Tracheal intubation robot

Abstract

The invention relates to the technical field of medical apparatus and instruments, and provides a tracheal intubation robot which comprises a main body comprising a plurality of driving mechanisms; the driving guide pipe is connected to the main body and provided with a driving bent pipe section, a plurality of wire passing groove sets are distributed in the pipe wall of the driving bent pipe section in the circumferential direction, and each wire passing groove set comprises a plurality of wire passing grooves distributed in the axial direction; the tracheal catheter is arranged on the outer side of the active bending tube section in a sleeving manner; the driving ropes extend along the driving guide pipe and correspond to the wire passing groove sets one to one, the driving ropes penetrate through the wire passing grooves of the corresponding wire passing groove sets, one ends of the driving ropes are connected with the driving mechanisms in a one-to-one correspondence mode, and the other ends of the driving ropes are connected with the end, away from the main body, of the driving bent pipe section. According to the tracheal intubation robot, the flexibility of tracheal intubation operation 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 tracheal intubation robot. Background Art

[0002] Tracheal intubation, as a key technique for saving lives, is widely used in emergency situations. Usually, an intubation tube is inserted into the trachea through the oral cavity or nasal cavity to ensure the patency of the respiratory tract, provide artificial ventilation for the patient, and prevent life-threatening crises caused by organ tissue hypoxia. Field tracheal intubation performed outside the hospital, especially its application under emergency conditions, has been proven to effectively improve the respiratory condition of patients. Particularly in patients with severe brain injuries, it 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 accidental insertion into the esophagus, resulting in serious consequences. Especially in the field of first aid, the complexity and risk of the operation are increased. Although the existing tracheal intubation robots designed for the operating room environment can assist in intubation, their flexibility in actual operation is insufficient, resulting in a large intubation operation difficulty and affecting the intubation success rate. Summary of the Invention

[0004] The present invention provides a tracheal intubation robot to solve the problem that the existing tracheal intubation robot has insufficient flexibility in actual operation, resulting in a large intubation operation difficulty.

[0005] The present invention provides a tracheal intubation robot, comprising: A main body including a plurality of driving mechanisms; An active catheter connected to the main body and having an actively bendable tube section. A plurality of groups of wire groove sets are circumferentially distributed on the tube wall of the actively bendable tube section. Each group of wire groove sets includes a plurality of wire grooves axially distributed along the active catheter; A tracheal catheter sleeved outside the actively bendable tube section; A plurality of driving ropes extending along the active catheter and corresponding to the plurality of groups of wire groove sets one by one. The driving ropes are threaded through the plurality of wire grooves of the corresponding wire groove sets. One ends of the plurality of driving ropes are connected to the plurality of driving mechanisms one by one, and the other ends are connected to the end of the actively bendable tube section away from the main body.

[0006] According to a tracheal intubation robot provided by the present invention, the driving mechanism includes a driving member, a lead screw, and a slider. The driving member is connected to the lead screw, the slider is threadedly connected to the lead screw, and the sliders of the plurality of driving mechanisms are connected to the plurality of driving ropes one by one.

[0007] According to a tracheal intubation robot provided by the present invention, the main body includes a first housing, an elastic body, and a thin film position sensor. The slider is slidably disposed in the first housing. The thin film position sensor is fixed to the first housing. The elastic body is fixed to the slider and elastically abuts against the thin film position sensor.

[0008] According to a tracheal intubation robot provided by the present invention, the active bending pipe section includes a plurality of pipe joints that are sequentially rotatably connected. Each pipe joint is provided with the wire passing groove on its pipe wall.

[0009] According to a tracheal intubation robot provided by the present invention, the pipe joint includes a body part and a limiting part. The pipe wall of the body part is provided with a through hole. The two ends of the limiting part are correspondingly connected to the two side hole walls of the through hole one by one. The limiting part arches relative to the pipe wall and encloses the wire passing groove with the body part.

[0010] According to a tracheal intubation robot provided by the present invention, the active bending pipe section is integrally cut and formed from a metal pipe.

[0011] According to a tracheal intubation robot provided by the present invention, one end of the pipe joint has two first connection parts, and the other end has two second connection parts. The two first connection parts are oppositely arranged in the radial direction of the pipe joint. The two second connection parts are oppositely arranged in the radial direction of the pipe joint. The two first connection parts and the two second connection parts of two adjacent pipe joints that are close to each other are rotatably connected in one-to-one correspondence.

[0012] According to a tracheal intubation robot provided by the present invention, the two first connection parts are oppositely arranged in a first radial direction, and the two second connection parts are oppositely arranged in a second radial direction. The first radial direction and the second radial direction are perpendicular to each other. Two wire passing grooves are provided on the pipe joint. The two wire passing grooves are oppositely arranged in the first radial direction.

[0013] According to a tracheal intubation robot provided by the present invention, the first connection part includes a rotating part. The second connection part includes a first arc part and a second arc part. The first arc part and the second arc part are relatively held outside the rotating part and are rotationally matched with the rotating part. A first arc chute and a second arc chute are provided on the pipe joint outside the rotating part. The first arc part is slidably disposed in the first arc chute along the rotation direction, and the second arc part is slidably disposed in the second arc chute along the rotation direction.

[0014] According to a tracheal intubation robot provided by the present invention, the first connecting portion further includes a third arc portion, the third arc portion is held on the outer arc of the second arc portion, and is rotatably matched with the second arc portion; a third arc chute is provided on the pipe section on the outer arc of the second arc portion, and the third arc portion is slidably arranged in the third arc chute along the rotation direction.

