Upper respiratory tract auxiliary breathing device and control method thereof

Abstract

The invention discloses an upper respiratory tract auxiliary breathing device and a control method thereof.The upper respiratory tract auxiliary breathing device comprises a lower jaw push-pull mechanism, a tongue moving mechanism, a monitoring element and a controller, and the lower jaw push-pull mechanism, the tongue moving mechanism and the monitoring element are all electrically connected with the controller; the mandible push-pull mechanism is used for fixing the mandible and driving the mandible to move, the tongue body moving mechanism is used for fixing the tongue body and driving the tongue body to move, and the monitoring element is used for monitoring the deviation state or breathing state of the tongue body. The controller controls the lower jaw push-pull mechanism to drive the lower jaw to move and / or controls the tongue body moving mechanism to drive the tongue body to move according to the deviation state or the breathing state of the tongue body. The lower jaw push-pull mechanism can drive the lower jaw to move, the tongue body moving mechanism can drive the tongue body to move, and the limp and numb feeling caused by the fact that the tongue body does not move for a long time can be avoided under the condition that the snore stopping effect is not affected. In addition, the movement conditions of the lower jaw and the tongue body can be adaptively controlled according to the deviation state of the tongue body, and the snore stopping effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an upper respiratory tract auxiliary breathing device and a control method thereof. Background Art

[0002] As we all know, snoring is a common symptom. Figure 1 As shown, snoring is primarily caused by the relaxation of cheek muscles during sleep, which causes the lower jaw to naturally drop and the mouth to open. This in turn relaxes the soft palate, causes the tongue to fall back, and narrows the airway. The impact of air on the muscles causes vibrations that trigger snoring. This not only affects the individual's rest but also disrupts the sleep of others. Furthermore, the dry, cold air directly irritates the oral and pharyngeal mucosa, weakening the immune system. This not only causes dry mouth and tongue, but can also lead to upper respiratory tract infections and even suffocation.

[0003] Especially after surgery, when patients enter the recovery room to recover from anesthesia, they may fall asleep due to anesthesia. This can easily lead to upper airway obstruction due to tongue drooping, which narrows the upper airway and can cause snoring and even suffocation. Snoring and tongue drooping leading to airway obstruction are very common, affecting most people (especially the obese and elderly), and can lead to hypertension, heart disease, premature aging, and even diabetes. For minimally invasive surgeries performed with surgical robots, this condition during the perioperative period is a significant factor in slowing recovery.

[0004] There are five main solutions to the above-mentioned upper airway obstruction problem: (1) surgical methods, such as otolaryngology surgery and oral and maxillofacial surgery, to correct the anatomical narrowing of the nose and pharynx, expand the area of the oropharyngeal cavity, relieve upper airway obstruction or reduce airway resistance; (2) positive pressure ventilation, continuous positive airway pressure ventilation through the nose to assist breathing; (3) oral negative pressure, by wearing a device to maintain oral negative pressure suction, so that the upper airway is open and the upper airway obstruction problem is improved; (4) braces assembly, through the assembly to support the drooping upper palate and press against the tongue to prevent the root of the tongue from falling and causing upper airway obstruction. The advantage of this method is that it is cheap and easy to use, but it is not effective for obese patients; (5) inserted oropharyngeal snorkel, by inserting the oropharyngeal snorkel into the mouth and nose to replace tracheal breathing; these five invasive assisted breathing methods are easy to cause damage to the patient, and the patient is also likely to feel uncomfortable.

[0005] In the prior art, there are also some non-insertable snoring devices. One is a mandibular snoring device that adheres to the user's mandibular position and widens the upper respiratory tract by pushing the mandibular position, thereby achieving the effect of stopping snoring; the other is a tongue snoring device that is used to fix the user's tongue and can effectively prevent the tongue from falling back to keep the respiratory airway unobstructed, thereby achieving the effect of stopping snoring. Since the sleep state of patients after anesthesia is relatively long, these two types of snoring devices are likely to cause soreness and numbness discomfort in the affected parts of the patients after long-term use, and at the same time, it will also affect the snoring stopping effect. The design of anti-snoring devices needs to integrate three major fields: stomatology, bionic engineering, and intelligent hardware, and it is necessary to focus on breaking through personalized adaptation and dynamic adjustment technologies. Summary of the Invention

[0006] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the present invention is to provide an upper respiratory tract assisted breathing device and its control method to solve the problems that the snoring device in the prior art is prone to soreness and numbness after long-term use and has a poor snoring stopping effect.

