Visual mechanical arm for tracheal intubation

Abstract

The invention discloses a visual mechanical arm for tracheal intubation, and belongs to the field of medical instruments. A visual mechanical arm for tracheal intubation comprises a mounting base, the bottom of the mounting base is mounted on a movable base, a rotating assembly is mounted on the top of the movable base, a mechanical arm assembly is mounted on the rotating assembly, a tracheal intubation assembly is clamped on the mechanical arm assembly, and the tracheal intubation assembly is connected with an endoscope image processing system. The problem that in the prior art, whether the tracheal catheter accurately enters the trachea or not is not judged by searching the glottis position, and fatal misplug is likely to occur is solved, the tracheal catheter can accurately enter the trachea, fatal misplug is avoided, it is ensured that the whole operation process is visible and controllable, and the operation efficiency is improved. The purpose of adjusting the insertion length of the tracheal catheter can be achieved, the tip depth of the tracheal catheter can be accurately controlled, the depth of the tracheal catheter can be rapidly and finely adjusted according to the body position change of a patient when the tracheal catheter is inserted, and the airway smoothness is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a visualization robotic arm for tracheal intubation. Background Art

[0002] Endotracheal intubation is a method of inserting a special endotracheal tube through the mouth or nasal cavity and into the trachea or bronchus via the glottis, providing optimal conditions for airway patency, ventilation and oxygen supply, and airway suction. It is an important measure to rescue patients with respiratory dysfunction.

[0003] A Chinese patent with publication number CN222917924U discloses a tracheal tube delivery device, tracheal intubation equipment and system, including a flexible skeleton body, a through-hole group, a fixing part and a drive wire group. The flexible skeleton body includes at least one segment group; the segment group includes a wire limit segment and a bending segment. Along a first direction and starting from a first end, the wire limit segment and the bending segment are arranged in sequence, the through-hole group and the segment group are arranged in a one-to-one correspondence, and the drive wire group and the segment group are arranged in a one-to-one correspondence. The bending freedom of each segment group on the flexible skeleton body can be independently and controllably adjusted according to the internal structure of the trachea to avoid touching and damaging the inner wall of the trachea.

[0004] During tracheal intubation, it is necessary to determine whether the tracheal tube has accurately entered the trachea by finding the position of the glottis. However, in actual use, the above-mentioned patent does not determine whether the tracheal tube has accurately entered the trachea by finding the position of the glottis, which is prone to fatal misinsertion. Therefore, it does not meet the existing needs. In this regard, we propose a visual robotic arm for tracheal intubation. Summary of the Invention

[0005] The objective of the present invention is to provide a visual robotic arm for tracheal intubation, which can accurately insert the tracheal tube into the trachea, avoid fatal misinsertion, ensure that the entire surgical process is visible and controllable, and achieve autonomous adjustment and precise intubation in complex airway environments. By adjusting the position of the positioning plug during intubation, the insertion length of the tracheal tube can be adjusted, thereby achieving precise control of the tip depth of the tracheal tube. During the insertion of the tracheal tube, the depth of the tracheal tube can be quickly fine-tuned according to changes in the patient's body position to ensure airway patency, thereby solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a visualization robotic arm for tracheal intubation, comprising a mounting base, the bottom of the mounting base being fixedly mounted on a mobile base, a rotating assembly being mounted on the top of the mobile base, a robotic arm assembly being mounted on the rotating assembly, a tracheal intubation assembly being clamped on the robotic arm assembly, and the tracheal intubation assembly being connected to an endoscopic image processing system, the endoscopic image processing system comprising: a data acquisition module for real-time acquisition of image data of the patient's throat and preprocessing it to extract features of the throat image; a data analysis module for analyzing the acquired image using an image processing algorithm to extract the glottis position.

[0007] Preferably, the tracheal intubation assembly includes a mirror body metal tube, a tracheal intubation clamp, a connecting plate, a tracheal tube, a hydraulic rod, a positioning plug, a high-definition cold light source camera and a fourth drive motor. The tail end of the mirror body metal tube is provided with a high-definition cold light source camera, and a positioning sensor is provided at the high-definition cold light source camera. The top end of the mirror body metal tube is installed on the tracheal tube, and the tracheal tube is clamped on the tracheal tube clamp. The tracheal tube clamp is fixed on the connecting plate, and the connecting plate is connected to the fourth drive motor through a connecting shaft. The outer surface of the tracheal tube is provided with a positioning plug, and the upper surface of the positioning plug is provided with a hydraulic rod, and the end of the hydraulic rod away from the positioning plug is provided at the top of the tracheal tube.

[0008] Preferably, the endoscopic image processing system specifically includes: Real-time acquisition of images of the patient's throat taken by a high-definition cold light source camera, and grayscale processing of the throat images; Performing edge enhancement on the grayscale image of the pharynx and throat, and performing preliminary partitioning based on the grayscale value of the enhanced pharynx and throat image; According to the preliminary partitioning results, the color moment feature of each throat image is extracted to obtain the first-order moment, second-order moment and third-order moment of the throat image; Extract the area parameters of each partition image according to the preliminary partition results, and then perform secondary block processing on the throat image according to the position of the throat image; Texture feature extraction is performed based on the secondary block processing, and the features of the throat image are extracted based on the area parameters, color and texture features of each partition image; The image processing algorithm is used to analyze the characteristics of the throat image, and the glottis position is extracted based on the analysis results.

