detachable connection between the driving rope 4 and the driving mechanism 12 through the intubation connector 5, the replacement of the active catheter 2 is made more convenient.

[0052] Before tracheal intubation, insert the driving end of the driving mechanism 12 into the slot 521 of the moving block 52. After installing and connecting the second housing 51 to the first housing 11, sleeved the tracheal catheter 3 on the outside of the active catheter 2 and connect it to the second housing 51 to complete the assembly of the tracheal intubation robot.

[0053] During tracheal intubation, guide the tracheal catheter 3 through the active catheter 2, insert the tracheal catheter 3 into the patient's airway, then remove the tracheal catheter 3 from the second housing 51 and the active catheter 2, and withdraw the active catheter 2 from the patient's body, leaving the tracheal catheter 3 in the patient's body to complete the intubation process.

[0054] Optionally, the second housing 51 is provided with a wire structure, and a plurality of wire holes are arranged in the wire structure. A plurality of drive ropes 4 are respectively inserted into the plurality of wire holes and fixedly connected to the plurality of moving blocks 52 in a one-to-one correspondence.

[0055] As Figure 3 and Figure 4 shown, in some embodiments of the present invention, the first housing 11 is provided with a first engaging member 111, and the second housing 51 is provided with a second engaging member 511. The first engaging member 111 and the second engaging member 511 are engaged.

[0056] Optionally, a plurality of first engaging members 111 are respectively arranged on both sides in the length direction of the first housing 11, and a plurality of second engaging members 511 are correspondingly arranged on the second housing 51. The first housing 11 and the second housing 51 are engaged by a plurality of first engaging members 111 and a plurality of second engaging members 511. One of the first engaging member 111 and the second engaging member 511 is a male snap, and the other is a female snap.

[0057] It should be noted that the detachable connection method between the first housing 11 and the second housing 51 is not limited to the above-mentioned engaging method. For example, the first housing 11 and the second housing 51 can also be connected by connecting members such as bolts, as long as the detachable connection between the first housing 11 and the second housing 51 can be realized, and this embodiment does not make any restrictions.

[0058] As Figure 1 and Figure 2 shown, in an embodiment of the present invention, the driving mechanism 12 includes a driving member 121, a lead screw 122, a slider 123 and a transmission member 125. The driving member 121 is connected to the lead screw 122. The slider 123 is slidably arranged in the first housing 11 and is threadedly connected to the lead screw 122. One end of the transmission member 125 is fixed to the slider 123, and the other end is inserted into the slot 521.

[0059] Specifically, the driving member 121 is fixed to the first housing 11. One end of the lead screw 122 is connected to the driving end of the driving member 121, for example, connected to the driving end of the driving member 121 through a coupling 126. The other end of the lead screw 122 is rotatably connected to the first housing 11. A guide rod 124 or a slide rail is fixed to the first housing 11. The slider 123 is slidably disposed on the guide rod 124 or the slide rail. The driving member 121 is a rotary driving member 121 that is not limited to a motor. When the driving member 121 drives the slider 123 to move through the lead screw 122, the transmission member 125 is driven to move. The transmission member 125 drives the moving block 52 to move, so that the moving block 52 pulls the driving rope 4 to drive the active catheter 2 to bend.

[0060] Further, as Figure 5 shown, a guide groove 113 is provided on the first housing 11. The transmission member 125 is inserted through the guide groove 113 and extends outside the first housing 11. One side of the second housing 51 facing the first housing 11 is open. When the second housing 51 is connected to the first housing 11, the transmission member 125 is inserted into the slot 521 of the moving block 52, thereby establishing a transmission connection between the driving mechanism 12 and the driving rope 4.

[0061] Further, the driving mechanism 12 further includes a speed reducer. The driving member 121 is connected to the lead screw 122 through the speed reducer, which can further increase the load capacity of the driving mechanism 12.

[0062] Traditional tracheal intubation robots designed for the operating room environment are bulky and inconvenient to carry, and cannot meet the requirements for portability and flexibility in emergency scenarios. The emergency environment is complex and changeable, and medical staff need to respond quickly, while these bulky devices are often difficult to deploy in a timely manner. In this embodiment, the lead screw 122 driving mechanism 12 is used to drive the driving rope 4, so that the structure of the driving system of the tracheal intubation robot is simple and compact, and has a large load capacity, which is beneficial to the miniaturization design of the robot.