[0007] The purpose of the present invention is achieved through the following technical solutions: The present invention provides an upper respiratory tract assisted breathing device, including a mandibular push-pull mechanism, a tongue body moving mechanism, a monitoring element, and a controller. The mandibular push-pull mechanism, the tongue body moving mechanism, and the monitoring element are all electrically connected to the controller. The mandibular push-pull mechanism is used to fix the mandible and drive the mandible to move. The tongue body moving mechanism is used to fix the tongue body and drive the tongue body to move. The monitoring element is used to monitor the deviation state or breathing state of the tongue body. The controller controls the mandibular push-pull mechanism to drive the mandible to move and / or controls the tongue body moving mechanism to drive the tongue body to move according to the deviation state or breathing state of the tongue body.

[0008] Further, the mandibular push-pull mechanism includes a mandibular fixator and a mandibular driver. The mandibular fixator is used to fix the mandible. The mandibular driver is electrically connected to the controller and is used to drive the mandibular fixator to drive the mandible to move; The tongue body moving mechanism includes a tongue body fixator and a tongue body driver. The tongue body fixator is used to fix the tongue body. The tongue body driver is electrically connected to the controller and is used to drive the tongue body fixator to drive the tongue body to move.

[0009] Further, the monitoring element includes: a tongue body deviation sensor; the tongue body deviation sensor includes: a position sensor, which is used to monitor the deviation state of the tongue body, and / or a gravity sensor, which is used to monitor the sleeping posture of the patient. The controller judges the deviation state of the tongue body according to the sleeping posture of the patient.

[0010] Further, the monitoring element includes a respiration monitor, which is electrically connected to the controller and is used to monitor the respiration state of the patient.

[0011] Further, the upper airway assisted respiration device further includes a head fixing member. Both the mandible pushing and pulling mechanism and the tongue body moving mechanism are connected to the head fixing member, and the head fixing member is used to fix the upper airway assisted respiration device to the head of the patient.

[0012] The present application also provides a control method for an upper airway assisted respiration device, which is used for the upper airway assisted respiration device as described above. The control method includes: Monitoring the deviation state or respiration state of the tongue body through a monitoring element; The controller controls the mandible pushing and pulling mechanism to drive the mandible to move and / or controls the tongue body moving mechanism to drive the tongue body to move according to the deviation state or respiration state of the tongue body.

[0013] Further, the monitoring element includes a tongue body deviation sensor, and the tongue body deviation sensor includes a position sensor. The control method includes: Monitoring the deviation state of the tongue body through the position sensor; When the tongue body deviates towards the left side of the patient, the controller controls the tongue body moving mechanism to drive the tongue body to move left and / or controls the mandible pushing and pulling mechanism to drive the mandible to move forward; when the tongue body deviates towards the right side of the patient, the controller controls the tongue body moving mechanism to drive the tongue body to move right and / or controls the mandible pushing and pulling mechanism to drive the mandible to move forward; when the tongue body droops towards the rear side, the controller controls the tongue body moving mechanism to drive the tongue body to move forward and / or controls the mandible pushing and pulling mechanism to drive the mandible to move forward.

[0014] Further, the monitoring element includes a tongue body deviation sensor, and the tongue body deviation sensor includes a gravity sensor. The control method includes: Monitoring the sleeping position of the patient through the gravity sensor; When the patient lies on the left side to sleep, it is judged that the tongue body deviates towards the left side of the patient, and the controller controls the tongue body moving mechanism to drive the tongue body to move left and / or controls the mandible pushing and pulling mechanism to drive the mandible to move forward; when the patient lies on the right side to sleep, it is judged that the tongue body deviates towards the right side of the patient, and the controller controls the tongue body moving mechanism to drive the tongue body to move right and / or controls the mandible pushing and pulling mechanism to drive the mandible to move forward; when the patient lies flat to sleep, it is judged that the tongue body droops towards the rear side, and the controller controls the tongue body moving mechanism to drive the tongue body to move forward and / or controls the mandible pushing and pulling mechanism to drive the mandible to move forward.

[0015] Further, the monitoring element includes a respiration monitor electrically connected to the controller. The control method includes: The respiratory status of the patient is monitored by the respiratory monitor.

[0016] Furthermore, the control method includes: At preset time intervals, the controller changes from controlling the tongue moving mechanism to drive the tongue to move forward to controlling the mandibular pushing and pulling mechanism to drive the mandible to move forward, or the controller changes from controlling the mandibular pushing and pulling mechanism to drive the mandible to move forward to controlling the tongue moving mechanism to drive the tongue to move forward.

