Drive rope traction module and endotracheal tube robot

Abstract

The application relates to the technical field of medical devices, and provides a driving rope traction module and a tracheal intubation robot. The driving rope traction module comprises a shell, a driving pipe connected to the shell, a driving mechanism installed on the shell, a driving end of the driving mechanism capable of moving in opposite first and second moving directions, a moving block connected to the driving rope and slidingly arranged on the shell, the driving end of the driving mechanism being in transmission connection with the moving block, and a pressure sensor arranged between the moving block and the driving end and used for detecting the pressure applied by the driving end to the moving block in the first and second moving directions. In the use process, the driving rope traction module can ensure that the driving rope is in a tensioned state, improves the accuracy of the bending control of the distal end of the driving pipe of the tracheal intubation robot, and reduces the intubation operation difficulty.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a drive rope traction module and a tracheal intubation robot. Background Art

[0002] As a critical life-saving technique, endotracheal intubation is widely used in emergency situations. Typically, a tube is inserted into the trachea through the mouth or nose to ensure airway patency and provide artificial ventilation, preventing life-threatening organ and tissue hypoxia. On-site endotracheal intubation performed outside a hospital, particularly in emergency settings, has been shown to effectively improve a patient's respiratory status and, in particular, significantly increase survival rates in patients with severe brain damage.

[0003] Due to the curvature and narrowness of the respiratory tract, intubation is difficult and requires extensive experience and skills from medical staff. Improper operation can lead to tracheal damage or inadvertent insertion into the esophagus, resulting in serious consequences. On-site emergency scenarios, in particular, increase the complexity and risk of the operation. Existing endotracheal intubation robots have poor precision in controlling the curvature of the distal active catheter in actual use, making intubation difficult and hindering efficient operation in emergency situations. Summary of the Invention

[0004] The present invention provides a drive rope traction module and an endotracheal intubation robot, which are used to solve the problem in the prior art that the endotracheal intubation robot has poor accuracy in controlling the bending of the active catheter at the distal end, resulting in great difficulty in the intubation operation.

[0005] The present invention provides a drive rope traction module, comprising:

[0006] a housing, the housing being used to connect to an active catheter, the active catheter being connected to a drive rope;

[0007] a driving mechanism mounted on the housing, wherein a driving end of the driving mechanism is movable in opposite first and second moving directions;

[0008] a moving block, used to be connected to the driving rope and slidably disposed on the housing, wherein the driving end of the driving mechanism is in transmission connection with the moving block;

[0009] A pressure sensor is provided between the moving block and the driving end, and is used to detect the pressure applied by the driving end to the moving block in the first moving direction and the second moving direction.

[0010] A drive rope traction module provided by the present invention further includes:

[0011] The elastic member is arranged between the first side of the driving end and the moving block and between the second side of the driving end and the moving block, and the elastic member is in elastic abutment with the pressure sensor.

[0012] According to the driving rope traction module provided by the application, 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.

[0013] According to the driving rope traction module provided by the application, the housing comprises a first housing and a second housing, the driving mechanism is mounted on the first housing, the moving block is slidingly arranged on the second housing, the first housing and the second housing are detachably connected, the second housing is used for connecting the active catheter, the moving block is provided with a slot, and the driving end is inserted into the slot.

[0014] According to the driving rope traction module provided by the application, the driving mechanism comprises a driving member, a lead screw, a sliding block and a transmission member, the driving member is connected with the lead screw, the sliding block is slidingly arranged on the first housing and is threadedly connected with the lead screw, one end of the transmission member is fixed on the sliding block, and the other end of the transmission member is inserted into the slot.

[0015] According to the driving rope traction module provided by the application, the housing comprises a first housing and a second housing, the driving mechanism is mounted on the first housing, the moving block is slidingly arranged on the second housing, the first housing and the second housing are detachably connected, the second housing is used for connecting the active catheter, the moving block is provided with a slot, and the driving end is inserted into the slot.

[0016] The thin film position sensor is fixed on the first housing.

[0017] The elastic body is fixed on the moving block and is in elastic abutment with the thin film position sensor.

[0018] According to the driving rope traction module provided by the application, the housing comprises a first housing and a second housing, the driving mechanism is mounted on the first housing, the moving block is slidingly arranged on the second housing, the first housing and the second housing are detachably connected, the second housing is used for connecting the active catheter, the moving block is provided with a slot, and the driving end is inserted into the slot.

[0019] The main control board is mounted on the housing, and the driving mechanism and the pressure sensor are respectively in communication connection with the main control board.

[0020] According to the driving rope traction module provided by the application, the housing comprises a first housing and a second housing, the driving mechanism is mounted on the first housing, the moving block is slidingly arranged on the second housing, the first housing and the second housing are detachably connected, the second housing is used for connecting the active catheter, the moving block is provided with a slot, and the driving end is inserted into the slot.

[0021] The application further provides a tracheal intubation robot, which comprises an active catheter, a tracheal catheter, a driving rope and any one of the driving rope traction modules.

[0022] The active catheter is connected to the shell and is provided with an active bending tube section, and the tracheal catheter is sleeved on the active bending tube 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 tube section away from the shell.

[0023] According to the tracheal 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;

[0024] A plurality of groups of wire grooves are distributed circumferentially on the wall of the active bending pipe section, and each group of the wire grooves includes a plurality of wire grooves distributed along the axial direction of the active conduit; a plurality of the driving ropes are arranged in a one-to-one correspondence with the plurality of groups of the wire grooves, and the driving ropes are passed through the plurality of wire grooves of the corresponding wire groove groups.

[0025] The drive rope traction module and endotracheal intubation robot provided by the present invention are configured by providing a drive mechanism and a moving block, wherein the drive mechanism drives the moving block to move, thereby driving 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 a first moving direction and a second moving direction, so that the endotracheal intubation robot can servo-control the drive mechanism according to the pressure values ​​in the two directions to adjust the tension of the drive rope and realize the adjustment of the stiffness of the front-end active catheter. At the same time, the drive rope can be avoided from bending during the adjustment and control process, ensuring that the drive rope is in a taut state, thereby improving the accuracy of the endotracheal intubation robot's bending control of the distal active catheter and reducing the difficulty of the intubation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to 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 any creative work.