[0063] The driving rope traction module of this embodiment is connected to the active catheter 2 and the tracheal catheter 3 to form a tracheal intubation robot. As Figure 9 and Figure 17 shown, the volume of the main body 1 of the driving rope traction module can be reduced to a size that can be held by hand, improving the portability and flexibility of the tracheal intubation robot, being suitable for clinical applications, especially for rapid intubation operations in emergency scenarios.

[0064] It should be noted that in some alternative embodiments, the driving mechanism 12 can also adopt other types of mechanisms, such as hydraulic or pneumatic driving mechanisms 12, or servo motors, gear rack driving mechanisms 12, etc.

[0065] As Figure 1As shown in the figure, the drive rope traction module provided by some embodiments of the present invention further includes a film position sensor 17 and an elastomer 127. The film position sensor 17 is fixed to the housing 100. The elastomer 127 is fixed to the moving block 52 and elastically abuts against the film position sensor 17.

[0066] Specifically, the film position sensor 17 is fixed to the first housing 11. The film position sensor 17 is provided with a sensing surface in contact with the elastomer 127, and the sensing surface extends along the sliding direction of the slider 123. The elastomer 127 is fixed to one side in the sliding direction of the slider 123 and elastically abuts against the sensing surface of the film position sensor 17 to keep the elastomer 127 in contact with the sensing surface, so as to sense the position of the slider 123 relative to the first housing 11 through the film position sensor 17. The film position sensor 17 occupies a small space, which is beneficial to the miniaturized design of the main body 1 structure.

[0067] It should be noted that when the installation space is sufficient, embodiments of the present invention can also detect the position of the slider 123 through other non-contact displacement sensors such as grating rulers or infrared ranging sensors.

[0068] Among them, the elastomer 127 is an elastic structural member not limited to a spring top bead, as long as it can be fixed to the slider 123 and elastically abut against the first housing 11 to ensure that the position sensor 17 can detect the position of the slider 123. In this embodiment, the position sensor 17 detects the absolute position of the slider 123 and feeds back the position information of the slider 123 to the control system of the robot, and this position information can be used by the control system to judge the bending direction and bending degree of the active bending pipe section 21. The control system adjusts and controls the drive mechanism 12 according to the position information fed back by the film position sensor 17 to improve the accuracy of control.

[0069] As Figure 2 and Figure 3 shown in the figure, in some embodiments of the present invention, the number of the drive mechanisms 12 and the moving blocks 52 is multiple, and the drive ends of the multiple drive mechanisms 12 are correspondingly connected to the multiple moving blocks 52 one by one.

[0070] Among them, each moving block 52 is used to connect a drive rope 4. Correspondingly, a pressure sensor 54 is provided between each moving block 52 and the drive end of the corresponding drive mechanism 12 to adjust the tension of each drive rope 4. A plurality of guide grooves 113 are provided on the first housing 11, and the transmission members 125 of the plurality of drive mechanisms 12 are correspondingly inserted into the plurality of guide grooves 113. Optionally, a plurality of mutually parallel slide rails 513 are provided in the second housing 51, and the plurality of moving blocks 52 are slidably arranged on the plurality of slide rails 513.

[0071] As Figure 2As shown, the driving rope traction module provided by the embodiment of the present invention further includes a main control board 131. The main control board 131 is installed in the housing 100, and the driving mechanism 12 and the pressure sensor 54 are respectively communicatively connected to the main control board 131. When the housing 100 includes a detachable first housing 11 and a second housing 51, the main control board 131 is installed in the first housing 11.

[0072] Among them, the main control board 131 serves as the control system of the endotracheal intubation robot. The main body 1 is provided with a manipulation mechanism communicatively connected to the driving mechanism 12, such as buttons, joysticks, etc. These manipulation mechanisms are communicatively connected to the main control board 131. During the intubation process, the operator sends a control instruction to the main control board 131 through the manipulation mechanism, so that the main control board 131 controls the driving mechanism 12 to act, and drives the corresponding driving rope 4 to drive the active bending pipe section 21 to bend in a specified direction.

[0073] Optionally, the main control board 131 adopts an embedded processor with an NPU, which has a certain model thrust capacity and can operate independently from a large host computer system, which is beneficial to the miniaturization and portability design of the endotracheal intubation robot.

[0074] Among them, the main control board 131 is also electrically connected to the thin film position sensor 17. The main control board 131 can control the driving mechanism 12 according to the position information fed back by the thin film position sensor 17 to adjust the bending shape of the active bending pipe section 21.

