A respiratory airway tube cannula continuum robot and method

Abstract

The application discloses a kind of respiratory tract tracheal intubation continuum robot and method, belong to surgical robot technical field.The robot includes continuum skeleton, anchoring assembly, inner lining tube, drive assembly and push assembly;Continuum skeleton is connected by several rotatable skeleton units, first drive wire passes through the cavity of skeleton unit, and drive assembly drives it to drive skeleton bending;Anchoring assembly can lock adjacent skeleton unit rotation, maintain bending posture;Inner lining tube is sleeved with catheter, and push assembly pushes catheter to skeleton and guides into trachea.The application realizes intubation accurate guidance, improves one-time success rate, reduces respiratory tract mucosa damage, and medical staff can operate remotely, avoids cross infection, solves the problem of low precision, high exposure risk and easy deviation of existing manual intubation guidance, and is suitable for clinical first aid, surgical anesthesia and other scenes.

Description

Technical Field

[0001] This invention belongs to the field of surgical robot technology, specifically relating to a continuous robot and method for endotracheal intubation. Background Technology

[0002] Endotracheal intubation is a critical medical procedure that involves inserting a specially designed endotracheal tube through the mouth or nose and through the glottis into the trachea or bronchus. It provides optimal conditions for airway patency, ventilation and oxygen supply, and airway suction. It is a core measure for rescuing patients with respiratory dysfunction and maintaining patients' breathing after general anesthesia, and is widely used in clinical emergency care, surgical anesthesia, and other scenarios.

[0003] Currently, endotracheal intubation in clinical practice mainly relies on manual operation by anesthesiologists, which has the following shortcomings: First, the accuracy and success rate of the operation are greatly affected by human factors. The surgeon's skill level, hand stability, differences in the patient's airway anatomy, and the body's response under general anesthesia can all lead to a low success rate of intubation on the first attempt. Multiple intubation attempts can directly cause physical friction damage to the patient's airway mucosa and may also induce stress responses under general anesthesia, further increasing the difficulty of intubation and patient suffering. Second, manual intubation lacks a precise bending guide mechanism, making it difficult to flexibly adapt to the curvature of the patient's airway. Especially for patients with complex airway structures or hidden glottis positions, tube deviation is prone to occur, making it impossible to quickly and accurately align with the tracheal opening, prolonging intubation time, and increasing the risk of patient hypoxia. Third, during intubation, medical staff need to be in close contact with the patient's oral and nasal secretions. When the patient has an infectious disease, there is a high risk of cross-infection among medical staff, posing an exposure risk. Summary of the Invention

[0004] To address the problems existing in the prior art, a continuum robot and method for endotracheal intubation of the respiratory tract are proposed.

[0005] The technical solution to the technical problem solved by the present invention is as follows: On the one hand, a continuous endotracheal intubation robot for the respiratory tract is proposed, comprising: a continuous skeleton, including several skeleton units, the skeleton units being connected end to end in sequence, and adjacent skeleton units being rotatable; a through cavity is opened in the skeleton unit, and a first drive wire passes through the through cavity of each skeleton unit in sequence and is connected to the end of the last skeleton unit, and pulling the first drive wire can cause the continuous skeleton to bend; an anchoring component is disposed in the skeleton unit, which can restrict the rotation between adjacent skeleton units; an inner liner tube is fixed to the top of the continuous skeleton, and a catheter is slidably sleeved on the outside of the inner liner tube, and the catheter can slide from the inner liner tube onto the continuous skeleton; a driving component is connected to the top of the inner liner tube, and the first drive wire passes through the inner liner tube and is connected to the driving component, and the driving component can drive the first drive wire to move; a pushing component is also disposed at the top of the inner liner tube, and the pushing component can push the catheter to slide along the inner liner tube to the outer wall of the continuous skeleton.

[0006] Preferably, the skeleton unit includes a tube body, one end of which is connected to a spherical connector. The end of the spherical connector is open, and the other end is provided with a spherical connecting groove. The spherical connector can be inserted into the spherical connecting groove and rotate in the spherical connecting groove.

[0007] Preferably, the anchoring assembly includes a sealing slider that can slide within the through cavity; a connecting hole is also provided between the spherical connecting groove and the through cavity, and when the sealing slider slides to the connecting hole, it can block the connecting hole to achieve a seal within the spherical connecting groove; a baffle is provided at the end of the tube, and a return spring is connected between the baffle and the sealing slider, which can pull the sealing slider away from the connecting hole; a second driving wire is also provided, which passes through the through cavity of each skeleton unit in sequence and is fixedly connected to the sealing slider, and pulling the second driving wire can pull the sealing slider to the connecting hole for sealing.

[0008] Preferably, four sets of first drive wires are provided, which are respectively located at the top, bottom, left, and right of the cavity, and respectively control the upward, downward, leftward, and rightward bending of the continuous skeleton; the second drive wire is located at the center of the cavity, and the end of the second drive wire is fixed to the sealing slider of the last skeleton unit, while the end of the first drive wire is fixed to the end of the continuous skeleton.

[0009] Preferably, the drive assembly includes a housing fixed to the top of the inner liner tube, and a plurality of first sliders are arranged inside the housing corresponding to the number of first drive wires. The first sliders can slide along the first groove opened on the housing. A threaded hole is opened at the top of the first slider, and a first drive block is threadedly connected to the corresponding threaded hole. The first drive block is driven to rotate by a drive motor fixed on the housing, thereby moving the first slider. The bottom of the first slider is connected to the first drive wire, and the movement of the first slider pulls the first drive wire.

[0010] Preferably, two tensioning rollers are rotatably connected inside the housing. After the first drive wire enters the housing, it passes through the surfaces of the two tensioning rollers in sequence to be tensioned before connecting with the first slider.

