Tracheal intubation robot

Abstract

The present application relates to the technical field of medical devices, and provides a tracheal intubation robot, which comprises a main body comprising a plurality of driving mechanisms; an active catheter connected to the main body and having an active curved pipe section, a plurality of groups of wire passing grooves being distributed in a circumferential direction on a pipe wall of the active curved pipe section, each group of wire passing grooves comprising a plurality of wire passing grooves distributed in an axial direction; a tracheal catheter sleeved outside the active curved pipe section; a plurality of driving ropes arranged in extension along the active catheter and corresponding to the plurality of groups of wire passing grooves one by one, the driving ropes being arranged in the plurality of wire passing grooves of the corresponding group of wire passing grooves, one end of the plurality of driving ropes being connected to the plurality of driving mechanisms one by one, and the other end being connected to one end of the active curved pipe section away from the main body. The tracheal intubation robot improves the flexibility of tracheal intubation operation and reduces the difficulty of intubation operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to 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 cause tracheal damage or inadvertent insertion into the esophagus, leading to serious consequences. On-site emergency scenarios, in particular, increase the complexity and risk of the operation. While existing tracheal intubation robots designed for operating room environments can assist in intubation, their lack of flexibility in actual operation makes intubation more difficult and affects the success rate of intubation. Summary of the Invention

[0004] The present invention provides a tracheal intubation robot, which is used to solve the problem in the prior art that the tracheal intubation robot is insufficient in flexibility in actual operation, resulting in greater difficulty in intubation operation.

[0005] The present invention provides a tracheal intubation robot, comprising:

[0006] a main body, comprising a plurality of drive mechanisms;

[0007] An active conduit, connected to the main body and having an active bending pipe section, wherein a plurality of wire groove groups are distributed circumferentially on the wall of the active bending pipe section, each of the wire groove groups including a plurality of wire grooves distributed along the axial direction of the active conduit;

[0008] An endotracheal tube, the endotracheal tube being sleeved on the outside of the active bending tube section;

[0009] Multiple driving ropes are extended along the active conduit and are arranged in one-to-one correspondence with multiple groups of wire-passing grooves. The driving ropes are passed through the multiple wire-passing grooves of the corresponding wire-passing groove groups. One end of the multiple driving ropes is connected to the multiple driving mechanisms in one-to-one correspondence, and the other end is connected to the end of the active bending pipe section away from the main body.

[0010] According to a tracheal intubation robot provided by the present invention, the driving mechanism includes a driving member, a screw and a slider, the driving member is connected to the screw, the slider is threadedly connected to the screw, and the sliders of multiple driving mechanisms are connected one-to-one with multiple driving ropes.

[0011] According to a tracheal intubation robot provided by the present invention, the main body includes a first shell, an elastomer and a film position sensor, the slider is slidably arranged on the first shell, the film position sensor is fixed to the first shell, and the elastomer is fixed to the slider and elastically abuts against the film position sensor.

[0012] According to the endotracheal intubation robot provided by the present invention, the active bending pipe section includes a plurality of pipe segments that are rotatably connected in sequence, and the wire groove is provided on the pipe wall of each of the pipe segments.

[0013] According to a tracheal intubation robot provided by the present invention, the tube segment includes a main body and a limiting portion, the tube wall of the main body is provided with a through hole, the two ends of the limiting portion are connected to the two side walls of the through hole in a one-to-one correspondence, the limiting portion is arched relative to the tube wall and is surrounded by the main body to form the wire groove.

[0014] According to the endotracheal intubation robot provided by the present invention, the active bending pipe section is formed by integrally cutting from a metal pipe.

[0015] According to a tracheal intubation robot provided by the present invention, one end of the pipe segment has two first connecting parts, and the other end has two second connecting parts. The two first connecting parts are arranged opposite to each other in the radial direction of the pipe segment, and the two second connecting parts are arranged opposite to each other in the radial direction of the pipe segment. The two first connecting parts and the two second connecting parts of two adjacent pipe segments that are close to each other are rotatably connected in a one-to-one manner.

[0016] According to a tracheal intubation robot provided by the present invention, the two first connecting parts are arranged opposite to each other in a first radial direction, the two second connecting parts are arranged opposite to each other in a second radial direction, and the first radial direction and the second radial direction are perpendicular to each other; two wire grooves are provided on the pipe segment, and the two wire grooves are arranged opposite to each other in the first radial direction.