[0075] As Figure 2 shown, the driving rope traction module provided by some embodiments of the present invention further includes a screen 14. The screen 14 is rotatably connected to the housing 100 and communicatively connected to the main control board 131. Optionally, the second housing 51 and the screen 14 are respectively arranged on both sides of the first housing 11 in the length direction.

[0076] Among them, an endoscope 24 is provided at the distal end of the active catheter 2. The main control board 131 is also used to process the video information of the endoscope 24 and output the video information to the corresponding screen for display, so as to observe the internal situation of the airway during the intubation operation and improve the accuracy of the operation. During the endotracheal intubation process, the operator holds the main body 1 of the robot and controls the endotracheal tube 3 to be inserted into the patient's airway through the patient's nasal cavity and through the patient's glottis. At the same time, the operator can observe the internal situation of the airway through the screen 14 on the main body 1, and the operation is convenient.

[0077] It should be noted that a video transmission interface can be set on the housing 100, and the video information obtained by the endoscope 24 can be transmitted to an external display device through the main control board 131 for video display.

[0078] Specifically, the screen 14 is rotatably connected to the first housing 11, and the screen 14 has a first position and a second position relative to the first housing 11. When the screen 14 is in the first position, seeFigure 4 , the screen 14 is folded on the surface of the first housing 11 for easy carrying. When the screen 14 is in the second position, see Figure 17 , the screen 14 is unfolded relative to the first housing 11 for easy viewing. When in use, a person holds the circumferential side in the length direction of the first housing 11, and the screen 14 rotates relative to the first housing 11 to the unfolded state. Optionally, when the screen 14 is in the second position, the screen 14 is perpendicular to the length direction of the first housing 11.

[0079] As Figure 2 shown, the drive rope traction module provided by some embodiments of the present invention further includes a battery 15, and the battery 15 is installed in the housing 100 and electrically connected to the main control board 131. The battery 15 can be a storage battery 15 or a dry battery 15. It should be noted that a power interface can be provided on the main body 1 for connecting an external power source.

[0080] As Figure 4 shown, the drive rope traction module provided by some embodiments of the present invention further includes a speaker 16, and the speaker 16 is installed in the housing 100 and electrically connected to the main control board 131. The speaker 16 is used to play a prompt audio for assisting intubation and improving the convenience and accuracy of intubation. For example, while the main control board 131 controls the driving mechanism 12 to act, it plays the relevant voice of the bending state of the active catheter 2 through the speaker 16. Or, the main control board 131 judges the internal state of the airway according to the information captured by the endoscope 24 and plays the relevant voice through the speaker 16, etc.

[0081] It should be noted that in the embodiments of the present invention, the drive rope traction module includes at least one of the screen 14, the battery 15, and the speaker 16. Among them, setting the screen 14 and the battery 15 at the same time facilitates intubation operations in first aid situations in outdoor environments. In the case where the housing 100 includes a first housing 11 and a second housing 51 that are detachably connected, the screen 14, the battery 15, or the speaker 16 is installed on the first housing 11.

[0082] As Figure 2 and Figure 5 shown, in the case where the number of driving mechanisms 12 is multiple, the drive rope traction module provided by the embodiments of the present invention further includes a connecting plate 132, the connecting plate 132 is electrically connected to the main control board 131, and the multiple driving mechanisms 12 are respectively electrically connected to the connecting plate 132.

[0083] Specifically, a plurality of driving mechanisms 12 are arranged along the width direction of the first housing 11, the driving ends of the driving mechanisms 12 move along the length direction of the first housing 11, and the main control board 131 is arranged in the plane where the width direction and the length direction are located. The connecting plate 132 is arranged inside the first housing 11 and at one end in the driving direction of the plurality of driving mechanisms 12, and the connecting plate 132 is electrically connected to the plurality of driving mechanisms 12 at the same time. In this way, the structure of the main body 1 is relatively compact, and the complexity of the connection wires between the plurality of driving mechanisms 12 and the main control board 131 is reduced, which is beneficial to reducing the volume of the main body 1.

[0084] Further, as Figure 2 shown, the driving rope traction module provided by some embodiments of the present invention further includes an endoscope connector 133, the endoscope connector 133 is detachably connected to the main control board 131, and the lead of the endoscope 24 is detachably connected to the endoscope connector 133.

[0085] As Figure 6 and Figure 7 shown, in some embodiments of the present invention, a joint 514 is provided on the second housing 51, and the joint 514 is used for passing through the active catheter 2 and being snap-connected to the tracheal catheter 3.