[0015] According to a tracheal intubation robot provided by the present invention, the active catheter further includes a passive bending pipe section and a rigid section, the passive bending pipe section and the rigid section are respectively connected to two ends of the active bending pipe section, and the driving rope sequentially passes through the passive bending pipe section and the active bending pipe section; An endoscope is provided on the rigid section, the main body further includes a main control board, and the endoscope and the plurality of driving mechanisms are respectively communicatively connected to the main control board.

[0016] According to a tracheal intubation robot provided by the present invention, the main body is provided with a screen, and the screen is communicatively connected to the main control board; and / or, the main body is provided with a battery, and the battery is electrically connected to the main control board; and / or, the main body is provided with a speaker, and the speaker is electrically connected to the main control board.

[0017] According to a tracheal intubation robot provided by the present invention, the main body further includes a connecting plate, the connecting plate is electrically connected to the main control board, and the plurality of driving mechanisms are respectively electrically connected to the connecting plate.

[0018] According to a tracheal intubation robot provided by the present invention, it further includes: An intubation connector, including a second housing and a plurality of moving blocks, the plurality of moving blocks are slidably arranged in the second housing, and the plurality of driving ropes are fixedly connected to the plurality of moving blocks in one-to-one correspondence, the active catheter is fixed to the second housing, and the tracheal catheter is detachably connected to the second housing; The main body includes a first housing, the plurality of driving mechanisms are arranged in the first housing, the second housing is detachably connected to the first housing, and the plurality of moving blocks are detachably connected to the driving ends of the plurality of driving mechanisms in one-to-one correspondence.

[0019] According to a tracheal intubation robot provided by the present invention, the first housing is provided with a first clamping member, the second housing is provided with a second clamping member, and the first clamping member and the second clamping member are clamped; and / or, the second housing is provided with a joint and a joint cover, the active catheter passes through the joint and is fixedly connected to the second housing, the tracheal catheter is clamped to the joint, and the joint cover is sleeved on the outer side of the tracheal catheter and is clamped to the joint.

[0020] The tracheal intubation robot provided by the present invention has multiple sets of wire grooves distributed axially on the wall of the active bending section of the active catheter. Multiple drive ropes are arranged along the active catheter and respectively pass through the multiple sets of wire grooves, so that the multiple drive ropes are used to drive the active catheter to bend in multiple directions, improving the flexibility of tracheal intubation operation and reducing the difficulty of intubation operation. Brief Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 is a schematic diagram of the overall structure of the tracheal intubation robot provided by the present invention.

[0023] Figure 2 is a schematic diagram of the structure of the active catheter of the tracheal intubation robot provided by the present invention.

[0024] Figure 3 is a schematic diagram of the structure of the active bending section of the active catheter in the tracheal intubation robot provided by the present invention.

[0025] Figure 4 is Figure 3 a top view of the active bending section in

[0026] Figure 5 is a schematic diagram of the internal structure of the main body in the tracheal intubation robot provided by the present invention.

[0027] Figure 6 is a three-dimensional view of the pipe joint of the active catheter in the tracheal intubation robot provided by the present invention.

[0028] Figure 7 is one of the side views of the pipe joint of the active catheter in the tracheal intubation robot provided by the present invention.

[0029] Figure 8 is the second side view of the pipe joint of the active catheter in the tracheal intubation robot provided by the present invention.

[0030] Figure 9 is a partial cross-sectional view of the active catheter in the tracheal intubation robot provided by the present invention.

[0031] Figure 10 is a schematic diagram of the external structure of the main body in the tracheal intubation robot provided by the present invention.

[0032] Figure 11It is a partial structural sectional view of the tracheal intubation robot provided by the present invention.

[0033] Figure 12 It is a partial structural schematic diagram of the main body in the tracheal intubation robot provided by the present invention.

[0034] Figure 13 It is a structural schematic diagram of the intubation connector in the tracheal intubation robot provided by the present invention.

[0035] Figure 14 It is an exploded schematic diagram of the intubation connector, the active catheter and the tracheal catheter in the tracheal intubation robot provided by the present invention.

[0036] Figure 15 It is a connection schematic diagram of the intubation connector and the tracheal catheter in the tracheal intubation robot provided by the present invention.

[0037] Figure 16 It is an installation schematic diagram of the joint cover in the tracheal intubation robot provided by the present invention.

[0038] Figure 17 It is a schematic diagram of the use state of the tracheal intubation robot provided by the present invention.

[0039] Reference numerals: 1. Main body; 11. First housing; 111. First clamping 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 pipe section; 211. Pipe joint; 2111. Body part; 21111. Through hole; 21112. First arc chute; 21113. Second arc chute; 21114. Third arc 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 pipe section; 24. Endoscope; 25. Instrument channel; 26. Treatment instrument; 3. Tracheal catheter; 4. Driving rope; 5. Intubation connector; 51. Second housing; 511. Second clamping member; 512. First positioning hole; 513. Slide rail; 514. Joint; 515. Joint cover; 52. Moving block; 521. Slot; 53. Elastic member; 54. Pressure sensor. Detailed implementation manners

[0040] 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.

[0041] 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 the product components for clear description and do not represent any substantial difference. The terms "installed", "connected", and "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside 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 circumstances. In addition, the meaning of "a plurality" is two or more. In the specification and 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.