[0017] Furthermore, the upper respiratory tract assisted breathing device includes a force feedback protection system, and the control method includes: The force feedback protection system monitors the force output values of the mandibular pushing and pulling mechanism and the tongue moving mechanism, and controls the force output value of the mandibular pushing and pulling mechanism not to exceed its output force threshold, and the force output value of the nerve stimulator not to exceed its output force threshold. The beneficial effects of the present invention are as follows: By providing a mandibular pushing and pulling mechanism, a tongue moving mechanism, a tongue deviation sensor and a controller, the controller can control the mandibular pushing and pulling mechanism to drive the mandible to move and control the tongue moving mechanism to drive the tongue to move, so as to avoid the numbness caused by the long-term immobility of the tongue without affecting the snoring cessation effect; moreover, the tongue deviation sensor is used to monitor the deviation state of the tongue, and the controller can control the mandibular pushing and pulling mechanism to drive the mandible to move and control the tongue moving mechanism to drive the tongue to move according to the deviation state of the tongue, so as to adaptively control the movement of the mandible and the tongue according to the deviation state of the tongue and improve the snoring cessation effect. Description of the Drawings

[0018] Figure 1 is a schematic diagram of the air flow in the respiratory tract during normal breathing and snoring of the human body.

[0019] Figure 2 is one of the schematic structural diagrams of the upper respiratory tract assisted breathing device of the present invention when worn on the head.

[0020] Figure 3 is another schematic structural diagram of the upper respiratory tract assisted breathing device of the present invention when worn on the head.

[0021] Figure 4 is yet another schematic structural diagram of the upper respiratory tract assisted breathing device of the present invention when worn on the head.

[0022] Figure 5 is still another schematic structural diagram of the upper respiratory tract assisted breathing device of the present invention when worn on the head.

[0023] Figure 6 is a structural block diagram of the upper respiratory tract assisted breathing device of the present invention.

[0024] Figure 7 It is a schematic structural diagram of the tongue retainer in the present invention.

[0025] In the figure: mandibular push-pull mechanism 10, mandibular retainer 11, mandibular driver 12, tongue movement mechanism 20, tongue retainer 21, tongue sleeve 211, first negative pressure chamber 2111, first air hole 2112, air passage 2113, second air hole 211, tongue-shaped fixing part 212, tongue-shaped channel 2121, second negative pressure chamber 2122, first diaphragm 213, first folding part 2131, second diaphragm 214, second folding part 2141, tongue driver 22, tongue offset sensor 30, position sensor 31, gravity sensor 32, controller 40, respiration monitor 50, head fixing member 60. Detailed implementation manners

[0026] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features, and effects of the upper respiratory tract assisted breathing device and its control method proposed according to the present invention as follows: Figure 2 It is one of the schematic structural diagrams of the upper respiratory tract assisted breathing device of the present invention when worn on the head. Figure 3 It is another schematic structural diagram of the upper respiratory tract assisted breathing device of the present invention when worn on the head. Figure 4 It is the third schematic structural diagram of the upper respiratory tract assisted breathing device of the present invention when worn on the head. Figure 5 It is the fourth schematic structural diagram of the upper respiratory tract assisted breathing device of the present invention when worn on the head. Figure 6 It is the structural block diagram of the upper respiratory tract assisted breathing device of the present invention. Figure 7 It is a schematic structural diagram of the tongue retainer in the present invention.

[0027] Such as Figures 2 to 7As shown in the figure, an upper respiratory tract assisted breathing device provided by the present invention includes a mandibular push-pull mechanism 10, a tongue body moving mechanism 20, a monitoring element, and a controller 40 (processor). The mandibular push-pull mechanism 10, the tongue body moving mechanism 20, and the monitoring element are all electrically connected to the controller 40. The mandibular push-pull mechanism 10 is used to fix the mandible and drive the mandible to move. The tongue body moving mechanism 20 is used to fix the tongue body (tongue) and drive the tongue body to move. The monitoring element is used to monitor the deviation state or breathing state of the tongue body. The controller 40 controls the mandibular push-pull mechanism 10 to drive the mandible to move and / or controls the tongue body moving mechanism 20 to drive the tongue body to move according to the deviation state or breathing state of the tongue body. Among them, the mandibular push-pull mechanism 10 can drive the mandible to move in the front-back direction, and the tongue body moving mechanism 20 can drive the tongue body to move in the front / back / left / right direction. According to needs, the mandibular push-pull mechanism 10 and the tongue body moving mechanism 20 can be adjusted independently or simultaneously. Only controlling the adjustment of the tongue body is sufficient to prevent mild snoring, and there is no need to move the mandible. If the snoring is severe or the person is obese, only moving the tongue body or the mandible alone has a poor effect, and both the tongue body and the mandible can be controlled to move forward. In this article, the up / down / front / back / left / right directions are all referenced to the human body. The direction towards the head of the human body is the upper direction, the direction towards the feet of the human body is the lower direction, the direction towards the face of the human body is the front direction, the direction towards the back of the human body is the back direction, the direction towards the right hand of the human body is the right direction, and the direction towards the left hand of the human body is the left direction.