[0027] Figure 1 It is a cross-sectional view of the drive rope traction module provided by the present invention.

[0028] 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.

[0029] Figure 3 It is a structural schematic diagram of the intubation connector in the drive rope traction module provided by the present invention.

[0030] 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.

[0031] Figure 5 It is a partial structural schematic diagram of the main body in the drive rope traction module provided by the present invention.

[0032] Figure 6 It is an exploded schematic diagram of the intubation connector, active catheter and endotracheal tube in the drive rope traction module provided by the present invention.

[0033] Figure 7 It is a schematic diagram of the connection between the intubation connector and the endotracheal tube in the drive rope traction module provided by the present invention.

[0034] Figure 8 This is a schematic diagram of the installation of the joint cover in the drive rope traction module provided by the present invention.

[0035] Figure 9 It is a schematic diagram of the overall structure of the endotracheal intubation robot provided by the present invention.

[0036] Figure 10 It is a schematic diagram of the active catheter structure of the endotracheal intubation robot provided by the present invention.

[0037] Figure 11 It is a partial cross-sectional view of the active catheter in the endotracheal intubation robot provided by the present invention.

[0038] Figure 12 It is a structural schematic diagram of the active bending tube section of the active catheter in the tracheal intubation robot provided by the present invention.

[0039] Figure 13 yes Figure 12 Top view of the active bending pipe segment in .

[0040] Figure 14 It is a three-dimensional schematic diagram of the tube segment of the active catheter in the tracheal intubation robot provided by the present invention.

[0041] Figure 15 This is one of the side views of the tube segment of the active catheter in the endotracheal intubation robot provided by the present invention.

[0042] Figure 16 This is the second side view of the tube segment of the active catheter in the endotracheal intubation robot provided by the present invention.

[0043] Figure 17 This is a schematic diagram of the endotracheal intubation robot provided by the present invention in use.

[0044] Reference numerals:

[0045] 100. Housing; 1. Main body; 11. First housing; 111. First clamping member; 113. Guide groove; 12. Driving mechanism; 121. Driving member; 122. Screw; 123. Slider; 124. Guide rod; 125. Transmission member; 126. Coupling; 127. Elastomer; 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 tube segment; 211. Tube joint ; 2111, main body; 21111, through hole; 21112, first arc chute; 21113, second arc chute; 21114, third arc chute; 2112, limiting portion; 2113, wire groove; 2114, first connecting portion; 21141, rotating portion; 21141a, first limiting surface; 21141b, second limiting surface; 21142, third arc portion; 2115, second connecting portion; 21151, first arc portion; 21152, second arc portion; 22, rigid section; 23. Passive bending tube section; 24. Endoscope; 25. Instrument channel; 26. Treatment instrument; 3. Endotracheal tube; 4. Drive rope; 5. Intubation connector; 51. Second shell; 511. Second clip; 512. First positioning hole; 513. Slide rail; 514. Connector; 515. Connector cover; 52. Moving block; 521. Slot; 53. Elastic member; 54. Pressure sensor. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0047] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are for the purpose of clearly describing the numbering of product components and do not represent any substantial difference. The terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a connection between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances. In addition, the meaning of "multiple" is two or more. "And / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0048] The application is described below Figures 1-17 The application provides a driving rope traction module and a tracheal intubation robot.

[0049] The application provides a driving rope traction module for a tracheal intubation robot. Figure 1 、 Figure 2 and Figure 3 The driving rope traction module comprises a housing 100, a driving mechanism 12, a moving block 52 and a pressure sensor 54. The housing 100 is used for connecting a main catheter 2, and the main catheter 2 is connected with a driving rope 4. The driving mechanism 12 is installed in the housing 100, and a driving end of the driving mechanism 12 is capable of moving along opposite first and second moving directions. The moving block 52 is used for connecting the driving rope 4 and is slidably arranged in the housing 100. The driving end of the driving mechanism 12 is in transmission connection with the moving block 52. The pressure sensor 54 is arranged between the moving block 52 and the driving end of the driving mechanism 12, and is used for detecting the pressure applied by the driving end to the moving block 52 in the first and second moving directions.

[0050] It can be understood that the sliding direction of the moving block 52 is consistent with the driving direction of the driving mechanism 12, that is, when the driving end of the driving mechanism 12 moves along the first or second moving direction, the moving block 52 is correspondingly driven to move along the first or second moving direction.

[0051] In the tracheal intubation process, an operator can control the driving mechanism 12 to act through a control mechanism on the tracheal intubation robot according to the bending shape of the airway of a patient, so that the driving mechanism 12 drives the moving block 52 to move, the moving block 52 drives the driving rope 4 to exert a driving force on the main bending pipe section 21 of the main catheter 2, so that the main bending pipe section 21 is bent. The tracheal catheter 3 is sleeved outside the main bending pipe section 21. When the main bending pipe section 21 is bent, the tracheal catheter 3 can be synchronously bent.

[0052] Specifically, when the driving end of the driving mechanism 12 moves along the first moving direction, the driving rope 4 is pulled tight through the moving block 52. When the driving end of the driving mechanism 12 moves along the second moving direction, the driving rope 4 is released through the moving block 52. The driving end of the driving mechanism 12 has a first side facing the first moving direction and a second side facing the second moving direction. The first side is provided with a pressure sensor 54 for detecting the pressure applied by the driving end of the driving mechanism 12 to the moving block 52 in the first moving direction; and the second side is also provided with a pressure sensor 54 for detecting the pressure applied by the driving end of the driving mechanism 12 to the moving block 52 in the second moving direction.

[0053] The pressure sensor 54 on the first side and the pressure sensor 54 on the second side may be two independent pressure sensors 54. Alternatively, the pressure sensor 54 on the first side and the pressure sensor 54 on the second side may be the same pressure sensor 54, i.e., the sensing end of the pressure sensor 54 covers both the first side and the second side.