[0042] The following combines Figures 1 - 17 to describe the endotracheal intubation robot of the present invention.

[0043] As Figure 1 、 Figure 2 and Figure 3 shown, the endotracheal intubation robot provided by the embodiments of the present invention includes a main body 1, an active catheter 2, an endotracheal catheter 3, and multiple drive ropes 4. The active catheter 2 is connected to the main body 1 and has an active bending section 21. Multiple groups of wire groove groups are circumferentially distributed on the tube wall of the active bending section 21. Each group of wire groove groups includes multiple wire grooves 2113 axially distributed along the active catheter 2. The endotracheal catheter 3 is sleeved outside the active bending section 21. The multiple drive ropes 4 are arranged along the active catheter 2 and are correspondingly arranged with the multiple groups of wire groove groups. The drive ropes 4 are threaded through the multiple wire grooves 2113 of the corresponding wire groove groups. One ends of the multiple drive ropes 4 are correspondingly connected to the multiple drive mechanisms 12, and the other ends are connected to the end of the active bending section 21 far from the main body 1.

[0044] It can be understood that each drive mechanism 12 of the main body 1 is driven and connected to the distal end of the active bending section 21 far from the main body 1 through a drive rope 4. The multiple drive ropes 4 are correspondingly threaded through the multiple groups of wire groove groups, that is, the part of each drive rope 4 located on the active bending section 21 is sequentially threaded through the multiple wire grooves 2113 of the corresponding wire groove group. Under the limiting action of the wire groove 2113, the drive rope 4 is close to the tube wall of the active bending section 21.

[0045] Among them, the active catheter 2 can be directly connected to the main body 1, or can be indirectly connected to the main body 1 through other structures. For example, the active catheter 2 is fixed to the intubation connector 5, and the intubation connector 5 is connected to the main body 1.

[0046] The main body 1 is provided with a manipulation mechanism that is communicatively connected to the driving mechanism 12, such as buttons, joysticks, etc. During tracheal intubation, the operator can control the corresponding driving mechanism 12 to act through the manipulation mechanism according to the bending shape of the patient's airway, so that the driving mechanism 12 applies a driving force to the active bending section 21 of the active catheter 2 through the driving rope 4, causing the active bending section 21 to bend. The tracheal catheter 3 is sleeved outside the active bending section 21, and when the active bending section 21 bends, it can drive the tracheal catheter 3 to bend synchronously.

[0047] Among them, since multiple groups of wire groove groups are distributed circumferentially along the active bending section 21 of the active catheter 2, multiple driving ropes 4 passing through the multiple groups of wire groove groups are respectively used to drive the active bending section 21 to bend in multiple different directions, enabling it to flexibly conform to the bending shape of the airway and guide forward, reducing the difficulty of intubation operation. Since the driving rope 4 is close to the pipe wall of the active bending section 21, it is beneficial to improve the accuracy of bending adjustment of the active bending section 21, thereby improving the accuracy of intubation operation; at the same time, it can also increase the torque of the driving rope 4 on the active bending section 21, which is beneficial to reducing the requirement for the load capacity of the driving mechanism 12.

[0048] The tracheal intubation robot provided by the embodiment of the present invention, by distributing multiple groups of wire groove groups axially along the pipe wall of the active bending section 21 of the active catheter 2, each group of wire groove groups includes multiple wire grooves 2113 distributed axially, and multiple driving ropes 4 are arranged along the active catheter 2 and respectively pass through the multiple groups of wire groove 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 section 21, increasing the driving torque of the driving rope 4 on the active bending section 21, thereby reducing the requirement for the load capacity of the driving mechanism 12 and being beneficial to the miniaturized design of the driving mechanism 12 to reduce the volume of the tracheal intubation robot.

[0049] As Figure 5 shown, in the embodiment of the present invention, the driving mechanism 12 includes a driving member 121, a lead screw 122, and a slider 123. The driving member 121 is connected to the lead screw 122, the slider 123 is threadedly connected to the lead screw 122, and the sliders 123 of multiple driving mechanisms 12 are respectively connected to multiple driving ropes 4 one by one.

[0050] Among them, the main body 1 further includes a first housing 11, and the driving mechanism 12 is installed in the first housing 11. Specifically, the slider 123 is slidably disposed in the first housing 11. For example, a guide rod 124 or a slide rail is fixed on the first housing 11, and the slider 123 is slidably disposed on the guide rod 124 or the slide rail. The driving member 121 is fixed to the first housing 11, and one end of the lead screw 122 is connected to the driving end of the driving member 121, such as being 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. The slider 123 is threadedly connected to the lead screw 122. The driving member 121 is a rotary driving member 121 not limited to a motor. The driving rope 4 can be directly connected to the slider 123 or indirectly connected to the slider 123 through other transmission members. When the driving member 121 drives the slider 123 to move through the lead screw 122, the traction driving rope 4 drives the active bending pipe section 21 to bend.

[0051] 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, a lead screw driving mechanism is used to drive the driving rope, 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 to meet the usage requirements of emergency scenarios.

[0052] As Figure 1 and Figure 17 shown, the volume of the main body 1 of the tracheal intubation robot in this embodiment 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.

[0053] Furthermore, the driving mechanism 12 further includes a reducer, and the driving member 121 is connected to the lead screw 122 through the reducer, which can further increase the load capacity of the driving mechanism 12.

