Airflow guide type intubation sheathing canal and AI automatic intubation robot system with airflow guide type intubation sheathing canal

Abstract

The invention relates to an airflow guiding type intubation sheathing canal and an AI automatic intubation robot system with the airflow guiding type intubation sheathing canal. The airflow guide type intubation sheath tube comprises a universal catheter and a plurality of airflow detectors, and the airflow detectors are evenly embedded in the periphery of the outer surface of one end of the universal catheter. The AI automatic intubation robot system comprises an intubation robot, a computer, automatic external chest compression equipment and an airflow guide type intubation sheathing canal, the automatic external chest compression equipment is installed on a door-shaped or arch-shaped support and connected with the computer, the intubation robot is connected with the computer through a PL controller, and the airflow guide type intubation sheathing canal is connected with the computer. The intubation robot is provided with a second camera, and the computer is connected with the first camera and the second camera. The system has the advantages that the functions of automatic auxiliary ventilation establishment, visual identification and airflow guide, visual identification and airflow guide intubation, AI big data training and the like can be achieved, the labor intensity of intubation doctors is effectively reduced, and the misplug risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to an air flow guiding intubation sheath tube and an AI automatic intubation robot system having the same. Background Art

[0002] Tracheal intubation refers to the technique of inserting a special tracheal catheter through the glottis into the trachea, which is widely used in general anesthesia surgery, cardiopulmonary resuscitation, and the establishment of an airway, ventilation and oxygen supply, respiratory tract suction, and prevention of aspiration during the treatment of acute and critical diseases.

[0003] Currently, tracheal intubation can only be performed manually. During intubation, the operator needs to hold the patient's mandibular joint to prevent the root of the tongue from falling back and blocking the airway, and at the same time rotate the patient's head backward to expose the glottis. After finding the glottis under the cooperation of a laryngoscope, the tracheal intubation catheter is slowly inserted into the patient's trachea. During the intubation process, the operator needs to avoid inserting the tube into the esophagus, otherwise, conditions such as reflux and hypoxia may occur, and in severe cases, it may endanger life. Before, during, and after intubation, the operator also needs to pay full attention to the patient's consciousness state, vital signs, hypoxia state, etc. The whole process has a relatively high labor intensity and many risks.

[0004] Based on this, it is necessary to develop an automatic intubation robot system that can automatically establish an airway, automatically intubate, reduce the labor intensity of intubating doctors, reduce the risk of misinsertion, and continuously improve the intubation accuracy and efficiency through AI big data training. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an air flow guiding intubation system, which effectively overcomes the defects of the prior art.

[0006] The technical solution of the present invention for solving the above technical problem is as follows:

[0007] An air flow guiding intubation sheath tube includes a universal catheter and a plurality of air flow detectors, and the plurality of air flow detectors are evenly embedded around the outer surface of one end of the universal catheter.

[0008] The beneficial effect is that the air flow guiding intubation sheath tube can enter the patient's trachea along the correct direction under the guidance of air flow, and help to establish the correct path for intubation.

[0009] On the basis of the above technical solution, the present invention can also be improved as follows.

[0010] Further, a first camera is provided at one end of the universal catheter.

[0011] The beneficial effect of adopting the above further technical solution is that image information during the process of entering the patient's oral cavity and trachea can be obtained through the first camera to assist in correct insertion.

[0012] Furthermore, the above-mentioned universal catheter includes a catheter body. One end of the catheter body is set as an easily bendable section. Traction channels corresponding to the airflow detectors one by one are provided on the side wall of the catheter body in multiple directions. Electrified shrinkable metal wires are respectively arranged in the traction channels. One end of each electrified shrinkable metal wire is connected to the corresponding side of the easily bendable section, and the other end of the electrified shrinkable metal wire is connected to the other end of the catheter body. The airflow detectors are embedded on the surface of the easily bendable section. Both ends of the electrified shrinkable metal wire are respectively connected to wires, and the wires extend through the inside of the catheter body and pass out through the other end of the catheter body.

[0013] The beneficial effect of adopting the above further technical solution is that by energizing the electrified shrinkable metal wires in different directions, the shrinkage of the electrified shrinkable metal wires is realized, so as to achieve the purpose of adjusting the bending direction of the easily bendable section, thereby realizing the direction change of the universal catheter, and the operation is relatively simple and convenient.