[0028] By setting the mandibular push-pull mechanism 10, the tongue body moving mechanism 20, the monitoring element, and the controller 40, the controller 40 can control the mandibular push-pull mechanism 10 to drive the mandible to move and control the tongue body moving mechanism 20 to drive the tongue body to move, so as to avoid the tingling sensation that is likely to occur due to the long-term immobility of the tongue body without affecting the snoring cessation effect. Moreover, the monitoring element is used to monitor the deviation state or breathing state of the tongue body. The controller 40 can control the mandibular push-pull mechanism 10 to drive the mandible to move and / or control the tongue body moving mechanism 20 to drive the tongue body to move according to the deviation state or breathing state of the tongue body, so as to adaptively control the movement of the mandible and the tongue body according to the deviation state or breathing state of the tongue body, and improve the snoring cessation effect.

[0029] In this embodiment, the mandibular push-pull mechanism 10 includes a mandibular fixator 11 and a mandibular driver 12. The mandibular fixator 11 is used to fix the mandible, and the mandibular driver 12 is electrically connected to the controller 40 and is used to drive the mandibular fixator 11 to drive the mandible to move. The mandibular fixator 11 can be fixed to the skin of the mandible by adhesion and is set at a preset first mandibular position; the mandibular driver 12 can be a micro-motor, and the front-back fine adjustment movement of the mandible is realized through the micro-motor. By adjusting the protrusion position of the mandible and moving the mandible forward (such as 1 cm), the whole tongue body is moved forward, the upper respiratory tract space is enlarged, and the obstruction caused by the posterior displacement of the root of the tongue during sleep is reduced, so as to achieve the effect of stopping snoring. Of course, in other embodiments, the mandibular driver 12 can also adopt a telescopic cylinder or a pneumatic telescopic tube, and the movement of the mandibular fixator 11 is controlled by inflating and deflating; the air compressor inflates the pneumatic control chamber through the air inlet, changes the gas volume of the mandibular fixator 11, so that the mandibular fixator 11 bulges to push the mandible forward. Among them, for fat people, the mandibular fixator 11 can be set behind the neck to push the mandible forward; for thin people, the mandibular fixator 11 can be set under the nose of the face and pull the mandible forward.

[0030] Furthermore, the tongue body movement mechanism 20 includes a tongue body fixator 21 and a tongue body driver 22. The tongue body fixator 21 is used to fix the tongue body, and the tongue body driver 22 is electrically connected to the controller 40 and is used to drive the tongue body fixator 21 to drive the tongue body to move. Among them, the tongue body fixator 21 can be fixed to the tongue body by negative pressure and is set at a preset first tongue body position. A part of the tongue body (2-3 cm, such as a snoring tongue sleeve) can be pulled out by negative pressure suction. It is necessary to use biocompatible materials (such as medical silicone) and anti-allergy treatment to avoid the irritation of the oral mucosa caused by long-term wearing; of course, the tongue body fixator 21 can also combine the hyoid bone traction principle of the anti-snoring device and design a flexible clamping structure to prevent the posterior displacement of the tongue body. The tongue body driver 22 is an air aspirator, so as to provide a certain negative pressure for the tongue body fixator 21.