[0054] In the existing tracheal intubation technology, due to the limitation of the load capacity of the robot, the active bending pipe section of the active catheter needs to protrude out of the tracheal catheter for guidance. Therefore, after the active catheter reaches the target position, the tracheal catheter still needs to be sent to the target position along the protruding active bending pipe section, and then the active catheter is withdrawn from the patient's body, leaving the tracheal catheter in the patient's body. This results in a longer intubation time, which is not conducive to improving the rescue success rate in emergency scenarios, and will cause discomfort to the patient due to contact and friction with the human airway during the process of guiding the active bending pipe section forward.

[0055] In the embodiment of the present invention, through the design of improving the load capacity of the driving mechanism 12 and the design of making the driving rope 4 close to the tube wall of the active bending section 21, during the intubation operation, it is not necessary to extend the active bending section 21 out of the tracheal catheter 3. The driving rope 4 can have sufficient driving force to drive the active bending section 21 and the tracheal catheter 3 to bend simultaneously, so that the tracheal catheter 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 section 21 and the airway.

[0056] It should be noted that, in some alternative embodiments, the driving mechanism 12 can also adopt other types of mechanisms, such as a hydraulic or pneumatic driving mechanism 12, or a servo motor, a gear and rack driving mechanism 12, etc.

[0057] Furthermore, as Figure 11 shown, the main body 1 further includes an elastic body 127 and a thin film position sensor 17. The slider 123 is slidably disposed in the first housing 11, and the thin film position sensor 17 is fixed to the first housing 11. The elastic body 127 is fixed to the slider 123 and elastically abuts against the thin film position sensor 17.

[0058] Specifically, the thin film position sensor 17 is provided with a sensing surface in contact with the elastic body 127, and the 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 thin film position sensor 17 to keep the elastic body 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 thin film position sensor 17. The thin film position sensor 17 occupies a small space, which is beneficial to the miniaturized design of the structure of the main body 1.

[0059] It should be noted that, when there is enough installation space, in the embodiment of the present invention, the position of the slider 123 can also be detected by other non-contact displacement sensors such as a grating ruler or an infrared ranging sensor.

[0060] Among them, the elastic body 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. This position information can be used by the control system to judge the bending direction and bending degree of the active bending section 21. The control system adjusts and controls the driving mechanism 12 according to the position information fed back by the thin film position sensor 17 to improve the accuracy of control.

[0061] As Figure 3As shown, in the embodiment of the present invention, the active bending pipe section 21 includes a plurality of pipe segments 211 that are rotatably connected in sequence, and a wire groove 2113 is provided on the pipe wall of each pipe segment 211 .

[0062] Specifically, a plurality of pipe segments 211 are arranged along the axial direction of the active catheter 2, and each adjacent two pipe segments 211 are rotationally connected. Each pipe segment 211 is provided with at least one wire groove 2113, and each wire groove 2113 is provided with a driving rope 4. When a 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 toward the side where the driving rope 4 is located, so that the active bending pipe segment 21 is bent as a whole toward the side where the driving rope 4 is located.

[0063] Furthermore, if Figure 6 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.

[0064] 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.

[0065] 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.

[0066] 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 good structural strength and structural stability.

[0067] As shown Figures 6 - 8 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 a one-to-one correspondence.

[0068] 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.

[0069] 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 a one-to-one correspondence.

[0070] 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 section 21.

[0071] Furthermore, referring to Figure 7 and Figure 8 , the two first connection parts 2114 are arranged opposite to each other in the first radial direction, the two second connection parts 2115 are arranged opposite to each other in the 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.

[0072] 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 in a 90° offset in the circumferential direction. Refer to Figure 3 and Figure 4。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 connecting parts 2114 are arranged axially opposite to each other one by one. Refer to Figure 8 。In this way, four sets of wire groove groups are formed in the circumferential direction of the active bending pipe section 21, which are distributed at 90° to each other and are 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 at 90° to each other, realizing the omnidirectional bending of the active catheter 2.

[0073] 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 at 180° 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 at 90° to each other, improving the flexibility of the active catheter 2.

[0074] As Figure 4 、 Figure 7 and Figure 8 shown, the first connecting part 2114 includes a rotating part 21141, and the second connecting part 2115 includes a first arc part 21151 and a second arc part 21152. The first arc part 21151 and the second arc part 21152 are relatively held on the outside of the rotating part 21141 and are rotationally matched with the rotating part 21141.

[0075] Specifically, a first arc surface is provided on one side of the rotating part 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 part 21151 and the second arc part 21152 are concentric arc structures arranged opposite to each other. The first arc part 21151 is rotationally matched with the first arc surface, and the second arc part 21152 is rotationally matched with the second arc surface. The rotation axis of the second connecting part 2115 relative to the first connecting part 2114 is the axis of the two arc surfaces of the rotating part 21141.

[0076] Furthermore, the radius of the first arc surface of the rotating part 21141 is greater than the radius of the second arc surface. Correspondingly, the radius of the first arc part 21151 is greater than the radius of the second arc part 21152. The rotating part 21141 is also provided with a first limiting surface 21141a and a second limiting surface 21141b, and 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 part 21152, and the second limiting surface 21141b is in limiting cooperation with the other end of the second arc part 21152. The first limiting surface 21141a and the second limiting surface 21141b can limit the rotation angle of the second connecting part 2115 relative to the first connecting part 2114.