[0014] Furthermore, the above-mentioned easily bendable section is a silicone tube section, and a spiral deformation wire is provided in the side wall of the silicone tube section.

[0015] The beneficial effect of adopting the above further technical solution is that the design of the deformation wire can ensure that the easily bendable section has good deformation recovery and elastic properties.

[0016] Furthermore, there are four above-mentioned airflow detectors, and correspondingly, there are four above-mentioned electrified shrinkable metal wires. The four airflow detectors and the four electrified shrinkable metal wires are arranged around the universal catheter in one-to-one correspondence.

[0017] The beneficial effect of adopting the above further technical solution is that the design of the airflow detectors in four directions can realize the induction of airflow in multiple angular directions, thereby providing an effective reference standard for the shrinkage of the electrified shrinkable metal wires in multiple different directions.

[0018] Furthermore, the above-mentioned airflow detector is an airflow sensor.

[0019] The beneficial effect of adopting the above further technical solution is that by using the airflow sensor of the existing technology, the change of the airflow around one end of the universal catheter can be effectively detected, which is convenient for the whole sheath tube to be bent and changed direction and enter the trachea along the correct path.

[0020] There is also provided an AI automatic intubation robot system, including an intubation robot, a computer, an automatic external chest compression device, and an air flow-guided intubation sheath. The above-mentioned automatic external chest compression device is installed on a gantry or arch-shaped bracket. The above-mentioned automatic external chest compression device is connected to the above-mentioned computer. The above-mentioned intubation robot is connected to the above-mentioned computer through a PL controller. A second camera is provided on the above-mentioned intubation robot. The above-mentioned computer is respectively connected to the above-mentioned first camera, second camera, and air flow detector. The above-mentioned electrified contraction wire is respectively connected to a power supply through a controller, and the above-mentioned controller is connected to the above-mentioned computer.

[0021] The beneficial effects are as follows: The air flow-guided intubation sheath, combined with the machine vision system, the intubation robot, and the automatic external chest compression device, can realize functions such as intelligent automatic assisted ventilation establishment, visual recognition and air flow guidance, and visual recognition and air flow-guided intubation.

[0022] Furthermore, it further includes a mobile gantry. The above-mentioned computer and intubation robot are respectively installed on the above-mentioned mobile gantry.

[0023] The beneficial effect of adopting the above further technical solution is that the system is integrally installed on a mobile gantry, which is convenient for overall moving and transportation.

[0024] Furthermore, a third camera connected to the above-mentioned computer is provided on the above-mentioned mobile gantry.

[0025] The beneficial effect of adopting the above further technical solution is that the surgical process can be recorded through the third camera to help doctors review it after or during the operation.

[0026] Furthermore, the above-mentioned mobile gantry includes a support platform, a vertical column, and multiple support feet. The vertical column is vertically fixed in the middle of the lower end of the support platform. The multiple above-mentioned support feet are dispersedly connected to the lower end of the vertical column. A walking wheel is respectively installed at the lower end of each above-mentioned support foot. The above-mentioned computer is installed on the upper end of the support platform.

[0027] The beneficial effect of adopting the above further technical solution is that the structure of the mobile gantry is simply designed, which is convenient for walking and moving.

[0028] The beneficial effect of the present invention is that the structure is simply and reasonably designed. When intubating, a universal catheter is inserted into the patient's airway, and the correct entry direction is determined according to the air flow information detected by the air flow detectors in different orientations in the trachea, ensuring that the universal catheter can smoothly enter the trachea, thus facilitating the subsequent tracheal intubation to follow the entry of the universal catheter and avoiding the risk of deviating from the path and entering the esophagus. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of the air flow-guided intubation sheath of the present invention;

[0030] Figure 2 Schematic diagram of the structure of the mobile gantry in the AI automatic intubation robot system of the present invention;

[0031] Figure 3 Schematic diagram of the AI automatic intubation robot system of the present invention.

[0032] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0033] 1. Universal catheter; 2. Airflow detector; 3. Computer; 4. Mobile gantry; 11. Catheter body; 14. Electrically conductive shrinkable wire; 15. Deformation wire; 41. Support platform; 42. Column; 43. Leg; 44. Traveling wheel. Specific embodiments

[0034] The principles and features of the present invention will be described below with reference to the attached drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0035] Example 1

[0036] As Figure 1 shown, the airflow-guided intubation sheath of this embodiment includes a universal catheter 1 and a plurality of airflow detectors 2, and a plurality of the above-mentioned airflow detectors 2 are evenly embedded around the outer surface of one end of the universal catheter 1.

