Intubation robot

Abstract

The application provides a cannulation robot, which comprises a robot main body, a connecting seat and a cannulation device. The cannulation device comprises a supporting seat, a wire pulling assembly, a first bending module and a second bending module. The wire body connected with the wire pulling assembly penetrates through the first bending module and is connected with the second bending module. The second bending module is an asymmetric structure. A plurality of isolation discs with movable gaps are arranged, and the elastic connection structures between adjacent isolation discs are exposed in the gaps. In the pulling direction, the bending section moment of inertia of the plurality of elastic connection structures can be superimposed, so as to construct an anisotropic high-rigidity framework for the pulling action, improve the bending rigidity of the second bending module in the pulling stress direction, effectively resist the heavy load in the pulling direction, avoid the easy buckling deformation of the symmetric structure with a 90-degree orthogonal distribution, and keep appropriate flexibility in the non-pulling direction, so as to ensure the safety and stability of the cannulation and pulling operation of the cannulation robot.

Description

Technical Field

[0001] This invention relates to the technical field of intubation robots, and more particularly to an intubation robot. Background Technology

[0002] With the development of medical robot technology, intubation robots are widely used in clinical surgery to assist doctors in inserting catheters, tracheas or endoscopes into patients.

[0003] Existing intubation robots include a bending module, which comprises multiple isolation discs and elastic connection structures connecting adjacent isolation discs. The elastic connection structures are arranged in a symmetrical structure with 90-degree orthogonal distribution. However, the bending section moment of inertia is the same in all directions when the 90-degree orthogonal symmetrical distribution is in all directions. When a heavy lifting operation is required, the lifting force will generate a large axial and lateral combined load on the bending module. Therefore, the symmetrical skeleton is prone to buckling deformation, which will cause the intubation trajectory to deviate and affect the stability of the intubation lifting operation of the intubation robot. Summary of the Invention

[0004] The purpose of this invention is to provide a cannulation robot, in which a support base is movably connected to a connecting base, so that the cannulation device can achieve bending while the axial feed compensation is performed by the movement of the support base, ensuring a smooth cannulation process; a wire assembly passes through the first bending module and connects to the second bending module, and the continuous bending of the first bending module and the second bending module is achieved by the traction of the wire, thereby improving the control over the bending shape of the cannulation.

[0005] By setting up multiple isolation discs with movable gaps and exposing the elastic connection structure between adjacent isolation discs in the gaps, the bending moment of inertia of the multiple elastic connection structures can be superimposed in the lifting direction, thereby constructing an anisotropic high-stiffness skeleton for the lifting action. This improves the bending stiffness of the second bending module in the lifting force direction, effectively resisting heavy lifting loads and avoiding buckling deformation that is prone to occur when using a symmetrical structure with 90-degree orthogonal distribution. In the non-lifting direction, appropriate flexibility is maintained, ensuring the safety and stability of the cannulation lifting operation of the cannulation robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intubation robot, comprising: The robot body is equipped with multiple movable arms, and two adjacent movable arms are movably connected. A connecting base is connected to the movable arm at the end of the robot body and rotates relative to the movable arm at the end. An insertion device includes a support base, a pull wire assembly, a first bending module, and a second bending module; the support base is movably mounted on a connecting base, and the pull wire assembly is mounted on the connecting base; a wire connected to the pull wire assembly passes through the first bending module and is connected to the second bending module; the second bending module is in a bending state as the wire is pulled; the first bending module is connected to the support base, and the second bending module is located at the end of the first bending module away from the support base; The second bending module is an asymmetric bending structure. The second bending module includes multiple isolation discs, with an movable gap between two adjacent isolation discs, and an elastic connection structure is provided between two adjacent isolation discs. The elastic connection structure is installed in the movable gap.

[0007] Optionally, the elastic connection structure includes a first elastic module and a second elastic module, which are arranged alternately in adjacent movable gaps.

[0008] Optionally, the isolation plate includes a plurality of first connection holes and a plurality of second connection holes; The center points of multiple first connecting holes are located on the same straight line to form a first hole row, and the center points of multiple second connecting holes are located on the same straight line to form a second hole row. The first hole row and the second hole row intersect each other in the same plane.

[0009] Optionally, both the first elastic module and the second elastic module include multiple spring structures; The multiple spring structures of the first elastic module are installed corresponding to the multiple first connecting holes, and the multiple spring structures of the second elastic module are installed corresponding to the multiple second connecting holes.