[0009] Preferably, the operating system connection includes: A display judgment module is used to visualize the extracted glottis position and determine whether the position of the high-definition cold light source camera matches the glottis position; A control module is used to optimize the motion path and operation of the robotic arm assembly based on the position of the high-definition cold light source camera and the position of the glottis.

[0010] Preferably, the robotic arm assembly includes a rotating bracket, a gas spring, a support arm, a lifting rod, a connecting arm and a drive assembly. The support arm is fixedly mounted on the rotating bracket, the lifting rod is rotatably mounted on the support arm, the lower surface of the lifting rod is mounted with a gas spring, the bottom of the gas spring is mounted on the rotating bracket, and the end of the lifting rod away from the gas spring is connected to the connecting arm through the drive assembly. A torque sensor is provided on the drive assembly, and the torque sensor is used to monitor in real time the working force of the connecting arm during operation.

[0011] Preferably, the drive assembly includes a second drive motor, a second driving gear, a second driven gear, a second driving shaft and a second driven shaft. The output end of the second drive motor is connected to the second driving shaft. A second driving gear is fixed to the outside of the second driving shaft. The second driving gear is engaged with the second driven gear. The second driven gear is fixed on the second driven shaft. The second driving shaft is installed on the lifting rod. The second driven shaft passes through the connecting arm and the lifting rod respectively, and the connecting arm is rotatably installed on the lifting rod.

[0012] Preferably, the movable base includes a first driving motor, a first driving gear, a first driven gear, a belt gear, a base plate and a moving wheel. A total of four first driven gears are provided, which are rotatably mounted on the four corners of the base plate respectively. A first driving gear is meshed with one of the first driven gears, and a driving shaft is fixedly mounted on the first driving gear. One end of the driving shaft is rotatably mounted on the base plate, and the other end is mounted on the output end of the first driving motor. A belt gear is meshed with the outer side of the first driven gear, and the first driven gear is rotatably mounted on the base plate through the first driven shaft. A threaded hole is provided in the middle of the first driven shaft, and an adjusting screw is threadedly mounted in the threaded hole. The bottom of the adjusting screw passes through the threaded hole and is fixed to the anti-sliding block.

[0013] Preferably, the rotating assembly includes a rotating plate, a support base, a third driving shaft, a third driving gear, a third driving motor, a third driven shaft, a third driven gear and a support plate, the support base is fixed to the upper surface of the support plate, the third driving motor is installed on the lower surface of the support plate, the output end of the third driving motor passes through the support plate and is connected to the third driving shaft, the third driving gear is installed on the third driving shaft, the third driving gear is meshed with the third driven gear, the third driven gear is installed on the third driven shaft, one end of the third driven shaft is rotatably installed on the support plate, and the other end is rotatably installed on the rotating plate.

[0014] Preferably, the display judgment module includes: a visualization unit, an information intelligent judgment unit, an information communication unit, a laser sensing unit, a laser pen unit and a voice recognition and broadcasting unit; A visualization unit, used for visually displaying the extracted glottis position; An intelligent information judgment unit is used to determine whether the position of the high-definition cold light source camera matches the position of the glottis, and obtain tracheal intubation position judgment information; An information communication unit is used to transmit the endotracheal tube position determination information to the control module and to communicate information with the endoscopic image processing system; A laser sensing unit, used for sensing the laser ray signal of the laser pen unit; A laser pointer unit, used for emitting laser rays for laser remote control operation; Laser remote control operations include: laser remote control visual image zooming, laser remote control glottis position marking, laser remote control correction of control errors or laser remote control mis-insertion hazard prevention; The voice recognition broadcasting unit is used to broadcast the voice prompts of the robotic arm movements and receive and recognize voice control instructions; the voice prompts of the robotic arm movements include: voice prompts for starting and stopping the robotic arm, voice prompts for starting intubation, and voice prompts for adjusting the robotic arm, to enhance the smooth transmission of information; receiving and recognizing voice control instructions includes: receiving and recognizing the doctor's voice information, and identifying whether the doctor's voice information contains control instruction information; when it is recognized that the doctor's voice information contains control instruction information, the control instruction information is transmitted to the control module to control the robotic arm to execute the doctor's voice control instruction action.