[0031] Figure 7 is a schematic structural diagram of the tongue body fixator in the present invention. As Figure 7As shown, the tongue holder 21 may be a negative pressure tongue holder, comprising a tongue sleeve 211, a first negative pressure chamber 2111 disposed within the tongue sleeve 211, a tongue-shaped fixing portion 212 in a flat, cylindrical configuration connected to one end of the tongue sleeve 211, and a tongue-shaped channel 2121 disposed within the tongue-shaped fixing portion 212 and connected to the first negative pressure chamber 2111. The inner diameter of the tongue-shaped channel 2121 gradually decreases along its length toward one end of the first negative pressure chamber 2111. The tongue sleeve 211 is provided with a first air hole 2112 communicating with the first negative pressure chamber 2111. A first diaphragm 213 is disposed between the first negative pressure chamber 2111 and the tongue-shaped channel 2121. The edge of the first diaphragm 213 is connected to the inner wall of the tongue sleeve 211 via a first fold 2131, thereby allowing the diaphragm 213 to move on the inner wall of the tongue sleeve 211. It can be imagined that when in use, the tongue is extended into the tongue-shaped channel 2121 until the tongue-shaped channel 2121 is closed, and the first diaphragm 213 forms two separate spaces between the first negative pressure chamber 2111 and the tongue-shaped channel 2121. The tongue holder 21 is made of a soft material. In this embodiment, the tongue holder 10 is made of medical rubber and has elastic deformation properties. An avoidance gap can also be provided at the end of the tongue-shaped fixing portion 212 away from the tongue sleeve 211. The avoidance gap has a giving way effect, which prevents the tongue holder 21 from cutting the frenulum of the tongue and causing discomfort, and can make the tongue-shaped fixing portion 212 adapt to tongues of different sizes by deformation, with better wrapping and versatility. Of course, in other embodiments, the tongue holder 21 can also adopt other mechanical tongue holders, as long as it can fix the tongue and move with the tongue.

[0032] Optionally, the tongue-shaped fixing portion 212 is provided with a second diaphragm 214 on the side of the tongue-shaped channel 2121. A second negative pressure chamber 2122 is formed between the second diaphragm 214 and the inner wall of the tongue-shaped fixing portion 212. The edge of the second diaphragm 214 is connected to the inner wall of the tongue holder 21 via a second fold 2141. An airway 2113 is provided on the side of the tongue cover 211. The second negative pressure chamber 2122 communicates with one end of the airway 2113. The tongue cover 211 is provided with a second air hole 2114 that communicates with the airway 2113 and is located on the side of the first air hole 2112. The second diaphragm 214, the second negative pressure chamber 2122, the airway 2113, and the second air hole 2114 are each two in number and are located on the left and right sides of the tongue holder 21. By applying negative pressure to the first negative pressure chamber 2111 , the tongue can be controlled to move forward and backward; by applying negative pressure to the second negative pressure chamber 2122 , the tongue can be controlled to deviate left and right.

[0033] In this embodiment, the upper respiratory tract assisted breathing device includes a head fixing member 60. Both the mandible pushing and pulling mechanism 10 and the tongue body moving mechanism 20 are connected to the head fixing member 60, and the head fixing member 60 is used to fix the upper respiratory tract assisted breathing device to the patient's head. Among them, the head fixing member 60 is made of a flexible material, and a certain rigid sheet can be added inside, so as to provide a certain support for the upper respiratory tract assisted breathing device and can be well fixed to the patient's head. The head fixing member 60 may not be a standard product and can be customized by 3D printing according to the patient's facial fatness and thinness; specifically, the target patient's head is scanned, and according to the facial features, it is customized by 3D scanning, combined with digital modeling technology, to generate a personalized exoskeleton skeleton, which is easy to control the tongue body and mandible, and has better comfort and anti-snoring effect. As Figure 2 shown, the head fixing member 60 has a back of the head fixing portion, an upper lip fixing portion, and a chin fixing portion. The mandible fixator 11 is connected between the back of the head fixing portion and the chin fixing portion, so as to have a better fixing effect. Of course, the head fixing member 60 may not be provided with a back of the head fixing portion and may be provided with ear fixing portions hanging on both ears; as Figure 3 shown, the head fixing member 60 has a back of the head fixing portion and ear fixing portions. One end of the mandible fixator 11 is connected to the ear fixing portion, and a lightweight wrapping bracket (such as a design imitating the auricle curve) is adopted, so that the wearing is more stable, and it is not easy to loosen and fall off when turning the head, balancing stability and comfort; as Figure 4 shown, the head fixing member 60 has a back of the head fixing portion, ear fixing portions, and an upper lip fixing portion. One end of the mandible fixator 11 is connected to the upper lip fixing portion, so as to more easily pull the mandible forward. As Figure 5 shown, the head fixing member 60 has ear fixing portions and an upper lip fixing portion. The ear fixing portions are hung on both ears, and the upper lip fixing portion is closely attached to the philtrum between the nose and the upper lip. The device is fixed to the face at three points; the mandible pushing and pulling mechanism 10 forms a 30-degree angle with the head fixing member 60, and the lower end of the mandible pushing and pulling mechanism 10 is clamped to the mandible; the tongue body driver 22 of the tongue body moving mechanism 20 is arranged on the head fixing member 60, that is, integrated on the head fixing member 60, such as hidden inside the head fixing member 60 or arranged on the outer side surface, and the tongue body fixator 21 is suspended from the upper lip fixing portion of the head fixing member 60.