[0017] According to the endotracheal intubation robot provided by the present invention, the first connecting portion includes a rotating portion, and the second connecting portion includes a first arc portion and a second arc portion, wherein the first arc portion and the second arc portion are relatively arranged on the outside of the rotating portion and rotate with the rotating portion;

[0018] The pipe section is provided with a first arc groove and a second arc groove on the outside of the rotating part. The first arc part is slidably arranged in the first arc groove along the rotation direction, and the second arc part is slidably arranged in the second arc groove along the rotation direction.

[0019] According to a tracheal intubation robot provided by the present invention, the first connecting part also includes a third arc part, which is arranged on the outside of the arc of the second arc part and rotates with the second arc part; a third arc groove is provided on the pipe section outside the arc of the second arc part, and the third arc part is slidably arranged in the third arc groove along the rotation direction.

[0020] According to the endotracheal intubation robot provided by the present invention, the active catheter further comprises a passive bending tube segment and a rigid segment, the passive bending tube segment and the rigid segment are respectively connected to two ends of the active bending tube segment, and the driving rope is sequentially passed through the passive bending tube segment and the active bending tube segment;

[0021] An endoscope is provided on the rigid section, and the main body further comprises a main control board. The endoscope and the plurality of driving mechanisms are respectively connected to the main control board for communication.

[0022] According to a tracheal intubation robot provided by the present invention, the main body is provided with a screen, which is communicatively connected to the main control board; and / or the main body is provided with a battery, which is electrically connected to the main control board; and / or the main body is provided with a speaker, which is electrically connected to the main control board.

[0023] According to the endotracheal 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 electrically connected to the connecting plate respectively.

[0024] According to the present invention, a tracheal intubation robot further includes:

[0025] The intubation connector includes a second housing and a plurality of movable blocks, wherein the plurality of movable blocks are slidably disposed within the second housing, the plurality of drive ropes are fixedly connected to the plurality of movable blocks in a one-to-one correspondence, the active catheter is fixed to the second housing, and the endotracheal tube is detachably connected to the second housing;

[0026] The main body includes a first shell, the plurality of driving mechanisms are arranged in the first shell, the second shell is detachably connected to the first shell, and the plurality of moving blocks are detachably connected to the driving ends of the plurality of driving mechanisms in a one-to-one correspondence.

[0027] According to a tracheal intubation robot provided by the present invention, the first shell is provided with a first clamping piece, the second shell is provided with a second clamping piece, and the first clamping piece and the second clamping piece are clamped together; and / or, the second shell is provided with a joint and a joint cover, the active catheter is passed through the joint and fixedly connected to the second shell, the tracheal catheter is clamped together with the joint, and the joint cover is sleeved on the outside of the tracheal catheter and clamped together with the joint.

[0028] The tracheal intubation robot provided by the present invention has multiple groups of wire grooves distributed axially on the wall of the active bending tube section of the active catheter. Multiple drive ropes are extended along the active catheter and passed through the multiple wire grooves in a one-to-one correspondence. The multiple drive ropes are used to drive the active catheter to bend in multiple directions, thereby improving the flexibility of the tracheal intubation operation and reducing the difficulty of the intubation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 It is a schematic diagram of the overall structure of the endotracheal intubation robot provided by the present invention.

[0031] Figure 2 It is a schematic diagram of the active catheter structure of the endotracheal intubation robot provided by the present invention.

[0032] Figure 3 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.

[0033] Figure 4 yes Figure 3 Top view of the active bending pipe segment in .

[0034] Figure 5 It is a schematic diagram of the internal structure of the main body of the tracheal intubation robot provided by the present invention.

[0035] Figure 6 It is a stereoscopic diagram of a tube segment of the active catheter in the endotracheal intubation robot provided by the present invention.

[0036] Figure 7 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.

[0037] Figure 8 This is the second side view of the tube segment of the active catheter in the endotracheal intubation robot provided by the present invention.

[0038] Figure 9 It is a partial cross-sectional view of the active catheter in the endotracheal intubation robot provided by the present invention.

[0039] Figure 10 It is a schematic diagram of the external structure of the main body of the tracheal intubation robot provided by the present invention.

[0040] Figure 11 This is a partial structural sectional view of the endotracheal intubation robot provided by the present invention.

[0041] Figure 12 It is a partial structural schematic diagram of the main body of the tracheal intubation robot provided by the present invention.

[0042] Figure 13 It is a structural schematic diagram of the intubation connector in the tracheal intubation robot provided by the present invention.