[0054] During intubation, the intubation robot controls the drive mechanism 12 based on the pressure value fed back by the pressure sensor 54, thereby servo-controlling the tension on the drive cord 4 and adjusting the stiffness of the front-end catheter. If, while the driving end of the drive mechanism 12 is moving in the second direction to release the drive cord 4, the pressure detected by the second-side pressure sensor 54 exceeds a set value, indicating that the drive cord 4 is bent, the control system controls the drive mechanism 12 to reverse its motion, switching the driving end of the drive mechanism 12 to move in the first direction to tighten the drive cord 4.

[0055] The drive rope traction module provided in an embodiment of the present invention is provided with a drive mechanism 12 and a moving block 52. The drive mechanism 12 drives the moving block 52 to move, so as to drive the drive rope 4 to tighten and release the active catheter 2; by providing a pressure sensor 54 between the moving block 52 and the driving end of the drive mechanism 12 to detect the pressure applied to the moving block 52 by the driving end in the first moving direction and the second moving direction, the tracheal intubation robot can servo-control the drive mechanism 12 according to the pressure values ​​in the two directions to adjust the tension of the drive rope 4 and realize the adjustment of the stiffness of the front-end active catheter 2. At the same time, it can avoid the bending of the drive rope 4 during the adjustment and control process, ensure that the drive rope 4 is in a taut state, improve the accuracy of the tracheal intubation robot's bending control of the distal active catheter 2, reduce the difficulty of the intubation operation, and facilitate efficient operation in emergency situations.

[0056] like Figure 1 As shown, the drive rope pulling module provided by some embodiments of the present invention further includes an elastic member 53. The elastic member 53 is provided between the first side of the driving end of the drive mechanism 12 and the moving block 52, and between the second side of the driving end of the drive mechanism 12 and the moving block 52. The elastic member 53 elastically abuts against the pressure sensor 54.

[0057] One of the pressure sensor 54 and the elastic member 53 is fixed to the driving end of the drive mechanism 12, while the other is fixed to the movable block 52. Optionally, the movable block 52 is provided with a slot 521, into which the driving end of the drive mechanism 12 is inserted, and the pressure sensor 54 is disposed between the driving end and the wall of the slot 521. The elastic member 53 is not limited to a spring bead, and any elastic structural member can be used as long as it can elastically abut against the pressure sensor 54 to ensure that the pressure sensor 54 can detect the pressure applied to the movable block 52 by the transmission member 125.

[0058] Taking the pressure sensor 54 fixed to the driving end of the driving mechanism 12 as an example, the two elastic members 53 are respectively arranged on the two opposite groove walls in the slot 521, and elastically offset against the pressure sensors 54 on the first side and the pressure sensors 54 on the second side of the driving end of the driving mechanism 12 in a one-to-one correspondence.

[0059] When the tension in the drive rope 4 is zero, the elastic member 53 can still exert a certain amount of pressure on the pressure sensor 54. When the tension in the drive rope 4 is greater than zero, the pressure exerted by the elastic member 53 on the pressure sensor 54 increases. This avoids the problem of being unable to obtain measurement data due to the sensor's measurement dead zone due to small pressures, improves force sensing sensitivity, and facilitates precise control of the active bending tube section 21 by the drive mechanism 12.

[0060] Optionally, the pressure sensor 54 is a thin film force sensor, attached to the first and second sides of the driving end of the drive mechanism 12. Thin film force sensors occupy little space and are suitable for installation in the narrow space between the moving block 52 and the transmission member 125, facilitating the miniaturization of the main body 1. If sufficient installation space is available, the pressure sensor 54 may also utilize other pressure sensors, such as piezoelectric sensors.

[0061] like Figure 1 As shown, in some embodiments of the present invention, the housing 100 includes a first housing 11 and a second housing 51. The drive mechanism 12 is mounted on the first housing 11, and a movable block 52 is slidably mounted on the second housing 51. The first housing 11 and the second housing 51 are detachably connected. The second housing 51 is used to connect to the active catheter 2. The movable block 52 has a slot 521, into which the driving end of the drive mechanism 12 is inserted.

[0062] The drive rope traction module provided in an embodiment of the present invention includes a main body 1 and an intubation connector 5, wherein the main body 1 includes a first housing 11 and a drive mechanism 12, and the intubation connector 5 includes a second housing 51 and a movable block 52. The second housing 51 is detachably connected to the first housing 11, and the drive end of the drive mechanism 12 is inserted into a slot 521 of the movable block 52. That is, the drive end of the drive mechanism 12 is detachably connected to the movable block 52, thereby achieving a detachable connection between the intubation connector 5 and the main body 1. In this way, different sizes of active catheters 2 and tracheal tubes 3 can be replaced according to the airway size of different patients, improving the adaptability of the tracheal intubation robot. At the same time, the active catheter 2 and intubation connector 5 can be used as disposable items to ensure sterile operation, eliminating the limitation of the robot's application range due to the difficulty of repeated disinfection in emergency scenarios. The main body 1 is reusable, reducing usage costs. The detachable connection between the drive rope 4 and the drive mechanism 12 is established through the intubation connector 5, making the replacement of the active catheter 2 more convenient.

[0063] Before performing tracheal intubation, the driving end of the driving mechanism 12 is inserted into the slot 521 of the moving block 52. After the second shell 51 is installed and connected to the first shell 11, the tracheal tube 3 is placed on the outside of the active tube 2 and connected to the second shell 51 to complete the assembly of the tracheal intubation robot.

[0064] During the tracheal intubation process, the tracheal tube 3 is guided by the active catheter 2 and sent into the patient's airway. Then, the tracheal tube 3 is removed from the second shell 51 and the active catheter 2, and the active catheter 2 is withdrawn from the patient's body, leaving the tracheal tube 3 in the patient's body, and the intubation process is completed.

[0065] Optionally, the second shell 51 is provided with a wire structure, and a plurality of wire holes are provided in the wire structure. The plurality of driving ropes 4 are passed through the plurality of wire holes in a one-to-one correspondence and are fixedly connected to the plurality of moving blocks 52 in a one-to-one correspondence.

[0066] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, the first housing 11 is provided with a first clamping member 111 , and the second housing 51 is provided with a second clamping member 511 , and the first clamping member 111 and the second clamping member 511 are clamped together.