[0086] Specifically, the joint 514 is an annular joint 514, a through hole is provided at one end of the second housing 51, the joint 514 is coaxially arranged with the through hole, the active catheter 2 passes through the through hole and the joint 514 and is fixedly connected to the second housing 51. A snap projection is provided on the inner side of the joint 514, and a card slot is provided on the outer side of the tracheal catheter 3, and the snap projection and the card slot cooperate to realize the detachable snap connection between the tracheal catheter 3 and the joint 514. Here, the snap connection structure between the tracheal catheter 3 and the second housing 51 is a schematic example, and the present embodiment does not specifically limit the snap connection structure between the two.

[0087] Further, as Figure 8 shown, a joint cover 515 is further provided on the second housing 51, and the joint cover 515 is used for sleeving on the outer side of the tracheal catheter 3 and being snap-connected to the joint 514, playing a role in dust prevention, waterproofing and aesthetics. Specifically, the joint 514 has an inner ring part and an outer ring part, the tracheal catheter 3 is snap-connected to the inner ring part, and the joint cover 515 is sleeved on the outer side of the outer ring part and is snap-connected to the outer ring part. For example, a plurality of clamping positions are provided on the outer ring part along the circumferential direction, and the joint cover 515 is snap-connected to the plurality of clamping positions.

[0088] As Figure 3 shown, in some embodiments of the present invention, the second housing 51 is provided with a first positioning hole 512, the moving block 52 is provided with a second positioning hole, and the main body 1 further includes a positioning bolt. The positioning bolt is used for being inserted into the first positioning hole 512 and the second positioning holes of the plurality of moving blocks 52.

[0089] When installing the second housing 51 and the first housing 11, the positioning bolts are inserted through the first positioning holes 512 and the second positioning holes of the plurality of moving blocks 52, so that the plurality of moving blocks 52 are in the initial positions. The plurality of sliders 123 move to the positions corresponding to the plurality of moving blocks 52 under the control of the driving member 121 and the servo of the thin film position sensor 17. Thus, when the second housing 51 is installed and connected to the first housing 11, the transmission members 125 on the sliders 123 can be accurately inserted into the slots 521 of the corresponding moving blocks 52, realizing the transmission connection between the plurality of driving mechanisms 12 and the plurality of moving blocks 52.

[0090] As Figure 9 shown, an embodiment of the present invention further provides an endotracheal intubation robot, including an active catheter 2, an endotracheal catheter 3, a driving rope 4, and any one of the above driving rope traction modules. The active catheter 2 is connected to the housing 100 and is provided with an active bending section 21, and the endotracheal catheter 3 is sleeved on the active bending section 21. One end of the driving rope 4 is connected to the moving block 52, and the other end is connected to the end of the active bending section 21 away from the housing 100. Among them, the connection manners of the active catheter 2 and the endotracheal catheter 3 to the housing 100 can refer to the embodiments related to the above driving rope traction module, and will not be elaborated herein.

[0091] Further, the number of the driving mechanisms 12 and the moving blocks 52 is multiple, and the driving ends of the multiple driving mechanisms 12 are connected to the multiple moving blocks 52 in a one-to-one correspondence. Refer to Figure 12 and Figure 13 , a plurality of groups of wire groove groups are circumferentially distributed on the tube wall of the active bending section 21, and each group of wire groove groups includes a plurality of wire grooves 2113 axially distributed along the active catheter 2. A plurality of driving ropes 4 are arranged in one-to-one correspondence with the plurality of groups of wire groove groups, and the driving ropes 4 are inserted through the plurality of wire grooves 2113 of the corresponding wire groove groups.

[0092] It can be understood that each driving mechanism 12 is drivingly connected to the distal end of the active bending section 21 away from the main body 1 through a driving rope 4. The plurality of driving ropes 4 are inserted through the plurality of groups of wire groove groups in a one-to-one correspondence, that is, the part of each driving rope 4 located on the active bending section 21 is sequentially inserted through the plurality of wire grooves 2113 of the corresponding wire groove group. Under the limiting action of the wire grooves 2113, the driving ropes 4 are close to the tube wall of the active bending section 21.

[0093] Among them, since multiple groups of wire trough groups are distributed circumferentially along the active bending pipe section 21, multiple driving ropes 4 passing through the multiple groups of wire trough groups are respectively used to drive the active bending pipe section 21 to bend in multiple different directions, so that it can flexibly conform to the bending shape of the airway and guide forward, reducing the difficulty of intubation operation. Since the driving ropes 4 are close to the pipe wall of the active bending pipe section 21, it is beneficial to improve the accuracy of bending adjustment of the active bending pipe section 21, thereby improving the accuracy of intubation operation; at the same time, the torque of the driving ropes 4 on the active bending pipe section 21 can also be increased, which is beneficial to reducing the requirement for the load capacity of the driving mechanism 12.