[0037] Taking tracheal intubation as an example, before intubation, the airflow-guided intubation sheath of this embodiment is used to insert one end of the universal catheter 1 into the trachea through the patient's oral cavity. During this process, external chest compression can be used to generate airflow in the trachea of the patient after general anesthesia. Among the plurality of airflow detectors 2 around one end of the universal catheter 1, one or two airflow detectors 2 located in the corresponding direction of the airflow detect the airflow change, and then feedback it to the computer (or control terminal) connected to the airflow detector 2. The computer can determine the bending direction of one end of the universal catheter 1 according to the orientation of the airflow detector 2 that detects the airflow, so that the universal catheter 1 bends towards the orientation where the airflow detector 2 that detects the airflow is located, that is, the direction of one end of the universal catheter 1 is adjusted according to the airflow, and the adjusted direction is the direction of entering the trachea. Especially at the intersection of the trachea and the esophagus, the orientation of the trachea can be identified according to the direction of the airflow, so as to adjust the bending of one end of the universal catheter 1, so that the universal catheter 1 can smoothly enter the trachea through the oral cavity.

[0038] In this embodiment, a first camera (designated as A in the figure) is provided at one end of the universal catheter, and the first camera is connected to a corresponding computer or other device through a line led out in the universal catheter 1, so that the pictures taken can be displayed in real time.

[0039] As a preferred embodiment, the universal catheter 1 includes a catheter body 11, one end of the catheter body 11 is set as an easy-to-bend section, and the side walls of the catheter body 11 are respectively provided with traction channels corresponding to the airflow detector 2 in multiple directions, and the traction channels are respectively provided with electrified contractile metal wires 14, one end of the electrified contractile metal wire 14 is connected to the corresponding side of the easy-to-bend section, and the other end of the electrified contractile metal wire 14 is connected to the other end of the catheter body 11, the airflow detector 2 is embedded in the surface of the easy-to-bend section, and the two ends of the electrified contractile metal wire 14 are respectively connected to wires, and the wires extend through the inside of the catheter body 11 and pass through the other end of the catheter body 11.

[0040] In the above implementation scheme, during the intubation process, when the direction needs to be adjusted, the energized contraction wire 14 corresponding to the position of the airflow detector 2 that detects the airflow is energized. Since the energized contraction wire 14 will contract after being energized, the pipeline on one side where the energized contraction wire 14 is located will contract and bend one end (the energized contraction wire 14 in other directions is not energized), thereby changing the entry direction of one end of the catheter body 11, ensuring smooth entry into the trachea, and the operation is relatively convenient and simple.

[0041] It should be particularly emphasized that the electrically contractible metal wire 14 belongs to the prior art, and generally refers to an electrically contractible nickel-titanium alloy wire, which can return to its initial state when no electricity is supplied, and contracts when electricity is supplied.

[0042] As a preferred embodiment, the above-mentioned easy-to-bend section is a silicone tube section, and a spiral deformation wire 15 is provided in the side wall of the above-mentioned silicone tube section.

[0043] In the above implementation scheme, the bendable section is made of silicone material with good toughness and easy deformation and bending, and is filled with spiral deformation wire 15 (metal wire, which can be spring wire) inside, which plays a good shaping role and prevents the silicone tube section from shrinking. At the same time, it has good elasticity, toughness and bending deformation performance.

[0044] As a preferred embodiment, four airflow detectors 2 are provided, and correspondingly four energized contraction wires 14 are provided, and the four airflow detectors 2 and the four energized contraction wires 14 are arranged one-to-one around the universal duct 1 .

[0045] In the above implementation scheme, the directions of the four airflow detectors 2 at one end of the universal catheter 1 are defined as southeast, northwest, and northeast. The directions of the four energized contractile wires 14 are also southeast, northwest, and northeast. When the airflow detector 2 on the east side detects the airflow, the energized contractile wire 14 on the east side is adjusted to make one end of the universal catheter 1 bend to the east, thereby ensuring that one end of the universal catheter 1 can smoothly enter the trachea.

[0046] In this embodiment, the above-mentioned airflow detector 2 can adopt an airflow sensor of a suitable model in the prior art, which will not be elaborated here.