[0011] Preferably, the anchoring assembly further includes an anchoring motor, the output end of which is connected to a second drive block, the second drive block is threadedly connected to a second slider, the second slider is capable of sliding along a second groove on the housing, and the end of the second slider is connected to a second drive wire.

[0012] Preferably, the pushing component includes a slide tube, which is disposed inside the housing and can slide along the inner wall of the inner liner tube; the bottom of the slide tube extends outward to form two push blocks, which pass through a vertically opened limiting groove on the inner liner tube and can slide along the limiting groove; the push blocks can push the guide tube into the continuous skeleton by moving along the inner liner tube; a rack is also vertically connected to the side wall of the slide tube, which is rotatably connected to a gear inside the housing, and the rotation of the gear can drive the slide tube to move vertically, and the gear is driven to rotate by a pushing motor.

[0013] Preferably, a visual sensor is connected to the end of the continuum skeleton to acquire image information within the respiratory tract.

[0014] On the other hand, a simulation training method for using the aforementioned airway intubation continuum robot is proposed, characterized by the following steps: S1. Model Setup; Place the human model on the table and place a camera device on one side of the human model to record the manipulation process; S2. Assembly and initial positioning; slide the conduit outside the inner liner tube to keep the continuous skeleton straight, and insert the end of the continuous skeleton along the oral cavity or nasal cavity of the human model. S3. Continuous skeleton bending guide: The drive assembly drives the first drive wire in the corresponding direction to pull, so that the continuous skeleton bends along the target directions of up, down, left and right. In conjunction with the end vision sensor, the end of the continuous skeleton is guided to the position of the duct opening. S4. Anchoring and locking of skeleton units; the sealing slider is pulled by the second drive wire to block the connecting hole and achieve sealing and locking in the spherical connecting groove, restricting the relative rotation between adjacent skeleton units, so that the continuous skeleton maintains the current bending posture; S5. Catheter Pushing: The pushing component drives the pusher to move downward along the inner liner tube, smoothly pushing the catheter from the inner liner tube to the outer wall of the continuous skeleton, and guiding it along the continuous skeleton into the human model catheter to the preset depth. S6. Drive wire release and skeleton withdrawal; the second drive wire is released, the sealing slider is reset under the action of the reset spring, and the anchoring of the adjacent skeleton unit is released; the drive assembly relaxes the first drive wire, thereby relaxing the continuous skeleton, and slowly withdrawing the continuous skeleton from the human model's respiratory tract, leaving only the catheter in the catheter to complete the intubation. S7. Intubation confirmation and fixation; Confirm the correct position of the catheter by visual inspection or ventilation pressure, externally fix the catheter, and complete the entire intubation operation; S8. Model Storage; After removing the catheter from the human body model, store the human body model away.

[0015] Compared with existing technologies, the above technical solution has the following advantages or beneficial effects: 1. This invention, by setting up a continuous skeleton composed of several rotatable skeleton units, and cooperating with four sets of first drive wires and drive components that control bending up, down, left, and right respectively, can achieve precise bending guidance of the continuous skeleton. Combined with real-time image feedback from the end vision sensor, it can quickly and accurately guide the end of the skeleton to the tracheal opening, effectively solving the problems of low accuracy and low success rate of existing manual intubation. At the same time, the pushing component smoothly pushes the trachea with uniform force and smooth movement through the push block, avoiding problems such as jamming and excessive speed during manual pushing, reducing friction and damage of the tracheal tube to the respiratory mucosa, and avoiding the general anesthesia stress response induced by repeated intubation, thus reducing the difficulty of intubation and patient suffering.

[0016] 2. This invention replaces manual operation by mounting a robot on a robotic arm. Medical personnel can remotely control the entire intubation process through the drive and push components, eliminating the need for close contact with the patient's oral and nasal secretions. Especially for patients with infectious diseases, it can completely cut off the transmission path of cross-infection, effectively solving the occupational exposure risks of existing manual intubation and ensuring the personal safety of medical personnel.

[0017] 3. The anchoring component of this invention, by pulling the sealing slider to block the connecting hole through the second drive wire, achieves the sealing and locking of the spherical connecting groove, which can effectively limit the relative rotation between adjacent skeleton units, so that the continuous skeleton can stably maintain the current bending guide posture, but there is a small range of movement space, avoiding damage to the airway by the rigid continuous skeleton. It solves the problems of traditional intubation instruments having no reliable locking mechanism and easy deviation of the guide angle, ensuring that the endotracheal tube can be smoothly delivered into the endotracheal tube along the preset guide path, and further improving the success rate of intubation. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0019] Figure 1 This is a schematic diagram of a continuum robot.

[0020] Figure 2 This is a schematic diagram of the external structure of a continuum.

[0021] Figure 3 This is a schematic diagram of the connection between adjacent skeleton units.

[0022] Figure 4 This is a schematic diagram of the structure when adjacent skeleton units are anchored.

[0023] Figure 5 This is a schematic diagram of the internal structure of the shell.

[0024] Figure 6This is a structural diagram of the drive component.

[0025] Figure 7 This is a cross-sectional view of the driver component and the push component.