[0043] Figure 14 It is an exploded schematic diagram of the intubation connector, active catheter and tracheal tube in the tracheal intubation robot provided by the present invention.

[0044] Figure 15 The figure is a schematic diagram of the connection between the intubation connector and the tracheal tube in the tracheal intubation robot provided by the present invention.

[0045] Figure 16 The figure is a schematic diagram of the installation of the joint cover in the tracheal intubation robot provided by the present invention.

[0046] Figure 17 This is a schematic diagram of the endotracheal intubation robot provided by the present invention in use.

[0047] Reference numerals:

[0048] 1. Main body; 11. First housing; 111. First clamping member; 113. Guide groove; 12. Driving mechanism; 121. Driving member; 122. Screw rod; 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 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 tube section; 24, endoscope; 25, instrument channel; 26, therapeutic instrument; 3, endotracheal tube; 4, drive rope; 5, intubation connector; 51, second shell; 511, second clip; 512, first positioning hole; 513, slide rail; 514, joint; 515, joint cover; 52, moving block; 521, slot; 53, elastic member; 54, pressure sensor. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] The following combination Figures 1-17 The endotracheal intubation robot of the present invention is described.

[0052] like Figure 1 、 Figure 2 and Figure 3 As shown, the endotracheal intubation robot provided in an embodiment of the present invention includes a main body 1, an active catheter 2, an endotracheal tube 3, and multiple drive ropes 4. The active catheter 2 is connected to the main body 1 and has an active bending tube segment 21. Multiple groups of wire grooves are distributed circumferentially on the wall of the active bending tube segment 21. Each group of wire grooves includes multiple wire grooves 2113 distributed axially along the active bending tube segment 2. The endotracheal tube 3 is sleeved on the outside of the active bending tube segment 21. Multiple drive ropes 4 extend along the active catheter 2 and are arranged in a one-to-one correspondence with the multiple wire groove groups. The drive ropes 4 are inserted into the multiple wire grooves 2113 of the corresponding wire groove groups. One end of the multiple drive ropes 4 is connected to the multiple drive mechanisms 12 in a one-to-one correspondence, and the other end is connected to the end of the active bending tube segment 21 away from the main body 1.

[0053] It is understood that each drive mechanism 12 of the main body 1 is drivingly 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 arranged in a one-to-one correspondence through multiple wire groove groups. That is, the portion of each drive rope 4 located in the active bending tube section 21 is sequentially passed 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 close to the wall of the active bending tube section 21.

[0054] The active catheter 2 may be directly connected to the main body 1 or indirectly connected to the main body 1 through other structures. For example, the active catheter 2 is fixed to the cannula connector 5 , and the cannula connector 5 is connected to the main body 1 .

[0055] Main body 1 is equipped with an operating mechanism, such as a button or joystick, that communicates with drive mechanism 12. During tracheal intubation, the operator uses the operating mechanism to control the corresponding movement of drive mechanism 12 according to the curvature of the patient's airway. This causes drive mechanism 12 to apply a driving force to active bending section 21 of active catheter 2 via drive cord 4, causing active bending section 21 to bend. Tracheal tube 3 is sheathed around active bending section 21. When active bending section 21 bends, it drives tracheal tube 3 to bend synchronously.

[0056] 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.

[0057] 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.

[0058] like Figure 5 As shown, in this embodiment of the present invention, the driving mechanism 12 includes a driving member 121, a screw rod 122, and a slider 123. The driving member 121 is connected to the screw rod 122, and the slider 123 is threadedly connected to the screw rod 122. The sliders 123 of the multiple driving mechanisms 12 are connected to the multiple driving ropes 4 in a one-to-one correspondence.

[0059] The main body 1 further includes a first housing 11, and the drive mechanism 12 is mounted on the first housing 11. Specifically, a slider 123 is slidably mounted on the first housing 11. For example, a guide rod 124 or a slide rail is fixed to the first housing 11, and the slider 123 is slidably mounted on the guide rod 124 or the slide rail. A driving member 121 is fixed to the first housing 11. One end of a screw rod 122 is connected to the driving end of the driving member 121, for example, via a coupling 126, and the other end of the screw rod 122 is rotatably connected to the first housing 11. The slider 123 is threadedly connected to the screw rod 122. The driving member 121 is a rotating driving member 121, not limited to a motor. The drive rope 4 can be directly connected to the slider 123, or it can be indirectly connected to the slider 123 via other transmission members. When the driving member 121 drives the slider 123 to move via the screw rod 122, the traction drive rope 4 drives the active bending pipe section 21 to bend.