[0067] Optionally, a plurality of first clips 111 are provided on both sides of the first housing 11 in the longitudinal direction, and a plurality of second clips 511 are provided on the second housing 51 accordingly. The first housing 11 and the second housing 51 are connected by the plurality of first clips 111 and the plurality of second clips 511. One of the first clips 111 and the second clips 511 is a male clip, and the other is a female clip.

[0068] It should be noted that the detachable connection method between the first shell 11 and the second shell 51 is not limited to the above-mentioned snap-on method. For example, the first shell 11 and the second shell 51 can also be connected by connecting parts such as bolts. As long as the second shell 51 can be detachable between the first shell 11, this embodiment does not impose any restrictions.

[0069] like Figure 1 and Figure 2 As shown, in this embodiment of the present invention, the drive mechanism 12 includes a drive member 121, a screw rod 122, a slider 123, and a transmission member 125. The drive member 121 is connected to the screw rod 122, the slider 123 is slidably disposed on the first housing 11 and is threadedly connected to the screw rod 122, and one end of the transmission member 125 is fixed to the slider 123, and the other end is inserted into the slot 521.

[0070] Specifically, the driving member 121 is fixed to the first housing 11, one end of the screw rod 122 is connected to the driving end of the driving member 121, for example, by a coupling 126, and the other end of the screw rod 122 is rotatably connected to the first housing 11. A guide rod 124 or a slide rail is fixed to the first housing 11, and the slider 123 is slidably arranged on the guide rod 124 or the slide rail. The driving member 121 is a rotating driving member 121 that is not limited to a motor. When the driving member 121 drives the slider 123 to move via the screw rod 122, it drives the transmission member 125 to move, and the transmission member 125 drives the moving block 52 to move, so that the moving block 52 pulls the drive rope 4 to drive the active catheter 2 to bend.

[0071] Further, if Figure 5 As shown, the first housing 11 is provided with a guide groove 113, and the transmission member 125 is disposed in the guide groove 113 and extends out of the first housing 11. The second housing 51 is provided with an opening on a side facing the first housing 11. 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 drive mechanism 12 and the drive rope 4.

[0072] Furthermore, the driving mechanism 12 further includes a reduction box, and the driving member 121 is connected to the screw rod 122 through the reduction box, which can further increase the load capacity of the driving mechanism 12.

[0073] Traditional intubation robots designed for operating room environments are bulky and difficult to carry, making them inadequate for the portability and flexibility required in emergency situations. Emergency situations are complex and ever-changing, requiring medical staff to respond quickly, yet these bulky devices often struggle to deploy in a timely manner. This embodiment utilizes a screw 122 drive mechanism 12 to drive the drive cable 4, resulting in a simple, compact drive system with a high load capacity, facilitating miniaturization of the robot.

[0074] The driving rope traction module of this embodiment is connected to the active catheter 2 and the tracheal tube 3 to form a tracheal intubation robot. Figure 9 and Figure 17 As shown, the volume of the main body 1 of the drive rope traction module can be reduced to a size that can be held by a human hand, which improves the portability and flexibility of the tracheal intubation robot and is suitable for clinical applications, especially for rapid intubation operations in emergency scenarios.

[0075] It should be noted that, in some optional embodiments, the drive mechanism 12 may also adopt other types of mechanisms, such as a hydraulic or pneumatic drive mechanism 12, or a servo motor, a rack and pinion drive mechanism 12, etc.

[0076] like Figure 1As shown, the drive rope pulling module provided by some embodiments of the present invention further includes a film position sensor 17 and an elastic body 127. The film position sensor 17 is fixed to the housing 100. The elastic body 127 is fixed to the moving block 52 and elastically abuts against the film position sensor 17.

[0077] Specifically, the diaphragm position sensor 17 is fixed to the first housing 11. The diaphragm position sensor 17 has a sensing surface that contacts an elastic body 127. This sensing surface extends along the sliding direction of the slider 123. The elastic body 127 is fixed to one side of the slider 123 in the sliding direction and elastically abuts against the sensing surface of the diaphragm position sensor 17, maintaining contact between the elastic body 127 and the sensing surface. The diaphragm position sensor 17 then senses the position of the slider 123 relative to the first housing 11. The diaphragm position sensor 17 occupies a small space, facilitating the miniaturization of the main body 1.

[0078] It should be noted that, if the installation space is sufficient, the embodiment of the present invention can also detect the position of the slider 123 through other non-contact displacement sensors such as a grating ruler or an infrared distance sensor.

[0079] The elastic member 127 is an elastic structural member, not limited to a spring ball, and 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 robot control system. This position information allows the control system to determine the bending direction and degree of the active bending tube segment 21. The control system adjusts and controls the drive mechanism 12 based on the position information fed back by the film position sensor 17, thereby improving control accuracy.

[0080] like Figure 2 and Figure 3 As shown, in some embodiments of the present invention, there are multiple driving mechanisms 12 and multiple moving blocks 52, and the driving ends of the multiple driving mechanisms 12 are connected to the multiple moving blocks 52 in a one-to-one correspondence.

[0081] Each moving block 52 is connected to a drive rope 4. Accordingly, a pressure sensor 54 is provided between each moving block 52 and the driving end of the corresponding drive mechanism 12 to adjust the tension of each drive rope 4. The first housing 11 is provided with a plurality of guide slots 113, through which the transmission members 125 of the multiple drive mechanisms 12 are respectively inserted. Optionally, the second housing 51 is provided with a plurality of parallel slide rails 513, on which the multiple moving blocks 52 are slidably mounted.

[0082] like Figure 2As shown, the drive rope pulling module provided in this embodiment of the present invention further includes a main control board 131. The main control board 131 is mounted on the housing 100, and the drive mechanism 12 and the pressure sensor 54 are respectively in communication with the main control board 131. If the housing 100 includes a detachably connected first housing 11 and a second housing 51, the main control board 131 is mounted on the first housing 11.

[0083] The main control board 131 serves as the control system for the endotracheal intubation robot. The main body 1 is equipped with operating mechanisms, such as buttons and joysticks, that communicate with the drive mechanism 12. These operating mechanisms are in communication with the main control board 131. During intubation, the operator sends control commands to the main control board 131 through the operating mechanisms. This controls the drive mechanism 12, pulling the corresponding drive rope 4 to bend the active bending tube segment 21 in the specified direction.