[0094] The tracheal intubation robot provided by the embodiment of the present invention distributes multiple groups of wire trough groups axially on the pipe wall of the active bending pipe section 21 of the active catheter 2. Each group of wire trough groups includes multiple wire troughs 2113 distributed axially. Multiple driving ropes 4 are arranged along the active catheter 2 and respectively pass through the multiple groups of wire trough groups one by one, so that the multiple driving ropes 4 are used to drive the active catheter 2 to bend in multiple directions, improving the flexibility of tracheal intubation operation and reducing the difficulty of intubation operation. Each driving rope 4 is arranged close to the pipe wall of the active bending pipe section 21, increasing the driving torque of the driving rope 4 on the active bending pipe section 21, thereby reducing the requirement for the load capacity of the driving mechanism 12 and facilitating the miniaturized design of the driving mechanism 12 to reduce the volume of the tracheal intubation robot.

[0095] Among them, an endoscope 24 is provided at the distal end of the active catheter 2. The main control board 131 processes the video information of the endoscope 24 and outputs the video information to the corresponding screen 14 for display, so as to observe the internal situation of the airway during intubation operation. Combined with the flexible bending of the active catheter 2, ordinary people can also safely complete the intubation operation with the assistance of the robot.

[0096] In the existing tracheal intubation technology, due to the limitation of the load capacity of the robot, the active bending pipe section 21 of the active catheter 2 needs to protrude outside the tracheal catheter 3 for guidance. Therefore, after the active catheter 2 reaches the target position, the tracheal catheter 3 needs to be sent along the protruding active bending pipe section 21 to the target position, and then the active catheter 2 is withdrawn from the patient's body, leaving the tracheal catheter 3 in the patient's body. This results in a longer intubation time, which is not conducive to improving the success rate of rescue in emergency scenarios, and the patient will feel uncomfortable due to contact friction between the active bending pipe section 21 and the human airway during the guiding forward process.

[0097] In the embodiment of the present invention, through the design of improving the load capacity of the driving mechanism 12 and the design of the driving rope 4 being close to the inner wall of the active bending pipe section 21, during the intubation operation, there is no need to extend the active bending pipe section 21 out of the tracheal catheter 3. The driving rope 4 can have sufficient driving force to drive the active bending pipe section 21 and the tracheal catheter 3 to bend simultaneously, enabling the tracheal catheter 3 and the active catheter 2 to reach the target position at the same time, shortening the intubation time, and at the same time avoiding discomfort caused by friction between the active bending pipe section 21 and the airway.

[0098] As Figure 10 shown, in the embodiment of the present invention, the active catheter 2 further includes a passive bending pipe section 23 and a rigid section 22. The passive bending pipe section 23 and the rigid section 22 are respectively connected to both ends of the active bending pipe section 21. The driving rope 4 is sequentially threaded through the passive bending pipe section 23 and the active bending pipe section 21. The endoscope 24 is arranged on the rigid section 22 and is communicatively connected to the main control board 131.

[0099] Among them, the driving rope 4 can be directly fixedly connected to the end of the active bending pipe section 21 far from the main body 1, or can be directly fixedly connected to the rigid section 22, that is, indirectly fixedly connected to the active bending pipe section 21 through the rigid section 22. The passive bending pipe section 23 is connected to the end of the active bending pipe section 21 close to the main body 1, and the rigid section 22 is connected to the end of the active bending pipe section 21 far from the main body 1. The end of the passive bending pipe section 23 far from the active bending pipe section 21 is fixedly connected to the second housing 51. During the intubation process, when the active bending pipe section 21 bends and advances along the airway, it drives the passive bending pipe section 23 to advance, and the passive bending section undergoes passive bending.

[0100] Furthermore, an endoscope 24 is arranged on the rigid section 22, and the endoscope 24 is communicatively connected to the main control board 131. A lighting system cooperating with the endoscope 24 is also arranged on the rigid section 22, which is used to monitor the intracavitary condition of the patient's airway during the operation to provide visual guidance and precise positioning.