[0060] 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 are often difficult to deploy in a timely manner. This embodiment utilizes a screw drive mechanism to drive the drive cable, resulting in a simple, compact structure for the intubation robot's drive system and a high load capacity. This facilitates miniaturization of the robot to meet the demands of emergency situations.

[0061] like Figure 1 and Figure 17 As shown, the volume of the main body 1 of the tracheal intubation robot of this embodiment 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.

[0062] Furthermore, the driving mechanism 12 further includes a reducer, and the driving member 121 is connected to the screw rod 122 via the reducer, which can further increase the load capacity of the driving mechanism 12.

[0063] In existing endotracheal intubation techniques, due to the robot's limited load capacity, the active curved section of the active catheter must be extended outside the endotracheal tube for guidance. Therefore, once the active catheter reaches the target location, the endotracheal tube must be advanced along the extended curved section to the target location before being withdrawn from the patient, leaving the endotracheal tube in the patient. This results in a prolonged intubation time, which is detrimental to the success rate of emergency rescue. Furthermore, the active curved section can rub against the airway during guidance, causing discomfort to the patient.

[0064] 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.

[0065] 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.

[0066] Furthermore, if Figure 11As shown, the main body 1 further includes an elastic body 127 and a film position sensor 17. The slider 123 is slidably disposed on the first housing 11, and the 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 film position sensor 17.

[0067] Specifically, the diaphragm position sensor 17 includes a sensing surface that contacts an elastic body 127, extending 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.

[0068] 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.

[0069] 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.

[0070] like Figure 3 As 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 .

[0071] Specifically, multiple tube segments 211 are arranged axially along the active catheter 2, with adjacent tube segments 211 pivotally connected. Each tube segment 211 is provided with at least one cable slot 2113, through which a drive cable 4 is passed. When a drive cable 4 is pulled by the corresponding drive mechanism 12, the tube segment 211 closer to the distal end rotates relative to the tube segment 211 farther from the distal end toward the drive cable 4, causing the active bending tube segment 21 to bend as a whole toward the drive cable 4.

[0072] Furthermore, if Figure 6As 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. The limiting portion 2112 is arched relative to the main body 2111 and surrounds the main body 2111 to form a wire groove 2113.

[0073] Specifically, the main body 2111 is an annular tubular structure, and the limiting portion 2112 is connected to the main body 2111 at both ends perpendicular to the axial direction of the main body 2111. The middle portion of the limiting portion 2112 is arched relative to the tube wall of the main body 2111, forming an arc or folded structure, so that a wire groove 2113 is defined between the limiting portion 2112 and the main body 2111, and the drive rope 4 can be inserted into the wire groove 2113 along the axial direction of the tube segment 211. Preferably, the limiting portion 2112 is provided on the inner side of the main body 2111, that is, the limiting portion 2112 and the inner wall of the main body 2111 enclose the wire groove 2113, and the drive rope 4 is located on the inner side of the active catheter 2 and inserted into the wire groove 2113.

[0074] Optionally, the tube wall of the main body 2111 is provided with a through hole 21111, and the ends of the limiting portion 2112 are connected to the side walls of the through hole 21111 in a one-to-one correspondence. Specifically, the ends of the limiting portion 2112 perpendicular to the axial direction of the main body 2111 are connected to the side walls of the through hole 21111 in a one-to-one correspondence. It is understood that the limiting portion 2112 and the through hole 21111 are arranged opposite 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 it inward.

[0075] In some embodiments of the present invention, the active bending pipe segment 21 is integrally cut and formed from a metal tube. Optionally, the active bending pipe segment 21 is formed from the metal tube by laser cutting. Specifically, the integral metal tube is laser cut to form multiple pipe segments 211, and each pipe segment 211 is formed by cutting and pressing grooves to form a wire groove 2113. This active bending pipe segment 21 has excellent structural strength and stability.

[0076] like Figure 6-Figure 8 As 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] Further, see Figure 7 and Figure 8 The two first connecting parts 2114 are arranged opposite to each other in the first radial direction, and the two second connecting parts 2115 are arranged opposite to each other in the second radial direction. 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.

[0081] 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 3 and Figure 4 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 8 Thus, 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.

[0082] 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.

[0083] like Figure 4 、 Figure 7 and Figure 8 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.

[0084] 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.

[0085] 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.

[0086] Further, see Figure 7 A 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.