[0084] Optionally, the main control board 131 uses an embedded processor with NPU, which has a certain model thrust capability and can operate independently from a large host computer system, which is conducive to the miniaturization and portability of the tracheal intubation robot.

[0085] The main control board 131 is also electrically connected to the film position sensor 17 . The main control board 131 can control the driving mechanism 12 according to the position information fed back by the film position sensor 17 to adjust the bending shape of the active bending tube section 21 .

[0086] like Figure 2 As shown, the drive rope traction module provided by some embodiments of the present invention further includes a screen 14, which is rotatably connected to the housing 100 and communicates with the main control board 131. Optionally, the second housing 51 and the screen 14 are disposed on both sides of the first housing 11 in the length direction.

[0087] The distal end of active catheter 2 is equipped with an endoscope 24. Main control board 131 processes video information from endoscope 24 and displays it on a corresponding screen, allowing for observation of the interior of the airway during intubation, improving operational accuracy. During intubation, the operator holds robot body 1 and controls the placement of endotracheal tube 3 from the patient's nasal cavity through the glottis into the patient's airway. Simultaneously, the operator can observe the interior of the airway through screen 14 on body 1, making operation convenient.

[0088] It should be noted that a video transmission interface may be provided on the housing 100 , and the video information obtained by the endoscope 24 may be transmitted to an external display device via the main control board 131 for video display.

[0089] 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, see Figure 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. During use, a person grasps the longitudinal side of the first housing 11 and rotates the screen 14 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 longitudinal direction of the first housing 11.

[0090] like Figure 2 As shown, the drive rope traction module provided in some embodiments of the present invention further includes a battery 15, which is mounted 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 cell battery 15. It should be noted that a power port can be provided on the main body 1 for connecting to an external power source.

[0091] like Figure 4 As shown, some embodiments of the present invention provide a drive rope traction module further comprising a speaker 16, which is mounted on the housing 100 and electrically connected to the main control board 131. Speaker 16 is used to play audio prompts to assist in intubation, improving the convenience and accuracy of intubation. For example, while the main control board 131 controls the operation of the drive mechanism 12, it simultaneously plays audio information about the bending state of the active catheter 2 through the speaker 16. Alternatively, the main control board 131 determines the internal state of the airway based on information captured by the endoscope 24 and plays relevant audio information through the speaker 16.

[0092] It should be noted that in this embodiment of the present invention, the drive rope pulling module includes at least one of the screen 14, battery 15, and speaker 16. The simultaneous provision of the screen 14 and battery 15 facilitates intubation procedures in outdoor emergency situations. If the housing 100 comprises a detachably connected first housing 11 and a second housing 51, the screen 14, battery 15, or speaker 16 is mounted on the first housing 11.

[0093] like Figure 2 and Figure 5 As shown, when there are multiple drive mechanisms 12, the drive rope traction module provided by the embodiment of the present invention also includes a connecting plate 132, the connecting plate 132 is electrically connected to the main control board 131, and the multiple drive mechanisms 12 are electrically connected to the connecting plate 132 respectively.

[0094] Specifically, multiple drive mechanisms 12 are arranged along the width of the first housing 11, with the drive ends of the drive mechanisms 12 moving along the length of the first housing 11. A main control board 131 is positioned along the same plane as the width and length. A connecting plate 132 is positioned within the first housing 11, located at one end of the multiple drive mechanisms 12 in the driving direction. The connecting plate 132 is electrically connected to the multiple drive mechanisms 12. This results in a more compact structure for the main body 1 and reduces the complexity of the wiring between the multiple drive mechanisms 12 and the main control board 131, thus reducing the size of the main body 1.

[0095] Further, if Figure 2 As shown, the drive rope traction module provided by some embodiments of the present invention further includes an endoscope connector 133 , which is detachably connected to the main control board 131 , and the lead of the endoscope 24 is detachably connected to the endoscope connector 133 .

[0096] like Figure 6 and Figure 7 As shown, in some embodiments of the present invention, a connector 514 is provided on the second housing 51 , and the connector 514 is used to pass through the active catheter 2 and be connected to the tracheal tube 3 .

[0097] Specifically, the connector 514 is an annular connector 514. A through-hole is provided at one end of the second housing 51, and the connector 514 is coaxially arranged with the through-hole. The active catheter 2 is inserted through the through-hole and the connector 514 and is fixedly connected to the second housing 51. A snap-fitting protrusion is provided on the inner side of the connector 514, and a slot is provided on the outer side of the tracheal tube 3. The snap-fitting protrusion and slot cooperate to achieve a removable snap-fit ​​connection between the tracheal tube 3 and the connector 514. The snap-fitting structure between the tracheal tube 3 and the second housing 51 is provided for illustrative purposes only and is not specifically limited in this embodiment.

[0098] Further, if Figure 8 As shown, the second housing 51 is also provided with a connector cover 515. This cover is designed to fit over the outside of the endotracheal tube 3 and engage with the connector 514, providing dustproof, waterproof, and aesthetically pleasing features. Specifically, the connector 514 comprises an inner ring portion and an outer ring portion. The endotracheal tube 3 engages with the inner ring portion, while the connector cover 515 fits over the outer ring portion and engages with the outer ring portion. For example, the outer ring portion is circumferentially provided with multiple latching positions, with the connector cover 515 engaging with these multiple latching positions.

[0099] like Figure 3 As shown, in some embodiments of the present invention, the second housing 51 has a first positioning hole 512, the moving block 52 has a second positioning hole, and the main body 1 further includes a positioning bolt for inserting into the first positioning hole 512 and the second positioning holes of the moving blocks 52.

[0100] When assembling the second housing 51 and the first housing 11, positioning pins are inserted through the first positioning holes 512 and the second positioning holes of the plurality of movable blocks 52 to position the plurality of movable blocks 52 in their initial positions. Under the control of the driver 121 and the servo drive of the film position sensor 17, the plurality of sliders 123 move to positions corresponding to the plurality of movable blocks 52. Thus, when the second housing 51 and the first housing 11 are assembled and connected, the transmission members 125 on the sliders 123 are precisely inserted into the corresponding slots 521 of the movable blocks 52, achieving a transmission connection between the plurality of drive mechanisms 12 and the plurality of movable blocks 52.