[0026] Explanation of reference numerals in the attached figures: 1. Continuous skeleton; 11. Skeleton unit; 111. Through cavity; 112. Tube body; 113. Spherical connector; 114. Spherical connecting groove; 12. Anchoring assembly; 121. Sealing slider; 122. Return spring; 123. Connecting hole; 124. Baffle; 125. Second drive wire; 126. Anchoring motor; 127. Second slider; 128. Second slide groove; 129. Second drive block; 2. Liner tube; 3. First drive wire; 4. Drive assembly; 41. Housing; 42. First slider; 43. First slide groove; 44. Threaded hole; 45. First drive block; 46. Drive motor; 47. Tensioning wheel; 5. Pushing assembly; 51. Slide tube; 52. Push block; 53. Limiting groove; 54. Rack; 55. Gear; 56. Pushing motor; 6. Vision sensor. Detailed Implementation

[0027] To clearly illustrate the technical features of this solution, the invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the invention. To simplify the disclosure of the invention, components and arrangements of specific examples are described below. Furthermore, reference numerals and / or letters may be repeated in different examples. This repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted to avoid unnecessarily limiting the invention. Terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Example 1: Please see Figures 1-7 This embodiment provides a continuous endotracheal intubation robot, the specific structure of which is as follows: The continuous skeleton 1 is the core guiding structure of the robot, used to adapt to the curvature of the patient's airway and guide the catheter. It includes several skeleton units 11, connected end-to-end, with adjacent skeleton units 11 capable of flexible rotation, allowing the entire continuous skeleton 1 to bend in multiple directions. In this embodiment, the specific number of skeleton units 11 can be flexibly adjusted according to the airway length of different patients, such as adults and children. The rotation angle between adjacent skeleton units 11 can meet the airway curvature requirements, ensuring flexibility while avoiding excessive rotation that could damage the skeleton or airway.

[0029] Each skeleton unit 11 includes a tube 112 made of medical-grade stainless steel, which has good rigidity and biocompatibility, ensuring the structural strength of the skeleton unit 11 while reserving sufficient internal space for installing the drive wire and anchoring assembly 12. One end of the tube 112 is integrally formed with a spherical connector 113, which is open at the end. The other end of the tube 112 has a spherical connecting groove 114 that is adapted to the spherical connector 113. The spherical connector 113 can be inserted into the spherical connecting groove 114 and can rotate flexibly within a certain angle range within the spherical connecting groove 114, thereby realizing multi-angle rotation between adjacent skeleton units 11.

[0030] Each skeleton unit 11 has a through cavity 111 inside its tube body 112. The through cavity 111 passes through both ends of the tube body 112 and the opening of the spherical connector 113. The through cavity 111 is used to pass through the first drive wire 3 and the second drive wire 125. There are at least four sets of first drive wires 3, which are respectively set in the four directions of the through cavity 111. The four sets of first drive wires 3 are parallel to each other and are all parallel to the axis of the tube body 112. The ends of the four sets of first drive wires 3 are fixed to the end face of the last skeleton unit 11. The front ends pass through the through cavity 111 of each skeleton unit 11 in sequence, extend to the top of the inner liner tube 2 and connect with the drive assembly 4. Pulling any set of first drive wires 3 can drive the continuous skeleton 1 to bend in the corresponding direction. The four sets of first drive wires 3 work together to achieve precise bending guidance of the continuous skeleton 1 in the four directions of up, down, left and right.

[0031] Anchoring assembly 12; Anchoring assembly 12 is disposed within the tube body 112 of each skeleton unit 11 to limit rotation between adjacent skeleton units 11, enabling the continuous skeleton 1 to stably maintain its current bending posture and preventing guide angle deviation during tube insertion. Anchoring assembly 12 includes a sealing slider 121, a return spring 122, a second drive wire 125, and a connecting hole 123, wherein: The sealing slider 121 is made of medical-grade rubber and has a cylindrical structure. The outer diameter of the sealing slider 121 is matched with the inner diameter of the through cavity 111, allowing it to slide flexibly along the axis of the tube body 112 within the through cavity 111. The length of the sealing slider 121 meets the requirement of completely sealing the connecting hole 123, ensuring that the sealing slider 121 can completely block the connecting hole 123. The connecting hole 123 is formed between the spherical connecting groove 114 of the tube body 112 and the through cavity 111, connecting the through cavity 111 and the spherical connecting groove 114. When the sealing slider 121 slides to the connecting hole 123, it can seal the connecting hole 123, achieving a sealing lock within the spherical connecting groove 114.

[0032] A baffle 124 is fixedly installed at the end of the tube body 112. The baffle 124 is a circular metal plate with a diameter that matches the inner diameter of the tube body 112. A through hole is provided on the baffle 124 for the second drive wire 125 to pass through. A return spring 122 is connected between the baffle 124 and the sealing slider 121. The return spring 122 is sleeved on the outside of the second drive wire 125. One end of the return spring 122 is fixedly connected to the baffle 124, and the other end is fixedly connected to the sealing slider 121. When the return spring 122 is in its natural state, it can pull the sealing slider 121 to a position away from the connecting hole 123. At this time, adjacent skeleton units 11 can rotate freely. When the second drive wire 125 is pulled, the sealing slider 121 overcomes the elastic force of the return spring 122 and slides along the through cavity 111 toward the connecting hole 123 until the connecting hole 123 is blocked. The spherical connecting groove 114 is sealed and locked by atmospheric pressure. Several vent holes can be opened on the ball joint to make the atmospheric pressure inside the ball joint the same as that outside. Therefore, when the connecting hole 123 is not blocked, the pressure inside the ball joint groove is atmospheric pressure. When blocked, the position of the ball joint in the ball joint groove 114 is fixed under the action of atmospheric pressure.

[0033] The advantage of this type of anchoring is that, unlike rigid anchoring, air pressure anchoring allows for some room of movement. In contrast, directly making the continuous skeleton 1 rigid may scratch the mucous membrane in the respiratory tract. This type of anchoring retains some room of movement when encountering strong external forces, thus minimizing damage to the respiratory tract.

[0034] The second drive wire 125 is located at the center of the cavity 111 and is parallel to the four sets of first drive wires 3. The end of the second drive wire 125 is fixed to the sealing slider 121 of the last skeleton unit 11. The front end passes through the cavity 111 of each skeleton unit 11 and the through hole on the baffle 124 in sequence, extends to the top of the inner liner tube 2 and is connected to the drive structure of the anchoring assembly 12. Pulling the second drive wire 125 can drive the sealing slider 121 in all skeleton units 11 to slide synchronously, so as to realize the synchronous anchoring and locking of all adjacent skeleton units 11.