[0087] 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.

[0088] Further, see Figure 7 and Figure 8 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.

[0089] 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.

[0090] like Figure 2 As shown, in this embodiment of the present invention, the active catheter 2 further includes a passive bending section 23 and a rigid section 22, which are respectively connected to the two ends of the active bending section 21. The drive rope 4 is sequentially passed through the passive bending section 23 and the active bending section 21.

[0091] The driving rope 4 can be directly fixedly connected to the end of the active bending tube section 21 away from the main body 1 , or directly fixedly connected to the rigid section 22 , that is, indirectly fixedly connected to the active bending tube section 21 through the rigid section 22 .

[0092] The passive bending section 23 is connected to the end of the active bending section 21 close to the main body 1, and the rigid section 22 is connected to the end of the active bending section 21 away from the main body 1. During intubation, the active bending section 21 moves forward along the airway, driving the passive bending section 23 forward, causing the passive bending section 23 to bend passively.

[0093] like Figure 9 As shown, an endoscope 24 is provided on the rigid section 22. Figure 5 As shown, the main body 1 further includes a main control board 131. The endoscope 24 and the plurality of driving mechanisms 12 are respectively connected to the main control board 131 for communication.

[0094] The main control board 131 serves as the control system for the endotracheal intubation robot. The control mechanism on the main body 1 is in communication with the main control board 131. During the intubation process, the operator sends control commands to the main control board 131 through the control mechanism, causing the main control board 131 to control the drive mechanism 12, pulling the corresponding drive rope 4 to bend the active bending tube segment 21 in the specified direction. The rigid segment 22 is also equipped with an illumination system that cooperates with the endoscope 24 to monitor the patient's airway cavity during surgery, providing visual guidance and precise positioning.

[0095] The main control board 131 is also used to process video information from the endoscope 24 and output it to a corresponding screen for display, allowing for observation of the airway's interior during intubation, improving operational accuracy. Combined with the flexible bending capabilities of the active catheter 2, even ordinary individuals can safely complete intubation with robotic assistance. The main control board 131 is also electrically connected to the film position sensor 17. Based on the position information provided by the film position sensor 17, the main control board 131 controls the drive mechanism 12 to adjust the bending shape of the active bending tube segment 21.

[0096] Furthermore, if Figure 9 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.

[0097] 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.

[0098] like Figure 5As shown, in some embodiments of the present invention, the main body 1 is equipped with a screen 14, which is in communication with a main control board 131. During tracheal intubation, the main control board 131 processes the video information obtained by the endoscope 24 and transmits it to the screen 14 for display. The operator, holding the main body 1 of the robot, controls the tracheal tube 3 to be inserted from the patient's nasal cavity through the glottis and into the patient's airway. Simultaneously, the operator can observe the internal conditions of the airway through the screen 14 on the main body 1, making operation convenient.

[0099] It should be noted that a video transmission interface may be provided on the main body 1 , 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.

[0100] Specifically, if Figure 10 As shown, the main body 1 includes a first shell 11 and a screen 14. Multiple drive mechanisms 12 are disposed within the first shell 11, and the screen 14 is rotatably connected to the first shell 11. It can be understood that the first shell 11 has an internal cavity, the multiple drive mechanisms 12 are disposed within the internal cavity of the first shell 11, and the screen 14 is disposed outside the first shell 11 and is rotatably connected to the first shell 11.

[0101] 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 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, 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.

[0102] like Figure 5 As shown, in some embodiments of the present invention, the main body 1 is provided with a battery 15, which is electrically connected to the main control board 131. Specifically, the battery 15 is installed in the first housing 11. The battery 15 can be a storage battery 15 or a dry cell battery 15. It should be noted that the main body 1 can be provided with a power port for connecting to an external power source.

[0103] like Figure 10As shown, in some embodiments of the present invention, the main body 1 is equipped with a speaker 16, which 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 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 also plays audio information related to 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.

[0104] It should be noted that in the embodiment of the present invention, the main body 1 is provided with at least one of the screen 14, the battery 15 and the speaker 16. The main body 1 is provided with both the screen 14 and the battery 15, which facilitates intubation in emergency situations in outdoor environments.

[0105] like Figure 5 and Figure 12 As shown, in the embodiment 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 the plurality of driving mechanisms 12 are electrically connected to the connecting plate 132 respectively.

[0106] 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.

[0107] Furthermore, if Figure 5 As shown, the main body 1 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 .