[0101] like Figure 9 As shown, an embodiment of the present invention further provides an endotracheal intubation robot comprising an active catheter 2, an endotracheal catheter 3, a drive cord 4, and any of the aforementioned drive cord traction modules. The active catheter 2 is connected to a housing 100 and includes an active bending section 21. The endotracheal catheter 3 is sleeved within the active bending section 21. One end of the drive cord 4 is connected to a movable block 52, and the other end is connected to the end of the active bending section 21 distal from the housing 100. The connection method between the active catheter 2 and the endotracheal catheter 3 and the housing 100 can be found in the aforementioned embodiments related to the drive cord traction module and will not be further described here.

[0102] Furthermore, there are multiple driving mechanisms 12 and multiple moving blocks 52, and the driving ends of the multiple driving mechanisms 12 are connected to the multiple moving blocks 52 in a one-to-one correspondence. Figure 12 and Figure 13 Multiple groups of wire grooves are circumferentially distributed on the wall of the active bending tube section 21. Each group of wire grooves includes multiple wire grooves 2113 distributed axially along the active conduit 2. Multiple drive ropes 4 are arranged in a one-to-one correspondence with the multiple wire groove groups, and the drive ropes 4 are passed through the multiple wire grooves 2113 of the corresponding wire groove group.

[0103] It is understood that each drive mechanism 12 is connected to the distal end of the active bending tube section 21, away from the main body 1, via a drive rope 4. Multiple drive ropes 4 are threaded through multiple wire groove groups in a one-to-one correspondence. That is, the portion of each drive rope 4 located in the active bending tube section 21 is sequentially threaded through multiple wire grooves 2113 of the corresponding wire groove group. Under the restraining effect of the wire grooves 2113, the drive rope 4 is kept close to the wall of the active bending tube section 21.

[0104] Because multiple sets of wire-passing slots are distributed along the circumference of the active bending tube segment 21, the multiple drive ropes 4 threaded through these sets of wire-passing slots are used to drive the active bending tube segment 21 to bend in multiple different directions, allowing it to flexibly conform to the curvature of the airway and guide it forward, reducing the difficulty of intubation. Since the drive ropes 4 are close to the wall of the active bending tube segment 21, the accuracy of the bending adjustment of the active bending tube segment 21 is improved, thereby improving the precision of the intubation operation. At the same time, the torque exerted by the drive ropes 4 on the active bending tube segment 21 is increased, thereby reducing the load capacity requirements of the drive mechanism 12.

[0105] The endotracheal intubation robot provided in an embodiment of the present invention features multiple sets of wire grooves distributed axially along the wall of the active bending section 21 of the active catheter 2. Each wire groove set includes multiple wire grooves 2113 distributed axially. Multiple drive ropes 4 extend along the active catheter 2 and are threaded through the multiple wire groove sets in a one-to-one correspondence. These multiple drive ropes 4 are used to drive the active catheter 2 to bend in multiple directions, thereby improving the flexibility of endotracheal intubation and reducing the difficulty of intubation. Each drive rope 4 is positioned close to the wall of the active bending section 21, increasing the driving torque exerted by the drive rope 4 on the active bending section 21. This reduces the load capacity requirements of the drive mechanism 12, facilitating a miniaturized design of the drive mechanism 12 and thus reducing the size of the endotracheal intubation robot.

[0106] 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 the 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.

[0107] In existing endotracheal intubation techniques, due to the robot's limited load capacity, the active curved tube section 21 of the active catheter 2 must be extended outside the endotracheal tube 3 for guidance. Therefore, after the active catheter 2 reaches the target location, the endotracheal tube 3 must be advanced along the extended active curved tube section 21 to the target location, and then the active catheter 2 must be withdrawn from the patient, leaving the endotracheal tube 3 inside. This results in a longer intubation time, which is not conducive to improving the success rate of emergency rescue. Furthermore, during the guidance process, the active curved tube section 21 may contact and rub against the human airway, causing discomfort to the patient.

[0108] In the embodiment of the present invention, by improving the load capacity of the drive mechanism 12 and placing the drive rope 4 close to the wall of the active bending tube segment 21, during intubation, there is no need to extend the active bending tube segment 21 out of the tracheal tube 3. The drive rope 4 can have sufficient driving force to simultaneously drive the active bending tube segment 21 and the tracheal tube 3 to bend, so that the tracheal tube 3 and the active catheter 2 reach the target position at the same time, shortening the intubation time and avoiding discomfort caused by friction between the active bending tube segment 21 and the airway.

[0109] like Figure 10 As shown, in this embodiment of the present invention, active catheter 2 further includes a passive bending section 23 and a rigid section 22, which are respectively connected to the ends of active bending section 21. A drive cable 4 is sequentially threaded through passive bending section 23 and active bending section 21. An endoscope 24 is mounted on rigid section 22 and is in communication with main control board 131.

[0110] The drive rope 4 can be directly fixedly connected to the end of the active bending tube segment 21 away from the main body 1, or it can be directly fixedly connected to the rigid section 22, that is, it can be indirectly fixedly connected to the active bending tube segment 21 through the rigid section 22. The passive bending tube segment 23 is connected to the end of the active bending tube segment 21 close to the main body 1, and the rigid section 22 is connected to the end of the active bending tube segment 21 away from the main body 1. The end of the passive bending tube segment 23 away from the active bending tube segment 21 is fixedly connected to the second shell 51. During the intubation process, the active bending tube segment 21 drives the passive bending tube segment 23 forward as it bends and advances along the airway, causing the passive bending segment to bend passively.

[0111] Furthermore, an endoscope 24 is provided on the rigid section 22, and the endoscope 24 is in communication with the main control board 131. The rigid section 22 is also provided with a lighting system that cooperates with the endoscope 24 and is used to monitor the intraluminal conditions of the patient's airway during surgery to provide visual guidance and precise positioning.