[0015] Preferably, the control module is used to optimize the motion path and operation of the robotic arm assembly according to the position of the high-definition cold light source camera and the position of the glottis, including: Based on the position of the high-definition cold light camera and the glottis, the relationship between the glottis position coordinates and the joint position of the robotic arm assembly is analyzed; based on the relationship between the glottis position coordinates and the joint position of the robotic arm assembly, the robotic arm assembly joint position transformation matrix is ​​constructed; using the robotic arm assembly joint position transformation matrix, the robotic arm assembly joint movement is controlled to adjust the high-definition cold light camera and the tracheal tube, accurately controlling the position of the high-definition cold light camera and the camera acquisition angle, and accurately controlling the position of the tracheal tube and the tracheal tube angle; and optimizing the motion path and operation of the robotic arm assembly; According to the joint position transformation matrix of the robotic arm assembly, the precise joint position of the robotic arm assembly is obtained, and the tracheal tube is controlled to enter the trachea accurately. The tracheal tube is inserted to a moderate depth to prevent it from being inserted too deeply into a unilateral bronchus and causing single-lung ventilation, and from being inserted too shallowly and falling out of the glottis; in complex airway environments, intelligent control, autonomous adjustment and precise intubation are achieved.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention optimizes the motion path and operation of the robotic arm assembly based on the data collected by the positioning sensor and torque sensor in combination with the extracted glottis position, enabling accurate insertion of the tracheal tube into the trachea to avoid fatal misinsertion. By locating the glottis position, the tracheal tube can be ensured to a moderate depth, preventing excessive insertion into a unilateral bronchus and causing single-lung ventilation. Clearly identifying the glottis position helps to determine the insertion depth of the tube and avoid shallow glottis prolapse. By converting the processed image data into an intuitive dynamic visualization interface, the doctor is assisted in making real-time decisions, ensuring that the entire surgical process is visible and controllable. The robotic arm assembly precisely controls the position and angle of the high-definition cold light source camera and the tracheal tube according to the instructions of the navigation system, achieving autonomous adjustment and precise intubation in complex airway environments. 2. The present invention can adjust the insertion length of the endotracheal tube by adjusting the position of the positioning plug during the intubation process, thereby achieving precise control of the tip depth of the endotracheal tube. When inserting the endotracheal tube, the depth of the endotracheal tube can be quickly fine-tuned according to changes in the patient's body position to ensure airway patency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a visual robotic arm for tracheal intubation according to the present invention; Figure 2 This is a schematic diagram of a tracheal intubation assembly of a visualization robotic arm for tracheal intubation according to the present invention; Figure 3 This is a schematic diagram of a robotic arm assembly of a visualization robotic arm for tracheal intubation according to the present invention; Figure 4 This is a schematic diagram of a driving component of a visualization robotic arm for tracheal intubation according to the present invention; Figure 5 This is a schematic diagram of a rotating assembly of a visualization robotic arm for tracheal intubation according to the present invention; Figure 6 This is a schematic diagram of a mobile base of a visualization robotic arm for tracheal intubation according to the present invention; Figure 7 This is a schematic diagram of an endoscopic image processing system of a visualization robotic arm for tracheal intubation according to the present invention; Figure 8 This is a schematic diagram of an embodiment of a display judgment module of an endoscopic image processing system of a visualization robotic arm for tracheal intubation according to the present invention; Figure 9 This is a partially enlarged schematic diagram of the display judgment module of the endoscopic image processing system of the visualization robotic arm for tracheal intubation of the present invention.

[0018] In the figure: 1. Mounting base; 2. Moving base; 21. First driving motor; 22. First driving gear; 23. First driven gear; 24. Anti-sliding block; 25. Adjusting screw; 26. Belt gear; 27. Bottom plate; 28. Moving wheel; 29. ​​First driven shaft; 3. Robotic arm assembly; 31. Rotating bracket; 32. Gas spring; 33. Support arm; 34. Lifting rod; 35. Connecting arm; 36. Driving assembly; 361. Second driving motor; 362. Second driving gear; 363. Second driven gear; 364. Second driving shaft; 365. Second driven shaft; 4. Endotracheal tube assembly; 41. Mirror body metal tube; 42. Endotracheal tube clamp; 43. Connecting plate; 44. Gas spring Tube; 45. Hydraulic rod; 46. Fourth drive motor; 47. Positioning plug; 48. High-definition cold light source camera; 5. Rotating assembly; 51. Rotating plate; 52. Support seat; 53. Third driving shaft; 54. Third driving gear; 55. Third drive motor; 56. Third driven shaft; 57. Third driven gear; 58. Support plate; 501. Visualization unit; 502. Information intelligent judgment unit; 503. Information communication unit; 504. Laser sensing unit; 505. Laser pen unit; 5051. Remote control button; 5052. Remote control processor; 5053. Laser emitter; 5054 Micro power supply; 506. Voice recognition broadcast unit; 6. Endoscopic image processing system. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] In order to solve the problem that the existing technology does not determine whether the endotracheal tube has entered the trachea accurately by finding the glottis position, which is prone to fatal misinsertion, please refer to Figure 1-Figure 7 , this embodiment provides the following technical solutions: A visualization robotic arm for endotracheal intubation includes a mounting base 1, the bottom of the mounting base 1 is fixedly mounted on a mobile base 2, a rotating assembly 5 is mounted on the top of the mobile base 2, a robotic arm assembly 3 is mounted on the rotating assembly 5, a endotracheal intubation assembly 4 is clamped on the robotic arm assembly 3, and the endotracheal intubation assembly 4 is connected to an endoscopic image processing system 6. The endoscopic image processing system 6 includes: a data acquisition module for real-time acquisition of image data of the patient's throat and preprocessing it to extract features of the throat image; a data analysis module for analyzing the acquired image using an image processing algorithm to extract the glottis position.