[0108] like Figure 1 and Figure 13 As shown, some embodiments of the present invention provide an endotracheal intubation robot further comprising an intubation connector 5, which comprises a second housing 51 and a plurality of movable blocks 52. The plurality of movable blocks 52 are slidably disposed within the second housing 51, and a plurality of drive ropes 4 are fixedly connected to the plurality of movable blocks 52 in a one-to-one correspondence. The active catheter 2 is fixed to the second housing 51, and the endotracheal catheter 3 is detachably connected to the second housing 51. A plurality of drive mechanisms 12 are disposed within the first housing 11. The second housing 51 is detachably connected to the first housing 11, and the plurality of movable blocks 52 are detachably connected to the drive ends of the plurality of drive mechanisms 12 in a one-to-one correspondence.

[0109] Specifically, the second housing 51 is provided with a plurality of parallel slide rails 513, and a plurality of movable blocks 52 are slidably mounted on the plurality of slide rails 513. The sliding direction of the movable blocks 52 aligns with the driving direction of the drive mechanism 12. The second housing 51 is provided with a wire structure having a plurality of wire holes. The plurality of drive ropes 4 are passed through the wire holes in a one-to-one correspondence and are fixedly connected to the plurality of movable blocks 52 in a one-to-one correspondence. The passive bending tube section 23 is fixedly connected to the second housing 51 at one end away from the active bending tube section 21.

[0110] The intubation connector 5 is detachably connected to the first housing 11 via the second housing 51 and is detachably connected to the drive ends of multiple drive mechanisms 12 via the movable block 52. This allows for replacement of active catheters 2 and tracheal tubes 3 of varying sizes depending on the airway size of the patient, improving the adaptability of the tracheal intubation robot. Furthermore, the active catheter 2 and intubation connector 5 can be disposable to ensure aseptic operation, eliminating the limitations on the robot's application scope in emergency scenarios due to the difficulty of repeated disinfection. The main body 1 is reusable, reducing operating costs. The intubation connector 5 establishes a detachable connection between the drive rope 4 and the drive mechanism 12, making replacement of the active catheter 2 more convenient.

[0111] Before performing tracheal intubation, multiple moving blocks 52 are connected to the driving ends of multiple driving mechanisms 12, and the endoscope 24 leads are installed and connected to the endoscope connector 133. Then, the second shell 51 is connected to the first shell 11, and 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.

[0112] 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.

[0113] like Figure 12 As shown, in some embodiments of the present invention, the drive mechanism 12 further includes a transmission member 125, which 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 drive mechanism 12 is in operation, the moving block 52 is driven to slide by the transmission member 125.

[0114] Specifically, the first housing 11 is provided with a plurality of guide slots 113, each corresponding to a plurality of sliders 123. The transmission members 125 of the plurality of drive mechanisms 12 are respectively disposed through the plurality of guide slots 113 and extend out of the first housing 11. The second housing 51 has an opening on the side facing the first housing 11. 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 drive mechanisms 12 and the plurality of drive ropes 4.

[0115] When the drive mechanism 12 is the aforementioned screw drive mechanism, the transmission member 125 is fixed to 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 drive mechanism 12 is in operation, the driving member 121 drives the slider 123 to slide via the screw 122, and the slider 123 drives the moving block 52 to slide via the transmission member 125.

[0116] like 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 to the transmission member 125 and is located between the transmission member 125 and the slot 521. The pressure sensor 54 is used to detect the pressure applied by the transmission member 125 to the moving block 52 in the moving direction. The pressure sensor 54 is in communication with the robot's control system, such as the main control board 131.

[0117] Specifically, the transmission member 125 has a first movement direction for tightening the drive rope 4 and a second movement direction for releasing the drive rope 4, the first movement direction and the second movement direction being opposite. The transmission member 125 has a first side facing the first movement direction and a second side facing the second movement direction. A pressure sensor 54 is provided on the first side of the transmission member 125 to detect the pressure applied to the movable block 52 along the first movement direction by the transmission member 125 when the transmission member 125 moves in the first movement direction while tightening the drive rope 4. The endotracheal intubation robot can control the drive mechanism 12 based on the pressure value fed back by the pressure sensor 54, thereby servo-controlling the tension on the drive rope 4 and adjusting the stiffness of the front-end catheter.

[0118] Optionally, the pressure sensor 54 is a thin film force sensor. 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, which facilitates the miniaturization of the structure of the main body 1. If there is sufficient installation space, the pressure sensor 54 can also adopt other sensors for measuring pressure, such as piezoelectric sensors.