[0112] Furthermore, if Figure 11 As shown, active catheter 2 is provided with an instrument channel 25, which sequentially passes through passive bending section 23, active bending section 21, and rigid section 22. A therapeutic device 26, such as a blood aspiration device, can be placed within instrument channel 25. Therapeutic device 26 can extend from instrument channel 25 for treatment within the patient's respiratory tract.

[0113] like Figure 12 and Figure 13As shown, in the embodiment of the present application, the active bending pipe section 21 comprises a plurality of pipe segments 211 connected in sequence, and each pipe segment 211 is provided with a wire slot 2113 on the pipe wall. Specifically, the plurality of pipe segments 211 are arranged along the axial direction of the active guide pipe 2, and each adjacent two pipe segments 211 are connected in rotation. At least one wire slot 2113 is provided on each pipe segment 211, and one driving rope 4 is arranged in each wire slot 2113. When one driving rope 4 is pulled by the corresponding driving mechanism 12, the pipe segment 211 close to the distal end will rotate relative to the pipe segment 211 far from the distal end to the side where the driving rope 4 is located, so that the active bending pipe section 21 bends as a whole to the side where the driving rope 4 is located.

[0114] Further, as shown in the drawings, Figure 14 The pipe segment 211 comprises a body part 2111 and a limiting part 2112. The two ends of the limiting part 2112 are connected to the body part 2111 respectively, and the limiting part 2112 is arched relative to the body part 2111 and surrounds the body part 2111 to form the wire slot 2113.

[0115] Specifically, the body part 2111 is a ring-shaped tubular structure, and the limiting part 2112 is connected to the body part 2111 at the two ends perpendicular to the axial direction of the body part 2111. The middle part of the limiting part 2112 is arched relative to the pipe wall of the body part 2111 to form an arc-shaped or zigzag-shaped structure, so that the limiting part 2112 and the body part 2111 define the wire slot 2113, and the driving rope 4 can be arranged in the wire slot 2113 along the axial direction of the pipe segment 211. Preferably, the limiting part 2112 is arranged on the inner side of the body part 2111, that is, the limiting part 2112 surrounds the inner wall of the body part 2111 to form the wire slot 2113, and the driving rope 4 is arranged on the inner side of the active guide pipe 2 and passes through the wire slot 2113.

[0116] Alternatively, the pipe wall of the body part 2111 is provided with a through hole 21111, and the two ends of the limiting part 2112 are connected to the two side hole walls of the through hole 21111 respectively. Specifically, the two ends of the limiting part 2112 are connected to the two side hole walls of the through hole 21111 respectively and perpendicularly to the axial direction of the body part 2111. It can be understood that the limiting part 2112 and the through hole 21111 are arranged opposite to each other in the radial direction of the body part 2111. In this way, the limiting part 2112 can be formed by cutting the pipe wall and extruding inwardly.

[0117] In some embodiments of the present application, the active bending pipe section 21 is integrally cut and formed from a metal pipe. Alternatively, the active bending pipe section 21 is formed by laser cutting of a metal pipe, that is, the whole metal pipe is cut by laser to form a plurality of pipe segments 211, and the wire slot 2113 is pressed on each pipe segment 211 by cutting and pressing. The active bending pipe section 21 formed in this way has better structural strength and stability.

[0118] As shown in the drawings, Figure 14-16As shown, in this embodiment of the present invention, a pipe segment 211 has two first connecting portions 2114 at one end and two second connecting portions 2115 at the other end. The two first connecting portions 2114 are disposed opposite each other in the radial direction of the pipe segment 211, and the two second connecting portions 2115 are disposed opposite each other in the radial direction of the pipe segment 211. The two adjacent first connecting portions 2114 and the two second connecting portions 2115 of two adjacent pipe segments 211 are rotatably connected in a one-to-one correspondence.

[0119] The pipe segment 211 includes a main body 2111, a first connecting portion 2114, and a second connecting portion 2115. The first connecting portion 2114 and the second connecting portion 2115 are respectively connected to the two axial ends of the main body 2111. Two adjacent pipe segments 211 are rotatably connected via the first connecting portion 2114 and the second connecting portion 2115. A gap exists between the main bodies 2111 of the two adjacent pipe segments 211 to provide space for relative rotation between the two pipe segments 211.

[0120] Specifically, two adjacent pipe segments 211 are respectively a first pipe segment 211 and a second pipe segment 211. One end of the first pipe segment 211 is connected to two first connecting portions 2114, and the other end is connected to two second connecting portions 2115. One end of the second pipe segment 211 is connected to two first connecting portions 2114, and the other end is connected to two second connecting portions 2115. The two first connecting portions 2114 of the first pipe segment 211 are rotatably connected to the two second connecting portions 2115 of the second pipe segment 211 in a one-to-one correspondence.

[0121] The main body 2111, first connecting portion 2114, and second connecting portion 2115 can be integrally formed from a single metal tube through laser cutting. Cutting is performed on the curved surface of the metal tube, allowing for a structural interlocking between the first connecting portion 2114 and the second connecting portion 2115, thereby connecting the multiple tube segments 211 to form a single, active bending tube segment 21.

[0122] Furthermore, the two first connecting portions 2114 are oppositely arranged in a first radial direction, and the two second connecting portions 2115 are oppositely arranged 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 segment 211, and the two wire grooves 2113 are oppositely arranged in the first radial direction.

[0123] The first radial direction and the second radial direction are perpendicular to each other, that is, two adjacent pipe segments 211 are connected at a 90° offset in the circumferential direction. Figure 12 and Figure 13 The two wire grooves 2113 of each pipe segment 211 are arranged opposite to each other in the first radial direction, that is, the two wire grooves 2113 and the two first connecting portions 2114 are arranged opposite to each other in the axial direction. Figure 15Thus, the active bending tube section 21 is formed with four sets of wire grooves arranged at 90° angles to each other along the circumference, corresponding to the four drive ropes 4. The four drive ropes 4 can be used to drive the active bending tube section 21 to bend in four directions at 90° angles to each other, achieving omnidirectional bending of the active catheter 2.