[0047] Embodiment 2

[0048] As Figure 3 shown, the AI automatic intubation robot system of this embodiment includes an intubation robot, a computer 3, an automatic external chest compression device, and the airflow-guided intubation sheath tube in Embodiment 1. The above-mentioned automatic external chest compression device is installed on a portal or arched bracket. The above-mentioned automatic external chest compression device is connected to the above-mentioned computer 3. The above-mentioned intubation robot is connected to the above-mentioned computer 3 through a PLC controller. A second camera is provided on the above-mentioned intubation robot. The above-mentioned computer 3 is respectively connected to the above-mentioned first camera, second camera, and airflow detector 2. The above-mentioned electrified contraction wire 14 is respectively connected to a power supply through a controller, and the controller is connected to the above-mentioned computer 3.

[0049] In the AI automatic intubation robot system of this embodiment, the computer 3, the intubation robot, and the automatic external chest compression device constitute a machine vision system (similar to a conventional machine vision system), and the principle is basically the same, which will not be elaborated here.

[0050] During the intubation process of the AI automatic intubation robot system of this embodiment, the intubation robot (a conventional manipulator can be used) obtains the air flow-guided intubation sheath. Before entering the oral cavity, the second camera captures the oral picture of the patient and feeds it back to the computer 3 for image processing, analysis and comparison. Then, the computer 3 issues an instruction to the PLC controller, and the PLC controller controls the intubation robot to move with the air flow-guided intubation sheath, so that one end of the universal catheter 1 of the air flow-guided intubation sheath enters through the patient's oral cavity. After entering, the first camera captures the picture inside the patient's oral cavity in real time and feeds it back to the computer 3. The computer 3 controls the intubation robot to continue to move and extend with the air flow-guided intubation sheath according to the obtained picture information. When approaching the intersection of the trachea and the esophagus, the computer 3 controls the automatic external chest compression device pre-mounted above the patient's chest to perform intermittent external chest compression on the patient to ensure that air flow is generated in the trachea of the (anesthetized) patient. If one end of the universal catheter 1 deviates from the trachea, the air flow detector 2 near the trachea will detect the air flow change and feed it back to the computer 3. Then, the computer 3 issues a control instruction to the controller to energize the "electrically contracted wire 14" in the same orientation as the detected air flow detector 2 of the air flow, and one end of the universal catheter 1 will bend towards the trachea. In cooperation with the continuous movement and extension of the intubation robot with the universal catheter 1, one end of the universal catheter 1 can be inserted into the trachea until it stops after being inserted to a certain depth. Next, the intubation robot releases the air flow-guided intubation sheath. After that, a tracheal intubation path is established with the air flow-guided intubation sheath as the guide, the tracheal intubation is sleeved outside the air flow-guided intubation sheath, and it is transported into the trachea along the air flow-guided intubation sheath. In this way, the risk of tracheal intubation being inserted into the patient's esophagus can be avoided, and intelligent machine intubation operation can be realized.

[0051] Of course, the computer 3 of this embodiment is equipped with a mature AI software on the market, which can perform simulation training operations for intubation before surgery. In addition, in this embodiment, one more intubation robot can be configured to perform intelligent operations for tracheal intubation.

[0052] As a preferred implementation manner, it further includes an automatic external chest compression device. The above automatic external chest compression device is installed on a gantry or arch-shaped bracket, and the above automatic external chest compression device is connected to the above computer 3.

[0053] In the above implementation scheme, the whole device is configured with an automatic external chest compression device. During tracheal intubation, by setting the bracket of the automatic external chest compression device above the patient's chest, and then performing intermittent compression on the patient through the automatic external chest compression device, air flow is generated passively in the patient's trachea, which is detected by the air flow detector 2 and can be used as the direction guidance for the universal catheter 1 to enter the trachea.

[0054] In this embodiment, the automatic external chest compression device is a product of the prior art. When in use, just select the appropriate model, and specific details will not be elaborated here.

[0055] As a preferred embodiment, it further includes a mobile gantry 4, and the above-mentioned computer 3 and the intubation robot are respectively installed on the above-mentioned mobile gantry 4.

[0056] In the above-mentioned implementation scheme, the mobile gantry 4 can move to the target position along with the operation, which is very convenient to operate, and can be conveniently moved back to its original position after the operation is completed.

[0057] As a preferred embodiment, a third camera connected to the above-mentioned computer 3 is provided on the above-mentioned mobile gantry 4.