[0034] In this embodiment, the monitoring element includes a tongue body displacement sensor 30. The tongue body displacement sensor 30 includes a position sensor 31 and a gravity sensor 32. The position sensor 31 is used to monitor the displacement state of the tongue body; the gravity sensor 32 is used to monitor the sleeping posture of the patient, and the controller 40 determines the displacement state of the tongue body according to the sleeping posture of the patient. Among them, the position sensor 31 can be arranged in the tongue body fixator 21, and the gravity sensor 32 and the controller 40 can be integrated in the head fixator 60. Of course, the gravity sensor 32 can also be integrated in the mandibular push-pull mechanism 10. By jointly using the position sensor 31 and the gravity sensor 32 to monitor the displacement state of the tongue body, the monitoring accuracy can be increased. Of course, in other embodiments, only the position sensor 31 or the gravity sensor 32 can be set, or other sensors that can monitor the deflection of the tongue body or the head can be used.

[0035] Furthermore, the monitoring element further includes a respiration monitor 50. The respiration monitor 50 is electrically connected to the controller 40 and is used to monitor the respiration state of the patient. The controller 40 controls the mandibular push-pull mechanism 10 to drive the mandible to move and / or controls the tongue body moving mechanism 20 to drive the tongue body to move according to the respiration state of the patient. Among them, the respiration monitor 50 can be arranged on the chest skin of the patient to monitor the condition of the lungs to judge the respiration state of the patient; of course, the respiration monitor 50 can be an airflow sensor arranged in the nasal cavity to judge the respiration state of the patient by monitoring the airflow condition in the nostrils.

[0036] Furthermore, the upper airway assisted respiration device includes a force feedback protection system. The force feedback protection system monitors the force output values of the mandibular push-pull mechanism 10 (mandibular driver 12) and the tongue body moving mechanism 20 (tongue body driver 22); and controls the force output value of the mandibular push-pull mechanism 10 not to exceed its output force threshold and the force output value of the nerve stimulator 70 not to exceed its output force threshold. The present application also provides a control method for an upper airway assisted respiration device for the upper airway assisted respiration device as described above. The control method includes: Monitoring the displacement state or respiration state of the tongue body through the monitoring element; The controller 40 controls the mandibular push-pull mechanism 10 to drive the mandible to move and / or controls the tongue body moving mechanism 20 to drive the tongue body to move according to the displacement state or respiration state of the tongue body. Among them, based on AI (artificial intelligence system) and the tongue body displacement sensor 30, the degree of tongue body deflection and mandible forward movement can be controlled by calculating the direction and degree of tongue body deflection.

[0037] Furthermore, the monitoring element includes a tongue body displacement sensor 30, and the tongue body displacement sensor 30 includes a position sensor 31. The control method includes: Monitoring the displacement state of the tongue body through the position sensor 31; When the tongue body deviates towards the left side of the patient, the controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move leftward and / or controls the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to keep the right side of the airway unobstructed; when the tongue body deviates towards the right side of the patient, the controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move rightward and / or controls the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to keep the left side of the airway unobstructed; when the tongue body droops towards the back side, the controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move forward and / or controls the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to keep the airway behind the tongue unobstructed.

[0038] Further, the tongue body deviation sensor 30 includes a gravity sensor 32, and the control method includes: Monitoring the sleeping posture of the patient through the gravity sensor 32; When lying flat, the tongue body will droop backward due to gravity. When the patient lies flat and sleeps, it can be judged that the tongue body droops towards the back side. The controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move forward and / or controls the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to keep the airway behind the tongue unobstructed; When a person turns over while sleeping, the tongue body will block one side of the airway. When the gravity sensor 32 or other sensors with the same function monitor that the tongue body tends to one side, at the same time, the controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move to the same side, so as to widen the airway on the other side, prevent snoring and asphyxia, and / or the controller 40 controls the mandibular push-pull mechanism 10 to drive the mandible to move forward. For example, when the patient lies on the left side while sleeping, it is judged that the tongue body deviates towards the left side of the patient. The controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move leftward and / or controls the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to keep the right side of the airway unobstructed; when the patient lies on the right side while sleeping, it is judged that the tongue body deviates towards the right side of the patient. The controller 40 controls the tongue body moving mechanism 20 to drive the tongue body to move rightward and / or controls the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to keep the left side of the airway unobstructed. Among them, according to the degree of tongue body deflection monitored by the tongue body deviation sensor 30, the tongue body can be moved to the optimal deflection position (which can ensure the airway patency and will not cause discomfort due to excessive deflection during long-term wearing).