[0101] Furthermore, as Figure 11 shown, an instrument channel 25 is arranged in the active catheter 2, and the instrument channel 25 is sequentially threaded through the passive bending pipe section 23, the active bending pipe section 21, and the rigid section 22. A treatment instrument 26, such as a blood-sucking instrument, can be arranged in the instrument channel 25. The treatment instrument 26 can extend out of the instrument channel 25 for the treatment in the patient's respiratory tract.

[0102] As Figure 12 and Figure 13As shown, in the embodiment of the present invention, the active bending pipe section 21 includes a plurality of pipe sections 211 that are rotatably connected in sequence, and a wire groove 2113 is provided on the pipe wall of each pipe section 211. Specifically, the plurality of pipe sections 211 are arranged along the axial direction of the active catheter 2, and each two adjacent pipe sections 211 are rotatably connected. At least one wire groove 2113 is provided on each pipe section 211, and a driving rope 4 is passed through each wire groove 2113. When a certain driving rope 4 is pulled by the corresponding driving mechanism 12, the pipe section 211 close to the distal end will rotate relative to the pipe section 211 far from the distal end toward the side where the driving rope 4 is located, so that the active bending pipe section 21 as a whole bends toward the side where the driving rope 4 is located.

[0103] Furthermore, if Figure 14 As shown, the pipe section 211 includes a main body 2111 and a limiting portion 2112. Both ends of the limiting portion 2112 are connected to the main body 2111 respectively, and the limiting portion 2112 is arched relative to the main body 2111 and is surrounded by the main body 2111 to form a wire groove 2113.

[0104] Specifically, the main body 2111 is an annular tubular structure, the limiting part 2112 is connected to the main body 2111 at both ends perpendicular to the axial direction of the main body 2111, and the middle part of the limiting part 2112 is arched relative to the tube wall of the main body 2111 to form an arc or folded structure, so that a wire groove 2113 is defined between the limiting part 2112 and the main body 2111, and the driving rope 4 can be passed through the wire groove 2113 along the axial direction of the tube section 211. Preferably, the limiting part 2112 is arranged on the inner side of the main body 2111, that is, the limiting part 2112 and the inner wall of the main body 2111 are surrounded to form the wire groove 2113, and the driving rope 4 is located on the inner side of the active catheter 2 and passed through the wire groove 2113.

[0105] Optionally, the tube wall of the main body 2111 is provided with a through hole 21111, and the two ends of the limiting portion 2112 are connected to the two side hole walls of the through hole 21111 in a one-to-one correspondence. Specifically, the two ends of the limiting portion 2112 perpendicular to the axial direction of the main body 2111 are connected to the two side hole walls of the through hole 21111 in a one-to-one correspondence. It can be understood that the limiting portion 2112 and the through hole 21111 are arranged opposite to each other in the radial direction of the main body 2111. In this way, the limiting portion 2112 can be formed by cutting the tube wall and extruding inward.

[0106] In some embodiments of the present invention, the active bending pipe section 21 is formed by integrally cutting a metal pipe. Optionally, the active bending pipe section 21 is formed by laser cutting a metal pipe, that is, the entire metal pipe is cut by laser to form a plurality of pipe sections 211, and each pipe section 211 is formed by cutting and pressing a groove to form a wire groove 2113. The active bending pipe section 21 formed in this way has better structural strength and stability.

[0107] like Figures 14 - 16As shown, in the embodiment of the present invention, one end of the pipe section 211 has two first connection parts 2114, and the other end has two second connection parts 2115. The two first connection parts 2114 are arranged opposite to each other in the radial direction of the pipe section 211, and the two second connection parts 2115 are arranged opposite to each other in the radial direction of the pipe section 211. The two first connection parts 2114 and the two second connection parts 2115 of two adjacent pipe sections 211 that are close to each other are rotationally connected in one-to-one correspondence.

[0108] Among them, the pipe section 211 includes a main body part 2111, a first connection part 2114, and a second connection part 2115. The first connection part 2114 and the second connection part 2115 are respectively connected to both ends of the main body part 2111 in the axial direction. Two adjacent pipe sections 211 are rotationally connected through the first connection part 2114 and the second connection part 2115, and there is a gap between the main body parts 2111 of two adjacent pipe sections 211 to provide a movement space for the relative rotation of the two pipe sections 211.

[0109] Specifically, two adjacent pipe sections 211 are respectively a first pipe section 211 and a second pipe section 211. One end of the first pipe section 211 is connected with two first connection parts 2114, and the other end is connected with two second connection parts 2115. One end of the second pipe section 211 is connected with two first connection parts 2114, and the other end is connected with two second connection parts 2115. The two first connection parts 2114 of the first pipe section 211 and the two second connection parts 2115 of the second pipe section 211 are rotationally connected in one-to-one correspondence.