[0021] Endoscopic image processing system 6, specifically comprising: Real-time acquisition of the image of the patient's throat taken by the high-definition cold light source camera 48, and grayscale processing of the throat image; Performing edge enhancement on the grayscale image of the pharynx and throat, and performing preliminary partitioning based on the grayscale value of the enhanced pharynx and throat image; According to the preliminary partitioning results, the color moment feature of each throat image is extracted to obtain the first-order moment, second-order moment and third-order moment of the throat image; Extract the area parameters of each partition image according to the preliminary partition results, and then perform secondary block processing on the throat image according to the position of the throat image; Texture feature extraction is performed based on the secondary block processing, and the features of the throat image are extracted based on the area parameters, color and texture features of each partition image; The image processing algorithm is used to analyze the characteristics of the throat image and the glottis position is extracted based on the analysis results; Operating system connectivity, including: A display judgment module is used to visually display the extracted glottis position and judge whether the position of the high-definition cold light source camera 48 matches the glottis position; The control module is used to optimize the movement path and operation of the robotic arm assembly 3 according to the position of the high-definition cold light source camera 48 and the position of the glottis, so that the tracheal tube can be smoothly inserted into the trachea.

[0022] The robotic arm assembly 3 includes a rotating bracket 31, a gas spring 32, a support arm 33, a lifting rod 34, a connecting arm 35 and a driving assembly 36. The support arm 33 is fixedly installed on the rotating bracket 31, and the lifting rod 34 is rotatably installed on the support arm 33. The gas spring 32 is installed on the lower surface of the lifting rod 34, and the bottom of the gas spring 32 is installed on the rotating bracket 31. The end of the lifting rod 34 away from the gas spring 32 is connected to the connecting arm 35 through the driving assembly 36. The driving assembly 36 is provided with a torque sensor, which monitors the working force of the connecting arm 35 in real time during operation through the torque sensor. By starting the gas spring 32, the lifting rod 34 is lifted upward along the support arm 33, and the height of the connecting arm 35 is adjusted. By starting the driving assembly 36, the height of the connecting arm 35 is adjusted, thereby adjusting the position of the tracheal intubation assembly 4, making it convenient to collect throat image data of the patient.

[0023] The driving assembly 36 includes a second driving motor 361, a second driving gear 362, a second driven gear 363, a second driving shaft 364 and a second driven shaft 365. The output end of the second driving motor 361 is connected to the second driving shaft 364. The second driving gear 362 is fixed to the outside of the second driving shaft 364. The second driving gear 362 is meshed with the second driven gear 363. The second driven gear 363 is fixed to the second driven shaft 365. The second driving shaft 364 is installed on the lifting rod 34. The second driven shaft 365 passes through the connecting arm 35 and the lifting rod 34 respectively. The connecting arm 35 is rotatably installed on the lifting rod 34. Starting the second driving motor 361 causes the second driving shaft 364 to rotate, thereby causing the second driving gear 362 to rotate. The second driven gear 363 is driven to rotate, and the rotation of the second driven gear 363 drives the second driven shaft 365 to rotate, so that the connecting arm 35 moves up and down, and the upper and lower heights of the endotracheal tube assembly 4 are adjusted. The mobile base 2 includes a first driving motor 21, a first driving gear 22, a first driven gear 23, a belt gear 26, a base plate 27 and a moving wheel 28. There are four first driven gears 23, which are rotatably mounted on the four corners of the base plate 27. One of the first driven gears 23 is engaged with the first driving gear 22, and the first driving gear 22 is fixedly mounted with a driving shaft. One end of the driving shaft is rotatably mounted on the base plate 27, and the other end is mounted on the output end of the first driving motor 21. The outer side of the first driven gear 23 is engaged with the belt gear 26.

[0024] The first driven gear 23 is rotatably mounted on the base plate 27 via the first driven shaft 29. A threaded hole is provided in the middle of the first driven shaft 29, and an adjusting screw 25 is threadedly mounted in the threaded hole. The bottom of the adjusting screw 25 is fixed to the anti-sliding block 24 through the threaded hole. Starting the first drive motor 21 causes the driving shaft to rotate, thereby driving the first driving gear 22 to rotate. The first driving gear 22 drives the first driven gear 23 meshing with the first driving gear 22 to rotate, thereby driving the belt gear 26 meshing with the first driven gear 23 to move. The movement of the belt gear 26 drives the remaining three first driven gears 23 to rotate, thereby causing the adjusting screw 25 to move downward. When the adjusting screw 25 drops to a certain position, the anti-sliding block 24 will contact the ground. Under the action of the belt gear 26, the adjusting screws 25 on the four first driven gears 23 are all lowered, thereby supporting the entire device and preventing the moving wheel 28 from contacting the ground, stabilizing the entire device, preventing the device from offsetting or shaking, and ensuring the accuracy of the image data acquisition of the patient's throat.

[0025] The rotating assembly 5 includes a rotating plate 51, a support base 52, a third driving shaft 53, a third driving gear 54, a third driving motor 55, a third driven shaft 56, a third driven gear 57 and a support plate 58. The support base 52 is fixed to the upper surface of the support plate 58, and the third driving motor 55 is installed on the lower surface of the support plate 58. The output end of the third driving motor 55 passes through the support plate 58 and is connected to the third driving shaft 53. The third driving gear 54 is installed on the third driving shaft 53. The third driving gear 54 is engaged with the third driven gear 57. The third driven gear 57 is installed on the third driven shaft 56. One end of the third driven shaft 56 is rotatably mounted on the support plate 58, and the other end is rotatably mounted on the rotating plate 51. The rotating plate 51 is set on the top of the support base 52. Starting the third driving motor 55 rotates the third driving shaft 53, which in turn causes the third driving gear 54 to drive the third driven gear 57 to rotate. The rotation of the third driven gear 57 drives the third driven shaft 56 to rotate, thereby adjusting the angle of the tracheal intubation assembly 4.