[0039] In this embodiment, the monitoring element includes a respiration monitor 50 electrically connected to the controller 40, and the control method includes: Monitoring the respiration state of the patient through the respiration monitor 50; The controller 40 controls the mandibular push-pull mechanism 10 to drive the mandible to move and / or controls the tongue movement mechanism 20 to drive the tongue to move according to the patient's breathing state. It can be understood that it is also necessary to ensure the safety of human-machine interaction: dynamic adjustment technology can be used to control the upper airway assisted breathing device, that is, according to the real-time monitored breathing state, such as data such as breathing frequency and snoring intensity, automatically adjust the mandibular support force and the stretching force of the tongue; or set a force feedback protection mechanism to control the output force thresholds of the mandibular driver 12 and the tongue driver 22, that is, to avoid damage to the tongue or mandibular joint caused by excessive mechanical force. Specifically, the upper airway assisted breathing device includes a force feedback protection system, and the force feedback protection system monitors the force output values of the mandibular push-pull mechanism 10 (mandibular driver 12) and the tongue movement mechanism 20 (tongue driver 22); and controls the force output value of the mandibular push-pull mechanism 10 not to exceed its output force threshold, and the force output value of the nerve stimulator 70 not to exceed its output force threshold. The above-mentioned controller 40, dynamic adjustment technology and force feedback protection system can all be connected to the total control system of the surgical robot, and the surgical robot control system collaborates to monitor and control the upper airway assisted breathing device.

[0040] Further, the control method includes: At intervals of a preset time (for example, 30 minutes, and the specific time can be set by oneself), the controller 40 changes from controlling the tongue movement mechanism 20 to drive the tongue to move forward to controlling the mandibular push-pull mechanism 10 to drive the mandible to move forward, or the controller 40 changes from controlling the mandibular push-pull mechanism 10 to drive the mandible to move forward to controlling the tongue movement mechanism 20 to drive the tongue to move forward, that is, alternately controls the degree of pulling out the tongue by the tongue movement mechanism 20 and the degree of pushing and pulling the mandible by the mandibular push-pull mechanism 10 to improve the user's comfort and avoid muscle soreness caused by long-term pushing and pulling. The controller 40 controls the mandibular driver 12 and the tongue driver 22 at intervals through the controller to control the forward movement of the mandible or the overall forward movement of the tongue, that is, by controlling the mandibular driver 12 to drive the tongue to move forward or controlling the mandibular push-pull mechanism 10 to drive the mandible to move forward, so as to ensure smooth breathing in one of these ways, avoid the tongue and mandible being fixed in the same position for a long time, and prevent the user from having an uncomfortable feeling of soreness and numbness.

[0041] In this article, the orientation words such as up, down, left, right, front, and back are defined based on the positions of the structures in the drawings and the positions of the structures relative to each other, only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the orientation words should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second" used in this article are only for distinction in name and do not limit the quantity and order.

[0042] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications using the above-disclosed technical content within the scope of the technical solution of the present invention, which are equivalent embodiments of equivalent changes. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An upper respiratory tract assisted breathing device, characterized in that, It includes a mandibular push-pull mechanism (10), a tongue movement mechanism (20), a monitoring element, and a controller (40). The mandibular push-pull mechanism (10), the tongue movement mechanism (20), and the monitoring element are all electrically connected to the controller (40). The mandibular push-pull mechanism (10) is used to fix the mandible and drive the mandible to move. The tongue movement mechanism (20) is used to fix the tongue and drive the tongue to move. The monitoring element is used to monitor the deviation state or breathing state of the tongue. The controller (40) controls the tongue movement mechanism (20) to drive the tongue to move and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move according to the deviation state or breathing state of the tongue.

2. The upper respiratory tract assisted breathing device according to claim 1, characterized in that The mandibular push-pull mechanism (10) includes a mandibular fixator (11) and a mandibular driver (12). The mandibular fixator (11) is used to fix the mandible. The mandibular driver (12) is electrically connected to the controller (40) and is used to drive the mandibular fixator (11) to drive the mandible to move. The tongue movement mechanism (20) includes a tongue fixator (21) and a tongue driver (22). The tongue fixator (21) is used to fix the tongue. The tongue driver (22) is electrically connected to the controller (40) and is used to drive the tongue fixator (21) to drive the tongue to move.