[0035] The inner liner 2 and the catheter; the inner liner 2 is made of medical-grade polytetrafluoroethylene, which has good smoothness and biocompatibility. The length of the inner liner 2 is the same as the length of the continuum skeleton 1. The inner liner 2 is fixed to the top of the continuum skeleton 1, so that the catheter on the inner liner 2 can slide onto the continuum to realize catheter insertion.

[0036] The catheter is a commonly used endotracheal catheter in clinical practice. The inner diameter of the catheter is matched with the outer diameter of the inner liner tube 2. The catheter is slidably sleeved on the outside of the inner liner tube 2. The catheter can slide freely along the outer wall of the inner liner tube 2. When the continuous skeleton 1 is bent to the target angle and anchored, the catheter can slide from the inner liner tube 2 to the outer wall of the continuous skeleton 1 and be inserted into the patient's trachea along the guide of the continuous skeleton 1.

[0037] Drive assembly 4; Drive assembly 4 is fixed to the top of the inner liner tube 2 and is used to drive the first drive wire 3 to move, thereby controlling the bending of the continuous skeleton 1. Drive assembly 4 includes a housing 41, a first slider 42, a first drive block 45, a drive motor 46, and a tensioning wheel 47, wherein: The housing 41 is made of aluminum alloy and has a rectangular structure. The bottom of the housing 41 is fixedly connected to the top of the inner liner tube 2. An installation cavity is provided inside the housing 41 for installing various driving components. Corresponding to the number of the four sets of first driving wires 3, four first sliders 42 are provided inside the housing 41. The four first sliders 42 correspond to the four directions of up, down, left, and right, respectively. Each first slider 42 can slide along a first groove 43 opened on the housing 41. The first groove 43 is a strip-shaped groove that extends along the length of the housing 41 and is consistent with the extension direction of the first driving wires 3.

[0038] Each first slider 42 has a threaded hole 44 at its top, and a first driving block 45 is connected to the threaded hole 44 with an internal thread. The first driving block 45 has a cylindrical structure and an external thread on its outer wall, which matches the internal thread of the first slider 42. Each first driving block 45 is driven to rotate by a driving motor 46. The driving motor 46 is fixed to the top of the housing 41, and the output end of the driving motor 46 is fixedly connected to one end of the first driving block 45. When the driving motor 46 drives the first driving block 45 to rotate, the first slider 42 is limited by the first slide groove 43 and cannot rotate with the first driving block 45, thereby realizing the linear movement of the first slider 42 along the first slide groove 43, which in turn pulls or releases the first driving wire 3.

[0039] Two tensioning wheels 47 are rotatably connected inside the housing 41. The two tensioning wheels 47 are respectively located at the entrance of the first drive wire 3 into the housing 41 and at the connection of the first slider 42. After the first drive wire 3 enters the housing 41, it passes through the surfaces of the two tensioning wheels 47 in sequence. Through the tensioning action of the tensioning wheels 47, the first drive wire 3 is prevented from becoming loose or wobbling during movement, ensuring the pulling accuracy of the first drive wire 3, and thus ensuring the bending accuracy of the continuous skeleton 1.

[0040] A visual sensor 6 is fixed at the end of the continuum skeleton 1. The visual sensor 6 uses a miniature high-definition camera and is flush with the end of the continuum skeleton 1 to avoid interference with the intubation process. The visual sensor 6 is connected to an external display terminal via a wire that passes through the cavity 111 and the inner liner tube 2 of the continuum skeleton 1. It can collect image information in the patient's airway in real time (including the position of the glottis, the tracheal opening, etc.) and transmit it to the external display terminal to provide real-time visual feedback to medical staff and assist in precise guidance.

[0041] Example 2: Please see Figures 1-7 This embodiment optimizes the anchoring component 12 based on Embodiment 1 to improve the stability and reliability of the anchoring. The specific optimization scheme is as follows: An anchoring assembly 12 adds an anchoring motor 126, which is a micro stepper motor, fixed on the top of the housing 41 of the drive assembly 4, and arranged side by side with the drive motor 46. The output end of the anchoring motor 126 is fixedly connected to a second drive block 129, which is threadedly connected to a second slider 127. A second groove 128 is opened on the housing 41 corresponding to the position of the second slider 127. The second groove 128 is parallel to the first groove 43, and the second slider 127 can slide freely along the second groove 128. The front end of the second drive wire 125 is fixedly connected to the bottom of the second slider 127. The anchoring motor 126 drives the second drive block 129 to rotate, which drives the second slider 127 to move along the second groove 128, thereby realizing the pulling and releasing of the second drive wire 125, improving the automation level and control accuracy of the anchoring operation.

[0042] Meanwhile, a sealing gasket is provided at the end of the sealing slider 121. The sealing gasket is made of medical-grade nitrile rubber with a thickness of 0.2 mm and is ring-shaped. It is fixed at the end of the sealing slider 121 facing the connecting hole 123. When the sealing slider 121 blocks the connecting hole 123, the sealing gasket can fit tightly with the edge of the connecting hole 123, further improving the sealing effect, ensuring the reliability of the sealing lock in the spherical connecting groove 114, avoiding anchoring failure due to poor sealing, and thus preventing the bending posture deviation of the continuous skeleton 1.

[0043] In this embodiment, the working principle of the anchoring component 12 is as follows: When anchoring is required, the anchoring motor 126 is controlled to rotate forward, the second drive block 129 drives the second slider 127 to move away from the continuous skeleton 1 along the second slide groove 128, pulls the second drive wire 125, and the sealing slider 121 slides to the connecting hole 123 against the elastic force of the return spring 122. The sealing gasket fits tightly with the edge of the connecting hole 123, sealing the connecting hole 123 and achieving the sealing and locking of the spherical connecting groove 114, thus restricting the rotation of the adjacent skeleton unit 11. When anchoring is required to be released, the anchoring motor 126 is controlled to rotate in reverse, the second drive block 129 drives the second slider 127 to reset, the second drive wire 125 is released, and the sealing slider 121 moves away from the connecting hole 123 under the elastic force of the return spring 122, releasing the sealing and locking, and the adjacent skeleton unit 11 resumes rotation.