[0026] The endotracheal tube assembly 4 includes a mirror metal tube 41, an endotracheal tube clamp 42, a connecting plate 43, an endotracheal tube 44, a hydraulic rod 45, a positioning plug 47, a high-definition cold light source camera 48 and a fourth drive motor 46. The tail end of the mirror metal tube 41 is provided with a high-definition cold light source camera 48, and a positioning sensor is provided at the high-definition cold light source camera 48. The top end of the mirror metal tube 41 is installed on the endotracheal tube 44, and the endotracheal tube 44 is clamped on the endotracheal tube clamp 42. The endotracheal tube clamp 42 is fixed on the connecting plate 43. The connecting plate 43 is connected to the fourth drive motor 46 through a connecting shaft. A reducer is provided at the output end of the fourth drive motor 46. The outer surface of the endotracheal tube 44 is provided with a positioning plug 47. The upper surface of the positioning plug 47 is provided with a hydraulic rod 45. The end of the hydraulic rod 45 away from the positioning plug 47 is provided at the top of the endotracheal tube 44. The image of the patient's throat is captured in real time by the high-definition cold light source camera 48. When the high-definition cold light source is used, the image of the patient's throat is captured in real time. When the camera 48 is inserted into the patient's throat, the position of the positioning plug 47 is adjusted by starting the hydraulic rod 45, so as to achieve the purpose of adjusting the insertion length of the tracheal tube 44, thereby achieving precise control of the depth of the tip of the tracheal tube 44. When inserting the tracheal tube 44, the depth of the tracheal tube 44 can be quickly fine-tuned according to the changes in the patient's body position to ensure airway patency, and the tracheal tube 44 can be safely guided to the ideal depth after being shallowly placed. The position of the positioning plug 47 is set to avoid excessive insertion to stimulate the protuberance and cause severe coughing, airway spasm and even injury. At the same time, it prevents the tip of the tracheal tube 44 from being inserted too shallowly, resulting in incomplete closure of the airbag, increasing the risk of aspiration and tube dislocation, and avoiding complications caused by displacement of the tracheal tube 44, such as the tube being inserted too deeply into the bronchus during head and neck movements, resulting in single lung ventilation, or being dislodged too shallowly, resulting in ventilation failure. The operational flexibility is enhanced, and the position of the high-definition cold light source camera 48 during operation can be monitored in real time through the positioning sensor.

[0027] The display judgment module includes: a visualization unit 501, an information intelligent judgment unit 502, an information communication unit 503, a laser sensing unit 504, a laser pen unit 505 and a voice recognition and broadcasting unit 506; A visualization unit, used for visually displaying the extracted glottis position; An information intelligent judgment unit is used to judge whether the position of the high-definition cold light source camera 48 matches the glottis position, and obtain endotracheal tube position judgment information; An information communication unit is used to transmit the endotracheal tube position determination information to the control module and to communicate information with the endoscopic image processing system; A laser sensing unit, used for sensing the laser ray signal of the laser pen unit; A laser pointer unit, used for emitting laser rays for laser remote control operation; Laser remote control operations include: laser remote control visual image zooming, laser remote control glottis position marking, laser remote control correction of control errors or laser remote control mis-insertion hazard prevention; The voice recognition broadcasting unit is used to broadcast the voice prompts of the robotic arm movements and receive and recognize voice control instructions; the voice prompts of the robotic arm movements include: voice prompts for starting and stopping the robotic arm, voice prompts for starting intubation, and voice prompts for adjusting the robotic arm, to enhance the smooth transmission of information; receiving and recognizing voice control instructions includes: receiving and recognizing the doctor's voice information, and identifying whether the doctor's voice information contains control instruction information; when it is recognized that the doctor's voice information contains control instruction information, the control instruction information is transmitted to the control module to control the robotic arm to execute the doctor's voice control instruction action.

[0028] Working Principle: The display and judgment module is crucial for visualizing the robot arm's operation process. Information interaction, remote control operation, and voice recognition warnings are of great technical significance. The visualization unit uses a high-resolution display device to display the glottis position in the throat image in high resolution; the information intelligent judgment unit uses the position coordinates of the high-definition cold light source camera 48 and the glottis position coordinates to compare and determine whether the position of the high-definition cold light source camera 48 matches the glottis position; The information communication unit transmits and communicates via wireless or wired signals; the laser sensing unit senses the laser beam signal from the laser pen unit and converts the laser beam signal into an electrical signal corresponding to the laser beam irradiation position through photoelectric induction conversion; the laser beam irradiation position electrical signal is transmitted to the control module to control the robotic arm and the visualization unit to display the content; The laser pen unit 505 includes a remote control button 5051, a remote control processor 5052, a laser emitter 5053, and a micro power supply 5054, which respectively trigger the remote control signal, process the remote control signal into a remote control laser beam signal, emit the laser beam remote control signal, and power the laser pen. The voice recognition and broadcasting unit identifies whether the doctor's voice information contains control instruction information; if it does, it transmits the control instruction information to the control module to control the robotic arm to execute the doctor's voice control instruction action; it can significantly improve the display clarity of the visual robotic arm operation process and significantly improve the judgment accuracy; The voice recognition and announcement unit can also make the interaction smooth, significantly improving the intelligence level in remote control operation, voice recognition, and alarm announcements; operational efficiency and safety are significantly improved.