[0010] Optionally, each of the isolation discs is provided with a wire hole, and the wire connected to the pull wire assembly passes through each of the wire holes in sequence, with the end of the wire connected to the isolation disc at the end. The multiple isolation discs switch states as the line is stretched to adjust the bending angle of the second bending module; The first bending module is provided with a wire passage for the wire to pass through, and the wire passage is connected to the wire passage holes of each of the isolation discs along the extension direction of the wire.

[0011] Optionally, the wire-passing channel extends through the first bending module along the extending direction of the first bending module; The first bending module is provided with a spiral groove, which is arranged spirally along the length of the first bending module and is formed on the peripheral sidewall of the first bending module.

[0012] Optionally, the support base is provided with a positioning groove; One end of the first bending module is inserted into the positioning groove; the second bending module is inserted into the other end of the first bending module, and the second bending module oscillates elastically relative to the first bending module.

[0013] Optionally, the pull wire assembly is provided with multiple pull wire modules, and the positions of the multiple pull wire modules are adjusted as the support base moves; Each of the aforementioned wire-pulling modules is connected to a corresponding wire and can independently pull the corresponding wire; Each wire is threaded through the first bending module and acts on different wire holes of the second bending module; Optionally, a linear motion module is provided between the support base and the connecting base, with the fixed end of the linear motion module connected to the connecting base and the support base slidably mounted on the sliding end of the linear motion module.

[0014] Optionally, the robot body further includes a mobile body, which has a support area; a movable arm is located in the support area of ​​the mobile body and is movably connected to the mobile body; the mobile body moves relative to the ground.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a cannulation robot with a support base movably connected to a connecting base, so that the cannulation device can achieve bending while the axial feed compensation is performed by the movement of the support base, ensuring a smooth cannulation process; a wire assembly passes through the first bending module and connects to the second bending module, and the continuous bending of the first bending module and the second bending module is achieved by the traction of the wire, which improves the control over the bending shape of the cannulation.

[0016] By setting up multiple isolation discs with movable gaps and exposing the elastic connection structure between adjacent isolation discs in the gaps, the bending moment of inertia of the multiple elastic connection structures can be superimposed in the lifting direction, thereby constructing an anisotropic high-stiffness skeleton for the lifting action. This improves the bending stiffness of the second bending module in the lifting force direction, effectively resisting heavy lifting loads and avoiding buckling deformation that is prone to occur when using a symmetrical structure with 90-degree orthogonal distribution. In the non-lifting direction, appropriate flexibility is maintained, ensuring the safety and stability of the cannulation lifting operation of the cannulation robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0019] Figure 1 A schematic diagram of an intubation robot according to an embodiment of this application is shown.

[0020] Figure 2 A schematic diagram showing the connection between the connector of the intubation robot and the intubation device according to an embodiment of this application is shown.

[0021] Figure 3 A schematic diagram of an intubation device for an intubation robot according to an embodiment of this application is shown.

[0022] Figure 4 A schematic diagram of a wire-pulling assembly of an intubation robot according to an embodiment of this application is shown.

[0023] Figure 5 A schematic diagram of a first bending module of an intubation robot according to an embodiment of this application is shown.

[0024] Figure 6 A schematic diagram of a second bending module of an intubation robot according to an embodiment of this application is shown.

[0025] Figure 7 A schematic diagram of the isolation disc of an intubation robot according to an embodiment of this application is shown.

[0026] Figure Labels 100. Intubation robot; 10. Robot body; 11. Movable arm; 12. Mobile body; 12a. Support area; 20. Connecting seat; 21. Linear movement module; 30. Insertion device; 31. Support base; 31a. Positioning groove; 32. Cable pull assembly; 321. Cable pull module; 3211. Base; 3212. Fixing frame; 3213. Stepper motor; 3214. Lead screw; 3215. Slider connector; 3216. Slider; 33. First bending module; 33a. Cable passage; 33b. Spiral groove; 34. Second bending module; 341. Isolation plate; 341a. First connecting hole; 341b. Second connecting hole; 341c. Cable passage hole; 342. Elastic connection structure; 3421. First elastic module; 3422. Second elastic module. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] Please refer to the attached document. Figures 1-7 This application provides an intubation robot 100, which is used to assist doctors in inserting catheters, tracheas or endoscopes into the patient's body.

[0029] Please refer to the attached document. Figures 1-7 In this embodiment of the application, the intubation robot 100 includes a robot body 10, a connecting seat 20 and an intubation device 30. The robot body 10 is provided with multiple movable arms 11, and two adjacent movable arms 11 are movably connected; so that the intubation robot 100 has a flexible adjustment capability with multiple degrees of freedom and can adapt to the surgical space path.