[0044] Example 3: Continue reading Figures 1-7 Based on Embodiment 1, this embodiment optimizes the continuous skeleton 1 and the driving wire to improve the bending flexibility and driving accuracy of the continuous skeleton 1. The specific optimization scheme is as follows: Continuous skeleton 1 optimization: The number of skeleton units 11 is increased to 20, the skeleton units 11 are more dense, and the rotation angle of adjacent skeleton units 11 can be adjusted more precisely, so that the continuous skeleton 1 can achieve smoother and more precise bending, adapting to the complex airway curvature of different patients; the tube body 112 of the skeleton unit 11 is made of medical-grade titanium alloy instead of stainless steel. Titanium alloy is lighter, stronger, and more biocompatible, reducing irritation to the patient's airway mucosa, while reducing the overall weight of the robot and making it easier to operate.

[0045] The contact surfaces of the spherical connector 113 and the spherical connecting groove 114 are provided with a lubricating coating. The lubricating coating is made of medical-grade polytetrafluoroethylene, which can reduce the friction between the spherical connector 113 and the spherical connecting groove 114, making the rotation of adjacent skeleton units 11 smoother, reducing the tension loss of the drive wire, and improving the bending response speed.

[0046] Drive wire optimization: Both the first drive wire 3 and the second drive wire 125 are made of high-strength carbon fiber. Compared with nylon wire, carbon fiber has higher strength, better toughness, is not easy to break, and is lighter in weight, which can further improve drive accuracy and response speed. At the same time, a medical-grade silicone sleeve is wrapped around the surface of the drive wire. The thickness of the silicone sleeve is 0.05mm, which reduces wear on the drive wire during sliding, extends the service life of the drive wire, and prevents the drive wire from scratching the inner wall of the through cavity 111.

[0047] In addition, at the end of the continuous skeleton 1, a reinforcing block is provided at the fixing point of the first drive wire 3. The reinforcing block is made of medical-grade stainless steel and is fixed to the end of the last skeleton unit 11 by welding. The end of the first drive wire 3 is fixedly connected to the reinforcing block to prevent the drive wire from detaching from the skeleton unit 11 due to long-term pulling, thereby improving the reliability of the connection.

[0048] The remaining structure of this embodiment is completely the same as that of Embodiment 1, and will not be described again here.

[0049] Example 4: Continue reading Figures 1-7 This embodiment optimizes the visual sensor 6 and the remote control function based on Embodiment 1, improving the convenience and accuracy of the intubation operation. The specific optimization scheme is as follows: The visual sensor 6 has been replaced with a high-definition endoscopic camera, with the resolution increased to 1080P, enabling clearer acquisition of images within the respiratory tract. An infrared imaging function has also been added, allowing for clear visualization of the glottis and tracheal openings in dimly lit respiratory environments (such as inside the mouth of a patient under general anesthesia), preventing guidance deviations due to insufficient light. The lens of the visual sensor 6 features an anti-fog coating made of medical-grade anti-fog material, preventing fogging and ensuring image clarity, thus avoiding obstruction of observation due to fog.

[0050] The visual sensor 6 is connected to the external display terminal via a wireless transmission module, replacing the traditional wire connection. The wireless transmission module uses a 5G module, which has a fast transmission speed and low latency, enabling real-time image transmission while avoiding interference from wires during intubation, thus improving operational flexibility. The external display terminal has added image recognition function, which can automatically identify the location of the glottis and tracheal opening and mark them with red frames to assist medical staff in quick positioning and further improve guidance accuracy.

[0051] The motors of drive component 4, anchoring component 12, and pushing component 5 are all connected via a remote control module. The remote control module can be connected to terminal devices such as computers and tablets. Medical personnel can input control commands through the terminal devices to precisely control the rotation angle and speed of each motor, realizing remote operation of the entire intubation process. At the same time, the remote control module has added a feedback function, which can feed back information such as the operating status of the motor, the tension of the drive wire, and the pushing position of the catheter to the terminal device in real time, so that medical personnel can keep track of the intubation progress in real time and adjust the operating parameters in a timely manner.

[0052] In addition, a pressure sensor is installed at the end of the continuous skeleton 1. The pressure sensor is connected to the remote control module and can detect the pressure between the end of the continuous skeleton 1 and the respiratory mucosa in real time. When the pressure exceeds the preset threshold (0.5MPa), the remote control module will issue an alarm to remind medical staff to adjust the operation to avoid damage to the respiratory mucosa by the continuous skeleton 1, and further improve the safety of intubation.

[0053] The remaining structure of this embodiment is completely the same as that of Embodiment 1, and will not be described again here.

[0054] Example 5: This embodiment is based on the robot mentioned in the above embodiments. Since it requires simulation practice before being used by patients, and patients can practice with it after becoming proficient in its operation, a simulation practice method is proposed. This method applies the robot described in any of the above embodiments, as follows: S1. Model Setup; The mannequin was placed on a table, and a camera was placed on one side of the mannequin to record the manipulation process; S2. Assembly and Initial Positioning 1. Assembly Operation: First, check the integrity and reliability of the connections of each component of the robot, confirm that the various skeleton units 11 of the continuous skeleton 1 are tightly connected, and that the spherical connector 113 can rotate flexibly within the spherical connecting groove 114; check whether the first drive wire 3 and the second drive wire 125 are intact, without any breakage or looseness, and whether the fixing points of the drive wires to the slider and skeleton unit 11 are secure; check whether the vision sensor 6 and pressure sensor (if any) are working properly, whether the image transmission is clear, and whether the pressure detection is accurate; check the operating status of the drive motor 46, push motor 56, and anchor motor 126 to ensure that the motors rotate smoothly without any jamming or abnormal noise.