[0029] The control module is used to optimize the motion path and operation of the robotic arm assembly 3 according to the position of the high-definition cold light source camera 48 and the position of the glottis, including: Based on the position of the high-definition cold light source camera 48 and the glottis position, the relationship between the glottis position coordinates and the joint positions of the robotic arm assembly is analyzed; based on the relationship between the glottis position coordinates and the joint positions of the robotic arm assembly, a robotic arm assembly joint position transformation matrix is ​​constructed; using the robotic arm assembly joint position transformation matrix, the robotic arm assembly joint movement is controlled to adjust the high-definition cold light source camera and the tracheal tube, accurately controlling the position of the high-definition cold light source camera and the camera acquisition angle, and accurately controlling the position of the tracheal tube and the tracheal tube angle; and optimizing the movement path and operation of the robotic arm assembly 3; According to the joint position transformation matrix of the robotic arm assembly, the precise joint position of the robotic arm assembly is obtained, and the tracheal tube is controlled to enter the trachea accurately. The tracheal tube is inserted to a moderate depth to prevent it from being inserted too deeply into a unilateral bronchus and causing single-lung ventilation, and from being inserted too shallowly and falling out of the glottis; in complex airway environments, intelligent control, autonomous adjustment and precise intubation are achieved.

[0030] Working Principle: The control module utilizes the position relationship of the joints of the robotic arm components to form a precise motion path by coordinating multiple sets of joint position angles. When the joint size and degree of freedom are known, the relative angles of the joints are adjusted to form a precise motion path. Based on the relationship between the glottis position coordinates and the joint positions of the robotic arm assembly, a robotic arm assembly joint position transformation matrix is ​​constructed; the glottis position coordinates are set as the target position for the endotracheal tube to be intubated; using the robotic arm assembly joint position transformation matrix, the robotic arm assembly joint movement is controlled to adjust the high-definition cold light source camera and the endotracheal tube to the target position for the endotracheal tube to be intubated; Precisely control the position and camera angle of the high-definition cold light source camera to ensure that the light source illumination and camera position and camera angle are suitable for capturing the target location; precisely control the position and angle of the tracheal tube; optimize the motion path and operation of the robotic arm component 3; the formula for the robotic arm component joint position transformation matrix is ​​as follows: in, Represents the joint position transformation matrix of the robotic arm component; k represents the kth joint degree of freedom; the value of k includes k={1, 2, ..., 6}; 、 、 Represent the x-, y-, and z-angles of the kth joint, respectively; cos represents the cosine operation; and sin represents the sine operation. Based on the joint position transformation matrix of the robotic arm assembly, the precise joint positions of the robotic arm assembly are obtained to control the precise insertion of the tracheal tube into the trachea. The tracheal tube is inserted to a moderate depth to prevent it from being inserted too deeply into a unilateral bronchus, resulting in single-lung ventilation, or too shallowly out of the glottis. In complex airway environments, it achieves intelligent control, autonomous adjustment, and precise intubation; significantly reduces positioning errors and safety risks; and significantly improves the precision of intubation control and the accuracy of tracheal tube operation.

[0031] Working principle: When using the visualization robot arm for tracheal intubation of the present invention, according to Figure 1 、 Figure 2 and Figure 3 , including the following steps: Step 1: Start the first drive motor 21 to rotate the driving shaft, so that the first driving gear 22 drives the first driven gear 23 to rotate, and then drives the belt gear 26 meshing with the first driven gear 23 to move, so that the adjusting screw 25 moves downward. When the adjusting screw 25 drops to a certain position, the anti-sliding block 24 will contact the ground, stabilizing the entire device; Step 2: Formulate a motion path for the robotic arm assembly 3. After the path is formulated, activate the gas spring 32 according to the formulated motion path to lift the lifting rod 34 upward along the support arm 33, adjust the height of the connecting arm 35, adjust the height of the connecting arm 35 by activating the drive assembly 36, and activate the fourth drive motor 46 to adjust the angle of the high-definition cold light source camera 48; Step 3: inserting the high-definition cold light source camera 48 into the patient's throat, while the high-definition cold light source camera 48 collects photos of the patient's throat and transmits the collected photos to the endoscopic image processing system 6; Step four: the endoscopic image processing system 6 processes and analyzes the collected images of the patient's throat, extracts the characteristics of the patient's throat, and uses an image processing algorithm to analyze the collected images to extract the glottis position; Step 5: Visually display the extracted glottis position and the position of the high-definition cold light source camera 48, and determine whether the position of the high-definition cold light source camera 48 matches the glottis position; Step 6: If they do not match, optimize the motion path and operation of the robotic arm assembly 3 according to the position of the high-definition cold light source camera 48 and the glottis position until the position of the high-definition cold light source camera 48 matches the glottis position.