[0077] Further, referring to Figure 7 , 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.

[0078] 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.

[0079] Further, referring to Figure 7 and Figure 8 , the first connecting part 2114 further includes a third arc part 21142, which 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, and the third arc part 21142 is slidably arranged in the third arc chute 21114 along the rotating direction.

[0080] 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.

[0081] As Figure 2 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, and 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 passed through the passive bending pipe section 23 and the active bending pipe section 21.

[0082] Among them, the driving rope 4 can be directly fixedly connected to one end of the active bending pipe section 21 away 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.

[0083] The passive bending pipe section 23 is connected to one end of the active bending pipe section 21 close to the main body 1, and the rigid section 22 is connected to one end of the active bending pipe section 21 away from the main body 1. 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 pipe section 23 undergoes passive bending.

[0084] As Figure 9 shown, an endoscope 24 is provided on the rigid section 22. As Figure 5 shown, the main body 1 further includes a main control board 131. The endoscope 24 and multiple driving mechanisms 12 are respectively communicatively connected to the main control board 131.

[0085] Among them, the main control board 131 serves as the control system of the tracheal intubation robot. The operating mechanism on the main body 1 is 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 operating mechanism, so that the main control board 131 controls the driving mechanism 12 to act, and pulls the corresponding driving rope 4 to drive the active bending pipe section 21 to bend in a specified direction. A lighting system cooperating with the endoscope 24 is also provided on the rigid section 22, which is used to monitor the intracavitary situation of the patient's airway during the operation to provide visual guidance and precise positioning.

[0086] 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, improving the accuracy of the 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. The main control board 131 is also electrically connected to the thin film position sensor 17, and 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 form of the active bending pipe section 21.

[0087] Furthermore, as Figure 9 shown, an instrument channel 25 is provided in the active catheter 2, and the instrument channel 25 sequentially passes 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 treatment in the patient's respiratory tract.

[0088] 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 the huge host computer system, which is beneficial to the miniaturization and portable design of the tracheal intubation robot.

[0089] As shown Figure 5 In some embodiments of the present invention, as shown, the main body 1 is provided with a screen 14, and the screen 14 is communicatively connected to the main control board 131. During tracheal intubation, the main control board 131 processes the video information obtained by the endoscope 24 and sends it to the screen 14 for display. The operator holds the main body 1 of the robot and controls the tracheal catheter 3 to be inserted into the patient's airway through the patient's nasal cavity and glottis. At the same time, the internal situation of the airway can be observed through the screen 14 on the main body 1, which is convenient for operation.

[0090] It should be noted that a video transmission interface can be set on the main body 1, 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.

[0091] Specifically, as shown Figure 10 In some embodiments of the present invention, as shown, the main body 1 includes a first housing 11 and a screen 14. A plurality of driving mechanisms 12 are arranged inside the first housing 11, and the screen 14 is rotatably connected to the first housing 11. It can be understood that the first housing 11 has an internal cavity, a plurality of driving mechanisms 12 are arranged in the internal cavity of the first housing 11, and the screen 14 is arranged outside the first housing 11 and is rotatably connected to the first housing 11.

[0092] Wherein, 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, as shown Figure 10 , 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, as shown Figure 17 , the screen 14 is unfolded relative to the first housing 11 for easy observation. In use, the hand holds the circumferential side of the first housing 11 in the length direction, 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.

[0093] As shown Figure 5 In some embodiments of the present invention, as shown, the main body 1 is provided with a battery 15, and the battery 15 is electrically connected to the main control board 131. Specifically, the battery 15 is installed inside the first housing 11. The battery 15 can be a storage battery 15 or a dry battery 15. It should be noted that a power interface can be set on the main body 1 for connecting an external power supply.

[0094] As shown Figure 10As shown in the figure, in some embodiments of the present invention, the main body 1 is provided with a speaker 16, and the speaker 16 is electrically connected to the main control board 131. Specifically, the speaker 16 is installed in the first housing 11 and is used to play prompt audio for assisting intubation, 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.

[0095] It should be noted that in the embodiments of the present invention, at least one of the screen 14, the battery 15 and the speaker 16 is provided on the main body 1. Among them, the main body 1 is provided with both the screen 14 and the battery 15, which is convenient for intubation operations in first aid situations in outdoor environments.

[0096] As Figure 5 and Figure 12 As shown in the figure, in the embodiments of the present invention, the main body 1 further includes a connecting plate 132, the connecting plate 132 is electrically connected to the main control board 131, and multiple driving mechanisms 12 are respectively electrically connected to the connecting plate 132.

[0097] Specifically, multiple driving mechanisms 12 are arranged along the width direction of the first housing 11, the driving end of the driving mechanism 12 moves 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 in the first housing 11 and at one end in the driving direction of the multiple driving mechanisms 12, and the connecting plate 132 is electrically connected to the multiple 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 lines between the multiple driving mechanisms 12 and the main control board 131 is reduced, which is beneficial to reducing the volume of the main body 1.

[0098] Furthermore, as Figure 5 shown in the figure, the main body 1 further includes an endoscope connector 133, the endoscope connector 133 is detachably connected to the main control board 131, and the lead wire of the endoscope 24 is detachably connected to the endoscope connector 133.