[0055] 2. Catheter assembly: Slowly slide the clinically selected endotracheal catheter onto the outside of the inner liner tube 2, ensuring that the inner wall of the catheter fits tightly against the outer wall of the inner liner tube 2, and that the top of the catheter is in close contact with the push block 52.

[0056] 3. Initial robot posture adjustment: Control all drive motors 46 of the drive assembly 4 to reverse, release all first drive wires 3, keep the continuous skeleton 1 straight, ensure that there is no locking between adjacent skeleton units 11, and allow for flexible rotation; Control the push motor 56 of the push assembly 5 to reverse, drive the slide tube 51 and push block 52 to reset upward, so that the push block 52 is at the top position of the inner liner tube 2, and prevent the push block 52 from blocking the end of the continuous skeleton 1; Control the second drive wire 125 of the anchoring assembly 12 to release, so that the sealing slider 121 moves away from the connecting hole 123 under the action of the reset spring 122, and release the anchoring of all skeleton units 11.

[0057] 4. Initial Positioning: The trainee fixes the robot to the dedicated robotic arm and adjusts the position of the robotic arm so that the end of the continuous skeleton 1 is aligned with the entrance of the human body model's mouth or nose. The vision sensor 6 is turned on to confirm that the image transmission is normal. The trainee observes the image of the human body model's airway entrance through the external display terminal. The trainee slowly pushes the robotic arm to slowly insert the end of the continuous skeleton 1 into the human body model's mouth or nose. During the insertion process, the trainee observes the internal condition of the airway in real time through the vision sensor 6 to avoid the continuous skeleton 1 from colliding with the airway mucosa. The insertion is stopped when the end of the continuous skeleton 1 reaches the pharynx (about 2-3 cm away from the glottis), thus completing the initial positioning.

[0058] S3. Continuous skeleton 1 bending guide 1. Image observation and positioning: Real-time image information of the respiratory tract of the human model is acquired through the visual sensor 6 (infrared mode can be turned on if infrared imaging function is available). The position of the glottis and tracheal opening is clearly observed on the external display terminal. The target position is marked by the image recognition function (if available) to determine the direction and angle of bending of the continuum skeleton 1.

[0059] 2. Precise bending control: Based on the target direction and angle, a control command is sent to the drive assembly 4 to control the drive motor 46 corresponding to the first drive wire 3 in the corresponding direction to rotate forward, drive the first slider 42 to move, and pull the first drive wire 3 in that direction; at the same time, the drive motor 46 in other directions is adjusted as needed to relax the first drive wire 3 in the corresponding direction, so that the continuous skeleton 1 bends slowly along the target direction (upward, downward, leftward, rightward or combined directions).

[0060] For example, if the glottis is located above the end of the continuous skeleton 1, the drive motor 46 corresponding to the upper first drive wire 3 is controlled to rotate forward to pull the upper first drive wire 3, while the drive motor 46 corresponding to the lower first drive wire 3 is controlled to rotate in reverse to release the lower first drive wire 3, so that the continuous skeleton 1 bends upward; if the glottis is located diagonally above, the upper and left (or right) first drive wires 3 are controlled to pull simultaneously to achieve combined bending.

[0061] 3. Guiding fine-tuning: During the bending process, the rotation angle of the drive motor 46 is continuously fine-tuned based on the real-time feedback image from the vision sensor 6, and the tension of the first drive wire 3 is adjusted to precisely control the bending angle of the continuous skeleton 1, ensuring that the end of the continuous skeleton 1 slowly approaches and aligns with the tracheal opening; if a pressure sensor is provided, the pressure data is observed in real time to ensure that the pressure between the end of the continuous skeleton 1 and the respiratory mucosa does not exceed the preset threshold, thus avoiding damage to the mucosa; during the bending process, the drive wire is kept taut by the tensioning wheel 47 to prevent the drive wire from slackening and causing a decrease in bending accuracy.

[0062] 4. Guiding confirmation: When the end of the continuous skeleton 1 is precisely aligned with the tracheal opening, stop the rotation of the drive motor 46, maintain the tension of the first drive wire 3, keep the continuous skeleton 1 in its current bent posture, and reconfirm the accuracy of the end position through the vision sensor 6 to ensure that the catheter can be smoothly delivered into the trachea along the continuous skeleton 1.

[0063] S4. Anchoring and locking of skeleton unit 11 1. Anchoring Operation: After confirming that the bending posture of the continuous skeleton 1 is accurate, start the anchoring assembly 12. If it is manual anchoring, manually pull the second drive wire 125 so that the second drive wire 125 drives the sealing slider 121 to overcome the elastic force of the return spring 122 and slide along the central channel of the through cavity 111 towards the connecting hole 123. If it is automatic anchoring, control the anchoring motor 126 to rotate forward, drive the second slider 127 to move, pull the second drive wire 125, and drive the sealing slider 121 to slide.

[0064] 2. Locking Confirmation: When the sealing slider 121 slides to the connecting hole 123, the sealing slider 121 completely blocks the connecting hole 123, realizing the sealing and locking in the spherical connecting groove 114, and restricting the relative rotation between adjacent skeleton units 11; the posture of the continuous skeleton 1 is observed by the vision sensor 6 to confirm that there is no deviation, and at the same time, the tension data of the second drive wire 125 fed back by the remote control module is used to confirm that the anchoring is firm, ensuring that the continuous skeleton 1 can stably maintain the current bending guide posture and retain a small range of movement space to avoid rigid damage.

[0065] S5. Catheter Push 1. Pushing preparation: After confirming that the anchoring is firm, turn on the pushing component 5 and check the operating status of the pushing motor 56, gear 55, and rack 54 to ensure that the slide tube 51 and push block 52 can move flexibly; observe the initial position of the guide tube through the external display terminal to confirm that the push block 52 is in close contact with the bottom of the guide tube and that the guide tube is not deviated.