[0119] like Figure 11As shown, in some embodiments of the present invention, the cannula connector 5 further includes an elastic member 53, which is fixed to the movable 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 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.

[0120] 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.

[0121] Furthermore, a pressure sensor 54 is also provided on the second side of the transmission member 125 to detect the pressure applied by the transmission member 125 to the movable block 52 in the second movement direction when releasing the drive rope 4. During the movement of the transmission member 125 in the second movement direction to release the drive rope 4, if the pressure sensor 54 detects that the force applied by the transmission member 125 to the movable block 52 in the second movement direction exceeds a set value, indicating that the drive rope 4 has bent, the control system controls the drive mechanism 12 to reverse movement, switching the transmission member 125 to movement in the first direction to tighten the drive rope 4. This ensures that the drive rope 4 remains taut, achieving accurate control of the actively bending tube section 21.

[0122] Correspondingly, the main body 1 includes two elastic members 53 , which are respectively arranged on 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 transmission member 125 in a one-to-one correspondence.

[0123] 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 from the first side of the transmission member 125 to the second side. In this way, bidirectional force detection can be achieved using a single thin film force sensor.

[0124] like Figure 10 and Figure 13 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.

[0125] Optionally, a plurality of first clips 111 are provided on either side of the length of the first housing 11, and a plurality of second clips 511 are provided on the second housing 51. The first housing 11 and the second housing 51 are connected via 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. Optionally, the second housing 51 and the screen 14 are provided on either side of the length of the first housing 11.

[0126] 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.

[0127] like Figure 14 and Figure 15 As shown, in some embodiments of the present invention, a connector 514 is provided on the second shell 51 , the active catheter 2 is passed through the connector 514 and fixedly connected to the second shell 51 , and the tracheal tube 3 is snap-connected to the connector 514 .

[0128] 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.

[0129] Furthermore, if Figure 16 As shown, the second housing 51 is also provided with a connector cover 515. This cover 515 fits over the outside of the tracheal tube 3 and engages 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 tracheal tube 3 engages with the inner ring portion, and 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, and the connector cover 515 engages with these latching positions.

[0130] 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, a connector 514, and a connector cover 515. The first clamping member 111 and the second clamping member 511 are clamped together, the active catheter 2 is passed through the connector 514 and fixedly connected to the second housing 51, the tracheal tube 3 is clamped together with the connector 514, and the connector cover 515 is sleeved on the outside of the tracheal tube 3 and clamped together with the connector 514.

[0131] As shown in the drawings, in some embodiments of the present application, the second housing 51 is provided with a first positioning hole 512, the moving blocks 52 are provided with second positioning holes, and the main body 1 further comprises a positioning pin. The positioning pin is used to be inserted into the first positioning hole 512 and the second positioning holes of the moving blocks 52, so as to position the moving blocks 52 at the initial position. Figure 13

[0132] During the installation of the main body 1 and the cannula connector 5, the positioning pin is inserted into the first positioning hole 512 and the second positioning holes of the moving blocks 52, so as to position the moving blocks 52 at the initial position. The sliders 123 are moved to the positions corresponding to the moving blocks 52 under the control of the driving members 121 and the servo of the film position sensor 17. In this way, when the second housing 51 is installed and connected with the first housing 11, the transmission members 125 on the sliders 123 can be accurately inserted into the insertion slots 521 of the corresponding moving blocks 52, so as to realize the transmission connection between the driving mechanisms 12 of the main body 1 and the moving blocks 52 of the cannula connector 5. After the installation of the two is completed, the positioning pin is removed to release the limitation of the moving blocks 52.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part 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 application.​