[0099] As Figure 1 and Figure 13 shown in the figure, the tracheal intubation robot provided by some embodiments of the present invention further includes an intubation connector 5, and the intubation connector 5 includes a second housing 51 and multiple moving blocks 52. Multiple moving blocks 52 are slidably arranged in the second housing 51, and multiple driving ropes 4 are fixedly connected to the multiple moving blocks 52 in one-to-one correspondence. Among them, the active catheter 2 is fixed to the second housing 51, and the tracheal catheter 3 is detachably connected to the second housing 51. Multiple driving mechanisms 12 are arranged in the first housing 11. The second housing 51 is detachably connected to the first housing 11, and the multiple moving blocks 52 are detachably connected to the driving ends of the multiple driving mechanisms 12 in one-to-one correspondence.

[0100] Specifically, a plurality of sliding rails 513 arranged in parallel with each other are provided in the second housing 51, and a plurality of moving blocks 52 are slidably arranged on the plurality of sliding rails 513. The sliding direction of the moving block 52 is consistent with the driving direction of the driving mechanism 12. The second housing 51 is provided with a wire structure, and a plurality of wire holes are provided in the wire structure. A plurality of driving 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. One end of the passive bending pipe section 23 away from the active bending pipe section 21 is fixedly connected to the second housing 51.

[0101] The intubation connector 5 is detachably connected to the first housing 11 through the second housing 51 and detachably connected to the driving ends of the plurality of driving mechanisms 12 through the moving blocks 52. 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, eliminating 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.

[0102] Before tracheal intubation, the plurality of moving blocks 52 are connected to the driving ends of the plurality of driving mechanisms 12. After the endoscope 24 lead wire and the endoscope connector 133 are installed and connected, the second housing 51 is connected to the first housing 11, and the tracheal catheter 3 is sleeved outside the active catheter 2 and connected to the second housing 51 to complete the assembly of the tracheal intubation robot.

[0103] During tracheal intubation, the tracheal catheter 3 is guided by the active catheter 2 and sent into the patient's airway. Then, the tracheal catheter 3 is removed from the second housing 51 and the active catheter 2, and the active catheter 2 is withdrawn from the patient's body, leaving the tracheal catheter 3 in the patient's body to complete the intubation process.

[0104] As Figure 12 shown, in some embodiments of the present invention, the driving mechanism 12 further includes a transmission member 125, and the transmission member 125 is fixed to the slider 123. The moving block 52 is provided with a slot 521, and the transmission member 125 is inserted into the slot 521. When the driving mechanism 12 operates, the moving block 52 is driven to slide through the transmission member 125.

[0105] Specifically, a plurality of guide grooves 113 are provided on the first housing 11. The plurality of guide grooves 113 are arranged in one-to-one correspondence with the plurality of sliders 123. The transmission members 125 of the plurality of driving mechanisms 12 are respectively inserted through the plurality of guide grooves 113 and extend out of 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 plurality of transmission members 125 are respectively inserted into the slots 521 of the plurality of moving blocks 52, thereby establishing a transmission connection between the plurality of driving mechanisms 12 and the plurality of driving ropes 4.

[0106] When the driving mechanism 12 is the above-mentioned screw driving mechanism, the transmission member 125 is fixed on the slider 123. One end of the transmission member 125 is fixed to the slider 123, and the other end is inserted into the slot 521 of the moving block 52. When the driving mechanism 12 operates, the driving member 121 drives the slider 123 to slide through the screw rod 122, and the slider 123 drives the moving block 52 to slide through the transmission member 125.

[0107] As Figure 11 and Figure 12 As shown, in some embodiments of the present invention, the main body 1 further includes a pressure sensor 54. The pressure sensor 54 is fixed on the transmission member 125 and located between the transmission member 125 and the slot 521, and is used to detect the pressure exerted by the transmission member 125 on the moving block 52 in the moving direction. Among them, the pressure sensor 54 is communicatively connected to the control system of the robot, such as the main control board 131.

[0108] Specifically, the transmission member 125 has a first moving direction for tensioning the driving rope 4 and a second moving direction for releasing the driving rope 4, and the first moving direction and the second moving direction are opposite. The transmission member 125 has a first side facing the first moving direction and a second side facing the second moving direction. The first side of the transmission member 125 is provided with a pressure sensor 54 for detecting the pressure exerted by the transmission member 125 on the moving block 52 in the first moving direction when the transmission member 125 moves to tension the driving rope 4. The tracheal intubation robot can control the driving mechanism 12 according to the pressure value fed back by the pressure sensor 54 to servo-control the tension on the driving rope 4 and realize the adjustment of the stiffness of the front catheter.

[0109] Optionally, the pressure sensor 54 is a thin film force sensor. 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 structure of the main body 1. When the installation space is sufficient, the pressure sensor 54 can also adopt other sensors for pressure measurement, such as piezoelectric sensors.

[0110] As Figure 11As shown, in some embodiments of the present invention, the intubation connector 5 further includes an elastic member 53. The elastic member 53 is fixed to the moving block 52 and abuts against the pressure sensor 54. Optionally, the elastic member 53 is embedded in the slot 521 and protrudes from the slot wall of the slot 521 to abut against the pressure sensor 54. The elastic member 53 is an elastic structural member not limited to a spring bead, as long as it can elastically abut 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.

[0111] When the tension of the drive rope 4 is 0, the elastic member 53 can still apply a certain pressure to the pressure sensor 54. When the tension of the drive rope 4 is greater than 0, the pressure applied by the elastic member 53 to the pressure sensor 54 increases. This can avoid the problem that small pressures cannot obtain measurement data due to being in the measurement dead zone of the sensor, improve the sensitivity of force perception, and is beneficial to the precise control of the active bending pipe section 21 by the drive mechanism 12.