[0066] 2. Smooth Pushing: Control the push motor 56 to rotate forward, drive the gear 55 to rotate, the gear 55 drives the rack 54 to move downward, and then drive the slide tube 51 to slide downward along the inner wall of the inner liner tube 2. The slide tube 51 drives the push block 52 to move downward along the limiting groove 53. The push block 52 pushes the guide tube to slide slowly downward along the inner liner tube 2. During the pushing process, adjust the speed of the push motor 56 to control the pushing speed to 1-2 mm / s to ensure smooth pushing and avoid jamming, too fast or too slow.

[0067] 3. Pushing and guiding: Under the push of the pusher block 52, the catheter gradually slides from the inner liner tube 2 to the outer wall of the continuous skeleton 1. Since the continuous skeleton 1 is in a bent and locked state, the catheter can extend synchronously along the bending direction of the continuous skeleton 1. Under the guidance of the continuous skeleton 1, it slowly moves towards the tracheal opening. During the pushing process, the position of the front end of the catheter is observed in real time through the vision sensor 6 to ensure that the front end of the catheter is aligned with the tracheal opening without deviation.

[0068] 4. Pushing into position: When the tip of the catheter is inserted into the trachea of ​​the human model to the preset depth, the rotation of the push motor 56 is stopped, and the catheter push is stopped; the position of the catheter is observed through the vision sensor 6 to confirm that the tip of the catheter is in the trachea and has not dislodged or deviated.

[0069] S6. Drive filament release and skeleton withdrawal 1. Anchoring Release: Control the anchoring assembly 12 to release the second drive wire 125, control the anchoring motor 126 to reverse, drive the second slider 127 to reset, and release the second drive wire 125; the sealing slider 121 is reset under the elastic force of the reset spring 122, moves away from the connecting hole 123, releases the anchoring lock of the adjacent skeleton unit 11, and the adjacent skeleton unit 11 resumes free rotation.

[0070] 2. Drive wire release: Control all drive motors 46 of the drive assembly 4 to reverse, relax all first drive wires 3, so that the continuous skeleton 1 loses tension and returns to a freely bendable state, avoiding bending of the continuous skeleton 1 during the withdrawal process and damage to the respiratory mucosa.

[0071] 3. Skeleton withdrawal: Slowly pull the robotic arm to slowly withdraw the continuous skeleton 1 from the human model's airway. During the withdrawal process, the internal condition of the airway is observed in real time through the vision sensor 6, without causing the tube to shift. During the withdrawal process, the pusher block 52 is still pushed to contact the tube, which plays a slight limiting role and prevents the tube from shifting.

[0072] 4. Exit Confirmation: After the continuous skeleton 1 is completely removed from the oral cavity or nasal cavity of the human model, stop the robotic arm pulling, check the integrity of the continuous skeleton 1, and confirm that the drive wire and skeleton unit 11 are undamaged; at the same time, observe the position of the tube in the respiratory tract of the human model through the vision sensor 6 to confirm that the tube has not been displaced or dislodged.

[0073] S7. Intubation confirmation and fixation 1. Intubation confirmation: Two methods are used to confirm the correct placement of the intubation tube: First, visual confirmation, by inserting the visual sensor 6 back into the airway of the human model to observe whether the tip of the tube is in the trachea and whether it has been mistakenly inserted into the esophagus; Second, ventilation pressure confirmation, by connecting the tube to the ventilator and detecting the ventilation pressure. If the ventilation pressure is within the normal range and the chest of the human model can rise and fall normally, it indicates that the tube is in the correct position and there is no blockage or dislodgement.

[0074] 2. Catheter fixation: After confirming that the catheter is in the correct position, use medical tape to fix the catheter to the face or sides of the nose of the human model. When fixing, ensure that the catheter is not twisted or loose, and the fixing force is moderate to avoid compressing the skin of the human model. At the same time, mark the fixing position on the exposed part of the catheter to facilitate subsequent observation of whether the catheter has shifted.

[0075] 3. Post-operative cleanup: Turn off the vision sensor 6, drive motor 46, push motor 56, anchor motor 126, etc. Clean and disinfect the robot, organize the drive wires, wires and other components, and store them properly; record the relevant parameters during the cannulation process for future review and optimization.

[0076] S8. Model Storage; After removing the catheters from the mannequin, store the mannequin away, and finally review the practice video.

[0077] Although the specific embodiments of the invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the invention. Based on the technical solutions of the invention, various modifications or variations that can be made by those skilled in the art without creative effort are still within the scope of protection of the invention.

Claims

1. A continuous robot for endotracheal intubation, characterized in that, include: The continuous skeleton (1) includes several skeleton units (11), which are connected end to end and can rotate between adjacent skeleton units (11); a through cavity (111) is opened in the skeleton unit (11), and the first drive wire (3) passes through the through cavity (111) of each skeleton unit (11) and is connected to the end of the last skeleton unit (11). Pulling the first drive wire (3) can cause the continuous skeleton (1) to bend. An anchoring component (12) is disposed within the skeleton unit (11) and is capable of restricting rotation between adjacent skeleton units (11); The inner liner tube (2) is fixed to the top of the continuous skeleton (1). A guide tube is slidably sleeved on the outside of the inner liner tube (2). The guide tube can slide from the inner liner tube (2) to the continuous skeleton (1). The top of the inner liner tube (2) is connected to the drive assembly (4). The first drive wire (3) passes through the inner liner tube (2) and is connected to the drive assembly (4). The drive assembly (4) can drive the first drive wire (3) to move. The push assembly (5) is also located on top of the inner liner tube (2). The push assembly (5) can push the conduit along the inner liner tube (2) to the outer wall of the continuum skeleton (1).