[0032] In summary, the present invention provides a visualization robotic arm for tracheal intubation, which collects image data of the patient's throat in real time through a high-definition cold light source camera 48, clearly displays the glottis position and airway structure, monitors the position and force of the robotic arm component 3 in real time during operation through a torque sensor and a positioning sensor, analyzes the collected image using an image processing algorithm, extracts the glottis position, optimizes the motion path and operation of the robotic arm component 3 based on the data collected by the positioning sensor and the torque sensor, and converts the processed image data into an intuitive dynamic visualization interface to assist doctors in making real-time decisions and ensure that the entire surgical process is visible and controllable. The robotic arm component 3 accurately controls the position and angle of the high-definition cold light source camera 48 and the tracheal tube 44 according to the instructions of the navigation system, and realizes autonomous adjustment and precise intubation in a complex airway environment. During the intubation process, when the high-definition cold light source camera When the head 48 is inserted into the patient's throat, the position of the positioning plug 47 is adjusted by starting the hydraulic rod 45, so as to achieve the purpose of adjusting the insertion length of the tracheal tube 44, thereby achieving precise control of the depth of the tip of the tracheal tube 44. When inserting the tracheal tube 44, the depth of the tracheal tube 44 can be quickly fine-tuned according to the changes in the patient's body position to ensure airway patency, and the tracheal tube 44 can be safely guided to the ideal depth after being shallowly placed. The position of the positioning plug 47 is set to avoid excessive insertion to stimulate the protuberance and cause severe coughing, airway spasm and even injury. At the same time, it prevents the tip of the tracheal tube 44 from being inserted too shallowly, resulting in incomplete closure of the airbag, increasing the risk of aspiration and tube dislocation, and avoiding complications caused by displacement of the tracheal tube 44, such as the tube being inserted too deeply into the bronchus and causing single lung ventilation when the head and neck move, or being dislocated too shallowly and causing ventilation failure. At the same time, it reduces the risk of mucosal damage caused by repeated adjustment of the tube, and enhances operational flexibility.

[0033] It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0034] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A visualization robot arm for tracheal intubation, comprising a mounting base (1), characterized in that: The bottom of the mounting base (1) is fixedly mounted on the mobile base (2), the top of the mobile base (2) is mounted with a rotating assembly (5), the rotating assembly (5) is mounted with a mechanical arm assembly (3), the mechanical arm assembly (3) is clamped with a tracheal cannula assembly (4), the tracheal cannula assembly (4) is connected to an endoscopic image processing system (6), the endoscopic image processing system (6) is connected to an operating system, and the endoscopic image processing system (6) includes: A data acquisition module is used to collect and pre-process the image data of the patient's throat in real time and extract the features of the throat image; The data analysis module is used to analyze the collected images using image processing algorithms and extract the glottis position.

2. A visualization robot arm for tracheal intubation according to claim 1, characterized in that: The tracheal tube assembly (4) includes a mirror metal tube (41), a tracheal tube clamp (42), a connecting plate (43), a tracheal tube (44), a hydraulic rod (45), a positioning plug (47), a high-definition cold light source camera (48) and a fourth drive motor (46). The tail end of the mirror metal tube (41) is provided with a high-definition cold light source camera (48), and a positioning sensor is provided at the high-definition cold light source camera (48). The top end of the mirror metal tube (41) is installed on the tracheal tube (44), and the tracheal tube (44) is clamped on the tracheal tube clamp (42). The tracheal tube clamp (42) is fixed on the connecting plate (43), and the connecting plate (43) is connected to the fourth drive motor (46) through a connecting shaft. The outer surface of the tracheal tube (44) is provided with a positioning plug (47), and the upper surface of the positioning plug (47) is provided with a hydraulic rod (45). The end of the hydraulic rod (45) away from the positioning plug (47) is provided at the top of the tracheal tube (44).

3. A visualization robot arm for tracheal intubation according to claim 2, characterized in that: The endoscopic image processing system (6) specifically comprises: Real-time acquisition of an image of the patient's throat taken by a high-definition cold light source camera (48), and grayscale processing of the throat image; Performing edge enhancement on the grayscale image of the pharynx and throat, and performing preliminary partitioning based on the grayscale value of the enhanced pharynx and throat image; According to the preliminary partitioning results, the color moment feature of each throat image is extracted to obtain the first-order moment, second-order moment and third-order moment of the throat image; Extract the area parameters of each partition image according to the preliminary partition results, and then perform secondary block processing on the throat image according to the position of the throat image; Texture feature extraction is performed based on the secondary block processing, and the features of the throat image are extracted based on the area parameters, color and texture features of each partition image; The image processing algorithm is used to analyze the characteristics of the throat image, and the glottis position is extracted based on the analysis results.

4. The visualization robot arm for tracheal intubation according to claim 1, characterized in that: The operating system connection includes: a display judgment module for visually displaying the extracted glottis position and judging whether the position of the high-definition cold light source camera (48) matches the glottis position; A control module is used to optimize the motion path and operation of the robotic arm assembly (3) according to the position of the high-definition cold light source camera (48) and the position of the glottis.

5. The visualization robot arm for tracheal intubation according to claim 1, characterized in that: The mechanical arm assembly (3) includes a rotating bracket (31), a gas spring (32), a support arm (33), a lifting rod (34), a connecting arm (35) and a driving assembly (36). The supporting arm (33) is fixedly mounted on the rotating bracket (31), the lifting rod (34) is rotatably mounted on the supporting arm (33), the gas spring (32) is mounted on the lower surface of the lifting rod (34), the bottom of the gas spring (32) is mounted on the rotating bracket (31), and the end of the lifting rod (34) away from the gas spring (32) is connected to the connecting arm (35) through the driving assembly (36). A torque sensor is provided on the driving assembly (36), and the torque sensor is used to monitor the working force of the connecting arm (35) in real time during operation.