[0112] Further, a pressure sensor 54 is also provided on the second side of the transmission member 125 for detecting the pressure applied by the transmission member 125 to the moving block 52 along the second moving direction when releasing the drive rope 4. During the process of the transmission member 125 moving along the second moving direction to release the drive rope 4, if the pressure sensor 54 detects that the force applied by the transmission member 125 to the moving block 52 along the second moving direction exceeds the set value, it indicates that the drive rope 4 is bent. At this time, the control system controls the drive mechanism 12 to move in the reverse direction, so that the transmission member 125 switches to move along the first direction to tighten the drive rope 4. In this way, it can ensure that the drive rope 4 is in a tightened state and achieve accurate control of the active bending pipe section 21.

[0113] Correspondingly, the main body 1 includes two elastic members 53. The two elastic members 53 are respectively arranged on two opposite slot walls in the slot 521 and elastically abut against the pressure sensor 54 on the first side and the pressure sensor 54 on the second side of the transmission member 125 in a one-to-one correspondence.

[0114] Optionally, the pressure sensor 54 on the first side and the pressure sensor 54 on the second side of the transmission member 125 are the same pressure sensor. For example, the pressure sensor 54 can be a thin-film force sensor, that is, the thin-film force sensor is attached to the surface of the transmission member 125 and extends around from the first side of the transmission member 125 to the second side. In this way, the detection of bidirectional forces can be realized by one thin-film force sensor.

[0115] As Figure 10 and Figure 13 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. The first clamping member 111 and the second clamping member 511 are clamped.

[0116] Optionally, a plurality of first engaging members 111 are respectively provided on both sides in the length direction of the first housing 11, and a plurality of second engaging members 511 are correspondingly provided on the second housing 51. The first housing 11 and the second housing 51 are engaged by the plurality of first engaging members 111 and the 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. Optionally, the second housing 51 and the screen 14 are respectively disposed on both sides in the length direction of the first housing 11.

[0117] It should be noted that the detachable connection manner between the first housing 11 and the second housing 51 is not limited to the above-mentioned engaging manner. For example, the first housing 11 and the second housing 51 can also be connected by a connecting member such as a bolt, as long as the detachable connection between the first housing 11 and the second housing 51 can be achieved, and this embodiment does not make any restrictions.

[0118] As Figure 14 and Figure 15 shown, in some embodiments of the present invention, a connector 514 is provided on the second housing 51. The active catheter 2 passes through the connector 514 and is fixedly connected to the second housing 51, and the tracheal catheter 3 is engaged with the connector 514.

[0119] Specifically, the connector 514 is an annular connector 514. One end of the second housing 51 is provided with a through hole, and the connector 514 is coaxially arranged with the through hole. The active catheter 2 passes through the through hole and the connector 514 and is fixedly connected to the second housing 51. A clamping protrusion is provided on the inner side of the connector 514, and a clamping groove is provided on the outer side of the tracheal catheter 3. The clamping protrusion and the clamping groove cooperate to realize the detachable engagement between the tracheal catheter 3 and the connector 514. Here, the engagement structure between the tracheal catheter 3 and the second housing 51 is a schematic example, and this embodiment does not make specific restrictions on the engagement structure between the two.

[0120] Furthermore, as Figure 16 shown, a connector cover 515 is further provided on the second housing 51. The connector cover 515 is sleeved on the outer side of the tracheal catheter 3 and is engaged with the connector 514, which plays a role in dust prevention, waterproofing and aesthetics. Specifically, the connector 514 has an inner ring portion and an outer ring portion. The tracheal catheter 3 is engaged with the inner ring portion, and the connector cover 515 is sleeved on the outer side of the outer ring portion and is engaged with the outer ring portion. For example, a plurality of clamping positions are provided on the outer ring portion in the circumferential direction, and the connector cover 515 is engaged with the plurality of clamping positions.

[0121] 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, a connector 514 and a connector cover 515. The first engaging member 111 and the second engaging member 511 are engaged, the active catheter 2 passes through the connector 514 and is fixedly connected to the second housing 51, the tracheal catheter 3 is engaged with the connector 514, and the connector cover 515 is sleeved on the outer side of the tracheal catheter 3 and is engaged with the connector 514.

[0122] As shown Figure 13 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 to be inserted into the first positioning hole 512 and the second positioning holes of the plurality of moving blocks 52 to position the plurality of moving blocks 52 at the initial position.

[0123] When installing the main body 1 and the cannula connector 5, the positioning bolt is inserted through the first positioning hole 512 and the second positioning holes of the plurality of moving blocks 52 to position the plurality of moving blocks 52 at the initial position. The plurality of sliders 123 move to positions corresponding to the plurality of moving blocks 52 under the control of the driving member 121 and the servo of the film position sensor 17. Thus, when the second housing 51 is installed and connected to the first housing 11, the transmission member 125 on the slider 123 can be accurately inserted into the slot 521 of the corresponding moving block 52, realizing the transmission connection between the plurality of driving mechanisms 12 of the main body 1 and the plurality of moving blocks 52 of the cannula connector 5. After the installation of the two is completed, the positioning bolt is taken out to release the limitation on the moving block 52.