2. The continuous endotracheal intubation robot according to claim 1, characterized in that: The skeleton unit (11) includes a tube (112), one end of which is connected to a spherical connector (113). The end of the spherical connector is open, and the other end is provided with a spherical connection groove (114). The spherical connector can be inserted into the spherical connection groove (114) and rotate in the spherical connection groove (114).

3. The continuous endotracheal intubation robot according to claim 2, characterized in that: The anchoring assembly (12) includes a sealing slider (121) that can slide within the through cavity (111); a connecting hole (123) is also provided between the spherical connecting groove (114) and the through cavity (111), and when the sealing slider (121) slides to the connecting hole (123), it can block the connecting hole (123) to achieve a seal within the spherical connecting groove (114); a baffle (124) is provided at the end of the tube body (112), and the baffle (124) and the sealing slider... A reset spring (122) is connected between the blocks (121). The reset spring (122) can pull the sealing slider (121) away from the connecting hole (123). A second drive wire (125) is also provided. The second drive wire (125) passes through the through cavity (111) of each skeleton unit (11) in sequence and is fixedly connected to the sealing slider (121). Pulling the second drive wire (125) can pull the sealing slider (121) to the connecting hole (123) for sealing.

4. A continuous endotracheal intubation robot according to any one of claims 1-3, characterized in that: The first drive wire (3) is provided in four sets, which are respectively located at the top, bottom, left and right of the cavity (111) to control the bending of the continuous skeleton (1) upward, downward, left and right respectively; the second drive wire (125) is located at the center of the cavity (111), and the end of the second drive wire (125) is fixed on the sealing slider (121) of the last skeleton unit (11), and the end of the first drive wire (3) is fixed on the end of the continuous skeleton (1).

5. A continuous endotracheal intubation robot according to claim 4, characterized in that: The drive assembly (4) includes a housing (41) fixed to the top of the inner liner tube (2). A number of first sliders (42) are arranged inside the housing (41) corresponding to the number of first drive wires (3). The first sliders (42) can slide along the first groove (43) opened on the housing (41). A threaded hole (44) is opened on the top of the first slider (42). A first drive block (45) is threadedly connected to the threaded hole (44). The first drive block (45) is driven to rotate by a drive motor (46) fixed on the housing (41), which drives the first slider (42) to move. The bottom of the first slider (42) is connected to the first drive wire (3). The movement of the first slider (42) pulls the first drive wire (3).

6. A continuous endotracheal intubation robot according to claim 5, characterized in that: Inside the housing (41), two tensioning rollers (47) are rotatably connected. After the first drive wire (3) enters the housing (41), it passes through the surfaces of the two tensioning rollers (47) in sequence to be tensioned before connecting with the first slider (42).

7. A continuous endotracheal intubation robot according to claim 5, characterized in that: The anchoring assembly (12) also includes an anchoring motor (126), the output end of which is connected to a second drive block (129), the second drive block (129) is threadedly connected to a second slider (127), the second slider (127) is able to slide along a second groove (128) on the housing (41), and the end of the second slider (127) is connected to a second drive wire (125).

8. A continuous endotracheal intubation robot according to claim 5, characterized in that: The push assembly (5) includes a slide tube (51), which is located inside the housing (41) and can slide along the inner wall of the inner liner tube (2); the bottom of the slide tube (51) extends outward to form two push blocks (52), which pass through the vertically opened limiting groove (53) on the inner liner tube (2) and can slide along the limiting groove (53); the push blocks (52) can push the guide tube into the continuous skeleton (1) by moving along the inner liner tube (2); a rack (54) is also vertically connected to the side wall of the slide tube (51), and a gear (55) is rotatably connected to the housing (41). The rotation of the gear (55) can drive the slide tube (51) to move vertically, and the gear (55) is driven to rotate by the push motor (56).

9. A continuous endotracheal intubation robot according to any one of claims 1-8, characterized in that: The end of the continuum skeleton (1) is connected to a vision sensor (6) for collecting image information in the respiratory tract.

10. A method for simulating training using the endotracheal intubation continuum robot according to any one of claims 1-9, characterized in that... Includes the following steps: S1. Model Setup; Place the human model on the table and place a camera device on one side of the human model to record the manipulation process; S2. Assembly and initial positioning; slide the conduit outside the inner liner tube (2) to keep the continuous skeleton (1) straight, and insert the end of the continuous skeleton (1) into the oral cavity or nasal cavity of the human model; S3. The continuous skeleton (1) is bent and guided; the drive assembly (4) drives the first drive wire (3) in the corresponding direction to pull, so that the continuous skeleton (1) bends along the target direction in the up, down, left and right directions, and in conjunction with the end vision sensor (6), guides the end of the continuous skeleton (1) to the position of the duct opening; S4. Anchoring and locking of skeleton unit (11); by pulling the sealing slider (121) through the second drive wire (125), the connecting hole (123) is blocked and the spherical connecting groove (114) is sealed and locked, restricting the relative rotation between adjacent skeleton units (11) so that the continuous skeleton (1) maintains the current bending posture. S5. Catheter pushing; The pushing component (5) drives the pusher (52) to move downward along the inner liner tube (2), smoothly pushing the catheter from the inner liner tube (2) to the outer wall of the continuous skeleton (1), and guiding it into the human body model to the preset depth along the continuous skeleton (1); S6. Drive wire release and skeleton exit; release the second drive wire (125), the sealing slider (121) is reset under the action of the reset spring (122), and the anchoring of the adjacent skeleton unit (11) is released; the drive assembly (4) relaxes the first drive wire (3) so that the continuous skeleton (1) is relaxed, and the continuous skeleton (1) is slowly withdrawn from the airway of the human model, leaving only the catheter in the catheter to complete the intubation; S7. Intubation confirmation and fixation; Confirm the correct position of the catheter by visual inspection or ventilation pressure, externally fix the catheter, and complete the entire intubation operation; S8. Model Storage; After removing the catheter from the human body model, store the human body model away.

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