6. The visualization robot arm for tracheal intubation according to claim 5, characterized in that: The driving assembly (36) includes a second driving motor (361), a second driving gear (362), a second driven gear (363), a second driving shaft (364) and a second driven shaft (365). The output end of the second driving motor (361) is connected to the second driving shaft (364). The second driving gear (362) is fixed to the outside of the second driving shaft (364). The second driving gear (362) is meshed with the second driven gear (363). The second driven gear (363) is fixed to the second driven shaft (365). The second driving shaft (364) is installed on the lifting rod (34). The second driven shaft (365) passes through the connecting arm (35) and the lifting rod (34) respectively, and the connecting arm (35) is rotatably installed on the lifting rod (34).

7. The visualization robot arm for tracheal intubation according to claim 1, characterized in that: The mobile base (2) includes a first driving motor (21), a first driving gear (22), a first driven gear (23), a belt gear (26), a base plate (27) and a moving wheel (28). Four first driven gears (23) are provided, which are rotatably mounted on four corners of the base plate (27). One of the first driven gears (23) is meshed with a first driving gear (22). A driving shaft is fixedly mounted on the first driving gear (22). One end of the driving shaft is rotatably mounted on the base plate (27), and the other end is mounted on the output end of the first driving motor (21). The outer side of the first driven gear (23) is meshed with a belt gear (26). The first driven gear (23) is rotatably mounted on the base plate (27) through a first driven shaft (29). A threaded hole is provided in the middle of the first driven shaft (29). An adjusting screw (25) is threadedly mounted in the threaded hole. The bottom of the adjusting screw (25) passes through the threaded hole and is fixed on the anti-sliding block (24).

8. The visualization robot arm for tracheal intubation according to claim 1, characterized in that: The rotating assembly (5) comprises a rotating plate (51), a support base (52), a third driving shaft (53), a third driving gear (54), a third driving motor (55), a third driven shaft (56), a third driven gear (57) and a support plate (58). The support base (52) is fixed to the upper surface of the support plate (58), and the third driving motor (55) is installed on the lower surface of the support plate (58). The output end of the third driving motor (55) passes through the support plate (58) and is connected to the third driving shaft (53). The third driving gear (54) is installed on the third driving shaft (53). The third driving gear (54) is meshed with the third driven gear (57). The third driven gear (57) is installed on the third driven shaft (56). One end of the third driven shaft (56) is rotatably mounted on the support plate (58), and the other end is rotatably mounted on the rotating plate (51).

9. The visualization robot arm for tracheal intubation according to claim 4, characterized in that: The display judgment module includes: a visualization unit, an information intelligent judgment unit, an information communication unit, a laser sensing unit, a laser pen unit and a voice recognition and broadcasting unit; A visualization unit, used for visually displaying the extracted glottis position; An information intelligent judgment unit is used to judge whether the position of the high-definition cold light source camera (48) matches the glottis position, and obtain tracheal intubation position judgment information; An information communication unit is used to transmit the endotracheal tube position determination information to the control module and to communicate information with the endoscopic image processing system; A laser sensing unit, used for sensing the laser ray signal of the laser pen unit; A laser pointer unit, used for emitting laser rays for laser remote control operation; Laser remote control operations include: laser remote control visual image zooming, laser remote control glottis position marking, laser remote control correction of control errors or laser remote control mis-insertion hazard prevention; The voice recognition broadcasting unit is used to broadcast the voice prompts of the robotic arm movements and receive and recognize voice control instructions; the voice prompts of the robotic arm movements include: voice prompts for starting and stopping the robotic arm, voice prompts for starting intubation, and voice prompts for adjusting the robotic arm, to enhance the smooth transmission of information; receiving and recognizing voice control instructions includes: receiving and recognizing the doctor's voice information, and identifying whether the doctor's voice information contains control instruction information; when it is recognized that the doctor's voice information contains control instruction information, the control instruction information is transmitted to the control module to control the robotic arm to execute the doctor's voice control instruction action.

10. The visualization robot arm for tracheal intubation according to claim 4, characterized in that: A control module is used to optimize the motion path and operation of the robotic arm assembly (3) according to the position of the high-definition cold light source camera (48) and the position of the glottis, including: According to the position of the high-definition cold light source camera (48) and the glottis position, the relationship between the glottis position coordinates and the joint position of the robotic arm assembly is analyzed; according to the relationship between the glottis position coordinates and the joint position of the robotic arm assembly, the joint position transformation matrix of the robotic arm assembly is constructed; using the joint position transformation matrix of the robotic arm assembly, the joint movement of the robotic arm assembly is controlled to adjust the high-definition cold light source camera and the tracheal tube, accurately control the position of the high-definition cold light source camera and the camera acquisition angle, and accurately control the position of the tracheal tube and the tracheal tube angle; optimize the movement path and operation of the robotic arm assembly (3); According to the joint position transformation matrix of the robotic arm assembly, the precise joint position of the robotic arm assembly is obtained, and the tracheal tube is controlled to enter the trachea accurately. The tracheal tube is inserted to a moderate depth to prevent it from being inserted too deeply into a unilateral bronchus and causing single-lung ventilation, and from being inserted too shallowly and falling out of the glottis; in complex airway environments, intelligent control, autonomous adjustment and precise intubation are achieved.

Images