Claims

1. A tracheal intubation robot, characterized in that: include: a main body, comprising a plurality of drive mechanisms; An active conduit is connected to the main body and has an active bending pipe section, the active bending pipe section is cut and formed as a whole from a metal pipe and includes a plurality of pipe sections that are rotatably connected in sequence; a plurality of groups of wire grooves are distributed circumferentially on the pipe wall of the active bending pipe section, each group of the wire grooves includes a plurality of wire grooves distributed along the axial direction of the active conduit; the pipe section includes a main body and a limiting portion, the pipe wall of the main body is provided with a through hole, the two ends of the limiting portion are connected to the two side hole walls of the through hole in a one-to-one correspondence, the limiting portion is arched relative to the pipe wall and is arranged with the main body to form the wire groove; the limiting portion is extruded into the interior of the pipe section after cutting; One end of the pipe segment has two first connection parts, and the other end has two second connection parts, the two first connection parts are arranged opposite to each other in the radial direction of the pipe segment, and the two second connection parts are arranged opposite to each other in the radial direction of the pipe segment, and the two first connection parts and the two second connection parts of two adjacent pipe segments close to each other are rotatably connected in a one-to-one manner to form a structural interlocking; An endotracheal tube is sleeved on the outside of the active bending tube section; Multiple driving ropes are extended along the active conduit and are arranged in one-to-one correspondence with multiple groups of wire-passing grooves. The driving ropes are passed through the multiple wire-passing grooves of the corresponding wire-passing groove groups. One end of the multiple driving ropes is connected to the multiple driving mechanisms in one-to-one correspondence, and the other end is connected to the end of the active bending pipe section away from the main body.

2. The tracheal intubation robot according to claim 1, characterized in that: The driving mechanism includes a driving member, a screw rod and a slider. The driving member is connected to the screw rod, and the slider is threadedly connected to the screw rod. The sliders of multiple driving mechanisms are connected to multiple driving ropes in a one-to-one correspondence.

3. The tracheal intubation robot according to claim 2, characterized in that: The main body includes a first shell, an elastic body and a film position sensor. The slider is slidably arranged in the first shell. The film position sensor is fixed to the first shell. The elastic body is fixed to the slider and elastically abuts against the film position sensor.

4. The endotracheal intubation robot according to claim 1, characterized in that: The two first connection parts are arranged opposite to each other in a first radial direction, and the two second connection parts are arranged opposite to each other in a second radial direction, and the first radial direction and the second radial direction are perpendicular to each other; two wire grooves are provided on the pipe segment, and the two wire grooves are arranged opposite to each other in the first radial direction.

5. The tracheal intubation robot according to claim 1, characterized in that: The first connecting portion includes a rotating portion, and the second connecting portion includes a first arc portion and a second arc portion, wherein the first arc portion and the second arc portion are relatively arranged on the outside of the rotating portion and rotate with the rotating portion; The pipe section is provided with a first arc groove and a second arc groove on the outside of the rotating part. The first arc part is slidably arranged in the first arc groove along the rotation direction, and the second arc part is slidably arranged in the second arc groove along the rotation direction.

6. The endotracheal intubation robot according to claim 5, characterized in that: The first connecting part also includes a third arc portion, which is arranged on the outside of the arc of the second arc portion and rotates with the second arc portion; a third arc groove is provided on the pipe section on the outside of the arc of the second arc portion, and the third arc portion is slidably arranged in the third arc groove along the rotation direction.

7. The tracheal intubation robot according to any one of claims 1 to 6, characterized in that: The active catheter further comprises a passive bending section and a rigid section, wherein the passive bending section and the rigid section are respectively connected to two ends of the active bending section, and the driving rope is sequentially passed through the passive bending section and the active bending section; An endoscope is provided on the rigid section, and the main body further comprises a main control board. The endoscope and the plurality of driving mechanisms are respectively connected to the main control board for communication.

8. The tracheal intubation robot according to claim 7, characterized in that: The main body is provided with a screen, which is communicatively connected to the main control board; and / or the main body is provided with a battery, which is electrically connected to the main control board; and / or the main body is provided with a speaker, which is electrically connected to the main control board.

9. The endotracheal intubation robot according to claim 7, characterized in that: 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 electrically connected to the connecting plate respectively.

10. The endotracheal intubation robot according to any one of claims 1 to 6, further comprising: The intubation connector includes a second housing and a plurality of movable blocks, wherein the plurality of movable blocks are slidably disposed within the second housing, the plurality of drive ropes are fixedly connected to the plurality of movable blocks in a one-to-one correspondence, the active catheter is fixed to the second housing, and the endotracheal tube is detachably connected to the second housing; The main body includes a first shell, the plurality of driving mechanisms are arranged in the first shell, the second shell is detachably connected to the first shell, and the plurality of moving blocks are detachably connected to the driving ends of the plurality of driving mechanisms in a one-to-one correspondence.

11. The endotracheal intubation robot according to claim 10, characterized in that: 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 together; And / or, the second shell is provided with a joint and a joint cover, the active catheter is passed through the joint and fixedly connected to the second shell, the tracheal tube is clamped with the joint, and the joint cover is sleeved on the outside of the tracheal tube and clamped with the joint.

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