[0124] If the first radial direction and the second radial direction are the same, two adjacent tube segments 211 can only bend in two directions that are 180° apart. In this embodiment, by setting the first radial direction and the second radial direction to be perpendicular to each other, two adjacent tube segments 211 can bend in four directions that are 90° apart, thereby improving the flexibility of the active catheter 2.

[0125] like Figure 13 、 Figure 15 and Figure 16 As 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 disposed opposite to each other on the outside of the rotating portion 21141 and rotate in conjunction with the rotating portion 21141.

[0126] Specifically, the rotating portion 21141 has a first arc surface on one side and a second arc surface on the other side. The first and second arc surfaces are coaxially arranged and lie along the thickness direction of the tube segment 211. The first arc portion 21151 and the second arc portion 21152 are concentric arc structures arranged opposite each other. The first arc portion 21151 rotates in conjunction with the first arc surface, while the second arc portion 21152 rotates in conjunction with the second arc surface. The rotational 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.

[0127] Furthermore, 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 also provided with a first limiting surface 21141a and a second limiting surface 21141b, which are respectively connected to the two ends of the second arc surface. The first limiting surface 21141a is engaged with one end of the second arc portion 21152, and the second limiting surface 21141b is engaged 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.

[0128] Further, see Figure 15A first arc groove 21112 and a second arc groove 21113 are provided on the outer side of the rotating part 21141 on the pipe joint 211. The first arc part 21151 is slidably set in the first arc groove 21112 along the rotation direction, and the second arc part 21152 is slidably set in the second arc groove 21113 along the rotation direction.

[0129] Specifically, a first arcuate groove 21112 is formed between the first arcuate surface of the main body 2111 and the rotating portion 21141, and a second arcuate groove 21113 is formed between the second arcuate surface of the main body 2111 and the rotating portion 21141. The first arcuate portion 21151 slides within the first arcuate groove 21112 in the direction of rotation, while the second arcuate portion 21152 slides within the second arcuate groove 21113 in the direction of rotation. This ensures a compact connection between adjacent pipe segments 211, and the main body 2111, first arcuate portion 21151, second arcuate portion 21152, and rotating portion 21141 provide structural support to each other, ensuring a certain degree of rotational connection strength between the pipe segments 211.

[0130] Further, see Figure 15 and Figure 16 The first connecting portion 2114 further includes a third arc portion 21142, which is disposed outside the arc of the second arc portion 21152 and rotates in conjunction with the second arc portion 21152. A third arc chute 21114 is provided on the pipe joint 211 outside the arc of the second arc portion 21152, and the third arc portion 21142 slides in the third arc chute 21114 along the rotation direction.

[0131] Specifically, a second arcuate groove 21113 is defined between the third arcuate portion 21142 and the second arcuate surface of the main body 2111 and the rotating portion 21141. The second arcuate portion 21152 slides within the second arcuate groove 21113 along the rotational direction. A third arcuate groove 21114 is formed between the main body 2111 and the second arcuate portion 21152. The third arcuate portion 21142 slides within the third arcuate groove 21114 along the rotational direction. In this way, the main body 2111, the third arcuate portion 21142, and the second arcuate portion 21152 provide structural support to each other, further enhancing the rotational connection strength between the pipe joint 211 and preventing breakage of the first connecting portion 2114 and the second connecting portion 2115.

[0132] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A drive rope traction module for a tracheal intubation robot, characterized in that: include: The housing comprises a first housing and a second housing that are detachably connected, wherein the second housing is used to connect to an active catheter, and the active catheter is connected to a drive rope; a driving mechanism mounted on the first housing, wherein a driving end of the driving mechanism is movable in opposite first and second moving directions; the driving end having a first side facing the first moving direction and a second side facing the second moving direction; a moving block, configured to be connected to the driving rope and slidably disposed on the second housing; the driving end is detachably connected to the moving block, configured to drive the moving block to move along the first moving direction or the second moving direction; the moving block is provided with a slot, the driving end being inserted into the slot; A pressure sensor is provided between the slot wall and the driving end. The pressure sensor is provided on the first side for detecting the pressure applied by the driving end to the moving block along the first moving direction; the pressure sensor is also provided on the second side for detecting the pressure applied by the driving end to the moving block along the second moving direction.

2. The drive rope traction module according to claim 1, characterized in that: Also includes: An elastic member is provided between the first side and the moving block and between the second side and the moving block, and the elastic member is in elastic contact with the pressure sensor.

3. The drive rope traction module according to claim 1, characterized in that: 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.

4. The drive rope traction module according to claim 1, characterized in that: The driving mechanism includes a driving member, a screw rod, a slider and a transmission member, the driving member is connected to the screw rod, the slider is slidably arranged in the first shell and is threadedly connected to the screw rod, one end of the transmission member is fixed to the slider, and the other end is inserted into the slot.

5. The drive rope traction module according to claim 4, characterized in that: Also includes: a thin film position sensor fixed to the first housing; The elastic body is fixed to the moving block and elastically contacts the film position sensor.

6. The drive rope traction module according to claim 1, characterized in that: Also includes: A main control board is mounted on the housing, and the driving mechanism and the pressure sensor are respectively communicatively connected to the main control board.

7. The drive rope traction module according to claim 6, characterized in that: It also includes a screen, which is rotatably connected to the shell and communicatively connected to the main control board; and / or, it also includes a battery, which is installed in the shell and electrically connected to the main control board; and / or, it also includes a speaker, which is installed in the shell and electrically connected to the main control board.

8. A tracheal intubation robot, characterized in that: It comprises an active catheter, an endotracheal tube, a drive rope, and a drive rope traction module according to any one of claims 1 to 7; The active catheter is connected to the shell and is provided with an active bending tube section, and the tracheal catheter is sleeved on the active bending tube 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 tube section away from the shell.

9. The tracheal intubation robot according to claim 8, characterized in that: 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 groups of wire grooves are distributed circumferentially on the wall of the active bending pipe section, and each group of the wire grooves includes a plurality of wire grooves distributed along the axial direction of the active conduit; a plurality of the driving ropes are arranged in a one-to-one correspondence with the plurality of groups of the wire grooves, and the driving ropes are passed through the plurality of wire grooves of the corresponding wire groove groups.

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