[0110] Among them, the main body part 2111, the first connection part 2114, and the second connection part 2115 can be integrally formed by laser cutting of an integral metal pipe. Since the cutting is performed on the curved wall of the metal pipe, a structural interlock can be formed between the first connection part 2114 and the second connection part 2115, so that a plurality of pipe sections 211 are connected to form an integral active bending pipe segment 21.

[0111] Furthermore, the two first connection parts 2114 are arranged opposite to each other in a first radial direction, the two second connection parts 2115 are arranged opposite to each other in a second radial direction, and the first radial direction and the second radial direction are perpendicular to each other. Two wire grooves 2113 are provided on the pipe section 211, and the two wire grooves 2113 are arranged opposite to each other in the first radial direction.

[0112] Among them, the first radial direction and the second radial direction are perpendicular to each other, that is, two adjacent pipe sections 211 are connected with a 90° dislocation in the circumferential direction, see Figure 12 and Figure 13 . The two wire grooves 2113 of each pipe section 211 are arranged opposite to each other in the first radial direction, that is, the two wire grooves 2113 and the two first connection parts 2114 are axially opposite to each other in one-to-one correspondence, see Figure 15In this way, four sets of wire grooves groups which are distributed at 90° to each other in the circumferential direction are formed on the active bending pipe section 21, and are correspondingly used for threading four driving ropes 4. The four driving ropes 4 can be used to drive the active bending pipe section 21 to bend in four directions which are at 90° angles to each other, realizing the omnidirectional bending of the active catheter 2.

[0113] If the first radial direction and the second radial direction are the same, that is, the adjacent two pipe sections 211 can only bend in two directions which are at 180° angles to each other. In this embodiment, by setting the first radial direction and the second radial direction to be perpendicular to each other, the adjacent two pipe sections 211 can bend in four directions which are at 90° angles to each other, improving the flexibility of the active catheter 2.

[0114] As Figure 13 , Figure 15 and Figure 16 shown, the first connecting portion 2114 includes a rotating portion 21141, and the second connecting portion 2115 includes a first arc portion 21151 and a second arc portion 21152. The first arc portion 21151 and the second arc portion 21152 are relatively held on the outer side of the rotating portion 21141 and are rotationally matched with the rotating portion 21141.

[0115] Specifically, a first arc surface is provided on one side of the rotating portion 21141, and a second arc surface is provided on the other side. The first arc surface and the second arc surface are coaxially arranged and are both surfaces in the thickness direction of the pipe section 211. The first arc portion 21151 and the second arc portion 21152 are relatively arranged concentric arc structures. The first arc portion 21151 is rotationally matched with the first arc surface, and the second arc portion 21152 is rotationally matched with the second arc surface. The rotation axis of the second connecting portion 2115 relative to the first connecting portion 2114 is the axis of the two arc surfaces of the rotating portion 21141.

[0116] Further, the radius of the first arc surface of the rotating portion 21141 is greater than the radius of the second arc surface. Correspondingly, the radius of the first arc portion 21151 is greater than the radius of the second arc portion 21152. The rotating portion 21141 is further provided with a first limiting surface 21141a and a second limiting surface 21141b. The first limiting surface 21141a and the second limiting surface 21141b are respectively connected to both ends of the second arc surface. The first limiting surface 21141a is in limiting cooperation with one end of the second arc portion 21152, and the second limiting surface 21141b is in limiting cooperation with the other end of the second arc portion 21152. The first limiting surface 21141a and the second limiting surface 21141b can limit the rotation angle of the second connecting portion 2115 relative to the first connecting portion 2114.

[0117] Further, referring to Figure 15, on the pipe section 211, a first arc chute 21112 and a second arc chute 21113 are provided outside the rotating part 21141. The first arc part 21151 is slidably arranged in the first arc chute 21112 along the rotating direction, and the second arc part 21152 is slidably arranged in the second arc chute 21113 along the rotating direction.

[0118] Specifically, the first arc chute 21112 is formed between the body part 2111 and the first arc surface of the rotating part 21141, and the second arc chute 21113 is formed between the body part 2111 and the second arc surface of the rotating part 21141. The first arc part 21151 is slidably arranged in the first arc chute 21112 along the rotating direction, and the second arc part 21152 is slidably arranged in the second arc chute 21113 along the rotating direction. In this way, the connection between adjacent pipe sections 211 can be made compact, and the body part 2111, the first arc part 21151, the second arc part 21152, and the rotating part 21141 support each other structurally, ensuring a certain rotational connection strength between the pipe sections 211.