[0058] In the above-mentioned implementation scheme, the third camera is arranged at a suitable position on the mobile gantry 4, and can record the whole process of intubation, and can be played back on the display screen configured by the computer 3, which is convenient for medical staff to play back and watch during or after the operation.

[0059] As a preferred embodiment, as Figure 2 shown, the above-mentioned mobile gantry 4 includes a support platform 41, a column 42 and a plurality of feet 43. The column 42 is vertically fixed in the middle of the lower end of the support platform 41, and the plurality of feet 43 are dispersedly connected to the lower end of the column 42. A traveling wheel 44 is respectively installed at the lower end of each foot 43, and the computer 3 is installed on the upper end of the support platform 41.

[0060] In the above-mentioned implementation scheme, the structure of the mobile gantry 4 is simply designed, and stable ground support is provided by a plurality of feet 43. It is relatively stable to install the main unit on the upper end of the support platform 41, and the design of the traveling wheels 44 facilitates the whole device to walk along the ground. Among them, the traveling wheels 44 adopt Fulmar wheels, which can switch between the walking and fixed states. At the same time, the column 42 can adopt a telescopic column, which is convenient for height adjustment.

[0061] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0063] In the present invention, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0065] In the description of this specification, the description with reference to terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0066] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An air flow guiding intubation sheath tube, characterized in that: It includes a universal catheter (1) and a plurality of air flow detectors (2), and the plurality of air flow detectors (2) are uniformly embedded around the outer surface of one end of the universal catheter (1).

2. The air flow guiding intubation sheath tube according to claim 1, characterized in that: A first camera is provided at one end of the universal catheter (1).

3. The air flow guiding intubation sheath tube according to claim 2, characterized in that: The universal catheter (1) includes a catheter body (11). One end of the catheter body (11) is set as an easily bendable section. Traction channels corresponding to the air flow detectors (2) one by one are provided on the side walls of the catheter body (11) in multiple directions. Electrified contraction metal wires (14) are respectively provided in the traction channels. One end of the electrified contraction metal wire (14) is connected to the corresponding side of the easily bendable section, and the other end of the electrified contraction metal wire (14) is connected to the other end of the catheter body (11). The air flow detector (2) is embedded on the surface of the easily bendable section. Both ends of the electrified contraction metal wire (14) are respectively connected to wires, and the wires extend through the inside of the catheter body (11) and pass out through the other end of the catheter body (11).

4. The air flow guiding intubation sheath tube according to claim 3, characterized in that: The easily bendable section is a silicone tube section, and a spiral deformation wire (15) is provided in the side wall of the silicone tube section.

5. The air flow guiding intubation sheath tube according to claim 4, characterized in that: Four air flow detectors (2) are provided, and correspondingly four electrified contraction metal wires (14) are provided. The four air flow detectors (2) and the four electrified contraction metal wires (14) are arranged around the universal catheter (1) one by one.

6. The air flow guiding intubation sheath tube according to claim 5, characterized in that: The air flow detector (2) is an air flow sensor.

7. An AI automatic intubation robot system, characterized in that: It includes an intubation robot, a computer (3), an automatic external chest compression device, and the air flow-guided intubation sheath as described in claim 6. The automatic external chest compression device is installed on a portal or arched bracket. The automatic external chest compression device is connected to the computer (3). The intubation robot is connected to the computer (3) through a PL controller. A second camera is provided on the intubation robot. The computer (3) is respectively connected to the first camera, the second camera, and the air flow detector (2). The electrified contraction metal wires (14) are respectively connected to a power supply through a controller, and the controller is connected to the computer (3).

8. The air flow guiding intubation sheath tube according to claim 7, wherein: It further includes a mobile gantry (4), and the computer (3) and the intubation robot are respectively installed on the mobile gantry (4).

9. The air flow guiding intubation sheath tube according to claim 8, wherein: A third camera connected to the computer (3) is provided on the mobile gantry (4).

10. The air flow guiding intubation sheath tube according to claim 8, wherein: The mobile gantry (4) includes a support platform (41), a column (42), and a plurality of feet (43). The column (42) is vertically fixed in the middle of the lower end of the support platform (41). The plurality of feet (43) are dispersedly connected to the lower end of the column (42). A walking wheel (44) is respectively installed at the lower end of each foot (43). The computer (3) is installed on the upper end of the support platform (41).

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