3. The upper respiratory tract assisted breathing device according to claim 1, characterized in that, The monitoring element includes: a tongue deviation sensor (30); the tongue deviation sensor (30) includes: a position sensor (31), the position sensor (31) is used to monitor the deviation state of the tongue, and / or a gravity sensor (32), the gravity sensor (32) is used to monitor the sleeping posture of the patient, and the controller (40) judges the deviation state of the tongue according to the sleeping posture of the patient.

4. The upper respiratory tract assisted breathing device according to claim 1 or 3, characterized in that, The monitoring element includes a respiration monitor (50). The respiration monitor (50) is electrically connected to the controller (40) and is used to monitor the breathing state of the patient.

5. The upper respiratory tract assisted breathing device according to claim 1, characterized in that, The upper respiratory tract assisted respiration device further includes a head fixator (60). The mandibular push-pull mechanism (10) and the tongue movement mechanism (20) are both connected to the head fixator (60). The head fixator (60) is used to fix the upper respiratory tract assisted respiration device to the head of the patient.

6. A control method for an upper respiratory tract assisted breathing device, characterized in that, For the upper respiratory tract assisted respiration device according to any one of claims 1-5, the control method includes: Monitoring the deviation state or breathing state of the tongue through the monitoring element; The controller (40) controls the mandibular push-pull mechanism (10) to drive the mandible to move and / or controls the tongue movement mechanism (20) to drive the tongue to move according to the deviation state or breathing state of the tongue.

7. The control method of the upper respiratory tract assisted breathing device according to claim 6, characterized in that, The monitoring element includes a tongue deviation sensor (30). The tongue deviation sensor includes a position sensor (31). The control method includes: Monitoring the deviation state of the tongue through the position sensor (31); When the tongue deviates towards the left side of the patient, the controller (40) controls the tongue movement mechanism (20) to drive the tongue to move left and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move forward; When the tongue body deflects towards the right side of the patient, the controller (40) controls the tongue body moving mechanism (20) to drive the tongue body to move rightward and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move forward; When the tongue body droops towards the rear side, the controller (40) controls the tongue body moving mechanism (20) to drive the tongue body to move forward and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move forward.

8. The control method of the upper respiratory tract assisted breathing device according to claim 6, characterized in that, The monitoring element includes a tongue body deflection sensor (30), the tongue body deflection sensor (30) includes a gravity sensor (32), and the control method includes: Monitoring the sleeping posture of the patient through the gravity sensor (32); When the patient lies on the left side to sleep, it is judged that the tongue body deflects towards the left side of the patient, and the controller (40) controls the tongue body moving mechanism (20) to drive the tongue body to move leftward and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move forward; When the patient lies on the right side to sleep, it is judged that the tongue body deflects towards the right side of the patient, and the controller (40) controls the tongue body moving mechanism (20) to drive the tongue body to move rightward and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move forward; When the patient lies flat to sleep, it is judged that the tongue body droops towards the rear side, and the controller (40) controls the tongue body moving mechanism (20) to drive the tongue body to move forward and / or controls the mandibular push-pull mechanism (10) to drive the mandible to move forward.

9. The control method of the upper respiratory tract assisted breathing device according to any one of claims 6-8, characterized in that, The monitoring element includes a respiration monitor (50) electrically connected to the controller (40), and the control method includes: monitoring the respiration state of the patient through the respiration monitor (50).

10. The control method of the upper respiratory tract assisted breathing device according to claim 9, characterized in that, The control method includes: At intervals of a preset time, the controller (40) changes from controlling the tongue body moving mechanism (20) to drive the tongue body to move forward to controlling the mandibular push-pull mechanism (10) to drive the mandible to move forward, or the controller (40) changes from controlling the mandibular push-pull mechanism (10) to drive the mandible to move forward to controlling the tongue body moving mechanism (20) to drive the tongue body to move forward.

11. The control method of the upper respiratory tract assisted breathing device according to any one of claims 6-8, characterized in that, The upper respiratory tract assisted respiration device includes a force feedback protection system, and the control method includes: The force feedback protection system monitors the force output values of the mandibular push-pull mechanism (10) and the tongue body moving mechanism (20), and controls the force output value of the mandibular push-pull mechanism (10) not to exceed its output force threshold and the force output value of the nerve stimulator (70) not to exceed its output force threshold.

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