[0119] Further, referring to Figure 15 and Figure 16 , the first connecting part 2114 further includes a third arc part 21142. The third arc part 21142 is disposed around the outer arc of the second arc part 21152 and is in rotational cooperation with the second arc part 21152. A third arc chute 21114 is provided on the pipe section 211 outside the arc of the second arc part 21152. The third arc part 21142 is slidably arranged in the third arc chute 21114 along the rotating direction.

[0120] Specifically, the third arc part 21142 and the body part 2111 define the second arc chute 21113 with the second arc surface of the rotating part 21141, and the second arc part 21152 is slidably arranged in the second arc chute 21113 along the rotating direction. The third arc chute 21114 is formed between the body part 2111 and the second arc part 21152, and the third arc part 21142 is slidably arranged in the third arc chute 21114 along the rotating direction. In this way, the body part 2111, the third arc part 21142, and the second arc part 21152 support each other structurally, further enhancing the rotational connection strength between the pipe sections 211 and preventing the first connecting part 2114 and the second connecting part 2115 from breaking.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A driving rope traction module for an endotracheal intubation robot, characterized in that, Comprising: A housing for connecting an active catheter, the active catheter being connected to a drive rope; A drive mechanism installed in the housing, the drive end of the drive mechanism being capable of moving in opposite first and second movement directions; A moving block for connecting to the drive rope and slidably disposed in the housing, the drive end of the drive mechanism being drivingly connected to the moving block; A pressure sensor disposed between the moving block and the drive end for detecting the pressure applied by the drive end to the moving block in the first and second movement directions.

2. The drive rope traction module according to claim 1, characterized in that Further comprising: An elastic member, the drive end having a first side facing the first movement direction and a second side facing the second movement direction, the elastic member being provided between the first side and the moving block and between the second side and the moving block, the elastic member being elastically abutted against the pressure sensor.

3. The drive rope traction module according to claim 1, wherein The drive end has a first side facing the first movement direction and a second side facing the second movement direction, the pressure sensor being a thin film force sensor, and the thin film force sensor being attached to the first side and the second side.

4. The drive rope traction module according to claim 1, wherein, The housing includes a first housing and a second housing, the drive mechanism being installed in the first housing, the moving block being slidably disposed in the second housing, the first housing and the second housing being detachably connected, the second housing being used for connecting the active catheter, the moving block being provided with a slot, and the drive end being inserted into the slot.

5. The drive rope traction module according to claim 4, characterized in that, The drive mechanism includes a drive member, a lead screw, a slider, and a transmission member, the drive member being connected to the lead screw, the slider being slidably disposed in the first housing and being threadedly connected to the lead screw, one end of the transmission member being fixed to the slider and the other end being inserted into the slot.

6. The drive rope traction module according to claim 5, characterized in that, Further comprising: A thin film position sensor fixed to the first housing; An elastic body fixed to the moving block and elastically abutted against the thin film position sensor.

7. The drive rope traction module according to claim 1, wherein Further comprising: A main control board installed in the housing, the drive mechanism and the pressure sensor being respectively communicatively connected to the main control board.

8. The drive rope traction module according to claim 7, wherein, Further comprising a screen rotatably connected to the housing and communicatively connected to the main control board; and / or, further comprising a battery installed in the housing and electrically connected to the main control board; and / or, further comprising a speaker installed in the housing and electrically connected to the main control board.

9. A tracheal intubation robot, characterized in that, Comprising an active catheter, a tracheal catheter, a drive rope, and a drive rope traction module according to any one of claims 1-8; The active catheter is connected to the housing and is provided with an active bending section, the tracheal catheter being sleeved on the active bending section; one end of the drive rope is connected to the moving block and the other end is connected to the end of the active bending section away from the housing.

10. The tracheal intubation robot according to claim 9, wherein The number of the drive mechanisms and the moving blocks is multiple, and the drive ends of the multiple drive mechanisms are connected to the multiple moving blocks in a one-to-one correspondence; A plurality of groups of wire grooves are circumferentially distributed on the pipe wall of the active bending pipe section, and each group of the wire groove groups includes a plurality of wire grooves axially distributed along the active catheter; a plurality of the drive ropes are arranged in one-to-one correspondence with the plurality of groups of the wire groove groups, and the drive ropes are arranged through the plurality of wire grooves of the corresponding wire groove groups.

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