[0124] 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 recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endotracheal intubation robot, characterized in that, Comprising: A main body, including a plurality of driving mechanisms; An active catheter, connected to the main body and having an active bending section, on the wall of the active bending section, a plurality of groups of wire groove groups are circumferentially distributed, and each group of wire groove groups includes a plurality of wire grooves axially distributed along the active catheter; A tracheal catheter, sleeved outside the active bending section; A plurality of driving ropes, the plurality of driving ropes extend along the active catheter and are correspondingly arranged with the plurality of groups of wire groove groups one by one. The driving ropes are threaded through the plurality of wire grooves of the corresponding wire groove groups. One ends of the plurality of driving ropes are correspondingly connected to the plurality of driving mechanisms one by one, and the other ends are connected to the end of the active bending section far from the main body.

2. The tracheal intubation robot according to claim 1, wherein The driving mechanism includes a driving member, a lead screw and a slider. The driving member is connected to the lead screw, the slider is threadedly connected to the lead screw, and the sliders of the plurality of driving mechanisms are correspondingly connected to the plurality of driving ropes one by one.

3. The endotracheal intubation robot according to claim 2, wherein The main body includes a first housing, an elastic body and a thin film position sensor. The slider is slidably arranged in the first housing, the thin film position sensor is fixed to the first housing, and the elastic body is fixed to the slider and elastically abuts against the thin film position sensor.

4. The tracheal intubation robot according to claim 1, wherein The active bending section includes a plurality of pipe joints sequentially rotatably connected, and each pipe joint is provided with the wire groove on its wall.

5. The endotracheal intubation robot according to claim 4, characterized in that, The pipe joint includes a body part and a limiting part. The wall of the body part is provided with a through hole. Two ends of the limiting part are correspondingly connected to two side walls of the through hole. The limiting part arches relative to the wall and encloses the wire groove with the body part.

6. The tracheal intubation robot according to claim 4, wherein, The active bending section is integrally formed by cutting a metal pipe.

7. The tracheal intubation robot according to claim 4, wherein One end of the pipe joint has two first connecting parts, and the other end has two second connecting parts. The two first connecting parts are oppositely arranged in the radial direction of the pipe joint, the two second connecting parts are oppositely arranged in the radial direction of the pipe joint, and two adjacent pipe joints are correspondingly rotatably connected to the two first connecting parts and the two second connecting parts close to each other.

8. The tracheal intubation robot according to claim 7, wherein, The two first connecting parts are oppositely arranged in a first radial direction, the two second connecting parts 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 are provided on the pipe joint, and the two wire grooves are oppositely arranged in the first radial direction.

9. The tracheal intubation robot according to claim 7, characterized in that, The first connecting part includes a rotating part, the second connecting part includes a first arc part and a second arc part. The first arc part and the second arc part relatively embrace the outside of the rotating part and are rotationally matched with the rotating part; On the pipe joint, a first arc chute and a second arc chute are provided outside the rotating part. The first arc part is slidably arranged in the first arc chute along the rotation direction, and the second arc part is slidably arranged in the second arc chute along the rotation direction.

10. The endotracheal intubation robot according to claim 9, wherein, The first connecting portion further includes a third arc portion, which is disposed around the outer arc of the second arc portion and is rotationally engaged with the second arc portion; a third arc chute is provided on the pipe joint on the outer arc of the second arc portion, and the third arc portion is slidably disposed in the third arc chute along the rotation direction.

11. The tracheal intubation robot according to any one of claims 1-10, characterized in that, The active catheter further includes a passive bending pipe section and a rigid section, the passive bending pipe section and the rigid section are respectively connected to two ends of the active bending pipe section, and the drive rope sequentially passes through the passive bending pipe section and the active bending pipe section; An endoscope is provided on the rigid section, the main body further includes a main control board, and the endoscope and the plurality of drive mechanisms are respectively communicatively connected to the main control board.

12. The tracheal intubation robot according to claim 11, characterized in that, A screen is provided on the main body, and the screen is communicatively connected to the main control board; and / or, a battery is provided on the main body, and the battery is electrically connected to the main control board; and / or, a speaker is provided on the main body, and the speaker is electrically connected to the main control board.

13. The tracheal intubation robot according to claim 11, wherein, The main body further includes a connecting plate, the connecting plate is electrically connected to the main control board, and the plurality of drive mechanisms are respectively electrically connected to the connecting plate.

14. The tracheal intubation robot according to any one of claims 1-10, further comprising: An intubation connector, including a second housing and a plurality of moving blocks, the plurality of moving blocks are slidably disposed in the second housing, and the plurality of drive ropes are fixedly connected to the plurality of moving blocks in a one-to-one correspondence, the active catheter is fixed to the second housing, and the tracheal catheter is detachably connected to the second housing; The main body includes a first housing, the plurality of drive mechanisms are disposed in the first housing, the second housing is detachably connected to the first housing, and the plurality of moving blocks are detachably connected to the drive ends of the plurality of drive mechanisms in a one-to-one correspondence.

15. The tracheal intubation robot according to claim 14, wherein The first housing is provided with a first clamping member, and the second housing is provided with a second clamping member, and the first clamping member and the second clamping member are clamped; and / or, the second housing is provided with a joint and a joint cover, the active catheter passes through the joint and is fixedly connected to the second housing, the tracheal catheter is clamped to the joint, and the joint cover is sleeved on the outer side of the tracheal catheter and is clamped to the joint.

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