[0030] The connecting seat 20 is connected to the movable support arm 11 at the end of the robot body 10 and rotates relative to the movable support arm 11 at the end, so as to adjust the rotational position of the connecting seat 20 relative to the movable support arm 11 at the end, increasing the degree of freedom of attitude adjustment of the intubation device 30, enabling the intubation device 30 to be aligned with the intubation target position and reducing the difficulty of operation.

[0031] The cannulation device 30 includes a support base 31, a pull wire assembly 32, a first bending module 33, and a second bending module 34. The support base 31 is movably mounted on the connecting base 20 to adjust the vertical position of the support base 31 relative to the connecting base 20. The pull wire assembly 32 is mounted on the connecting base 20 so that it moves with the support base 31. The wire connected to the pull wire assembly 32 passes through the first bending module 33 and connects to the second bending module 34. The second bending module 34 is in a bent state as the wire is pulled. The first bending module 33 is connected to the support base 31, and the second bending module 34 is located at the end of the first bending module 33 away from the support base 31. The continuous bending of the first bending module 33 and the second bending module 34 is achieved by the traction of the wire, which improves the control over the bending shape of the cannulation.

[0032] The second bending module 34 is an asymmetric bending structure. It includes multiple isolation discs 341, with a movable gap between adjacent isolation discs 341. Adjacent isolation discs 341 are also provided with elastic connecting structures 342, which are installed within the movable gaps. In the lifting direction, the bending moments of inertia of the multiple elastic connecting structures 342 can be superimposed, thereby constructing an anisotropic high-stiffness skeleton for the lifting action. This improves the bending stiffness of the second bending module 34 in the lifting force direction, effectively resisting heavy lifting loads and avoiding buckling deformation that is easily caused by using a symmetrical structure with orthogonal distribution. In the non-lifting direction, it maintains appropriate flexibility, ensuring the safety and stability of the cannulation lifting operation of the intubation robot 100.

[0033] Please refer to the attached document. Figures 1-6 In this embodiment, the elastic connection structure 342 includes a first elastic module 3421 and a second elastic module 3422. The first elastic module 3421 and the second elastic module 3422 are alternately arranged in adjacent movable gaps, so that the bending section moments of inertia of the first elastic module 3421 and the second elastic module 3422 in the lifting direction can be superimposed in the same direction. The superposition effect improves the section modulus in the lifting direction. When the intubation robot 100 performs a lifting heavy load action, the asymmetric bending structure can provide lateral support force, avoid buckling deformation, and ensure the reliability of the lifting action.

[0034] Please refer to the attached document. Figures 1-7In this embodiment, the isolation disk 341 includes a plurality of first connecting holes 341a and a plurality of second connecting holes 341b; the center points of the plurality of first connecting holes 341a are located on the same straight line to form a first hole row, and the center points of the plurality of second connecting holes 341b are located on the same straight line to form a second hole row. The first hole row and the second hole row intersect each other in the same plane, and the intersection angle is 10 degrees or 10 degrees. The intersecting arrangement enables the centroids of the cross sections of the first elastic module 3421 and the second elastic module 3422 to be synergistically offset in the lifting direction, thereby realizing the superposition of the bending section moment of inertia and constructing an anisotropic high stiffness skeleton.

[0035] When the intersection angle is 60 degrees, the second bending module 34 has a length of 81 mm and an outer diameter of 9 mm, and is composed of nine 4 mm thick isolation discs 341 connected in series. The first elastic module 3421 and the second elastic module 3422 are 15 mm long and connected by a 2 mm diameter wire. The two ends of the first elastic module 3421 and the second elastic module 3422 are respectively embedded 4 mm into two adjacent isolation discs 341, with an actual interval of 7 mm between the two isolation discs 341. This improves the bending stiffness and is used to push the tissue apart. The bending section moments of inertia of the elastic connection structure 342 can be superimposed, thereby constructing an anisotropic high-stiffness skeleton for the lifting action.

[0036] Please refer to the attached document. Figures 1-6 In this embodiment, both the first elastic module 3421 and the second elastic module 3422 include multiple spring structures. The multiple spring structures of the first elastic module 3421 are installed corresponding to the multiple first connecting holes 341a, and the multiple spring structures of the second elastic module 3422 are installed corresponding to the multiple second connecting holes 341b. The multiple first connecting holes 341a and the multiple second connecting holes 341b guide the spatial offset of the multiple spring structures of the first elastic module 3421 and the multiple spring structures of the second elastic module 3422. In the lifting direction, the distances of the centroids of the cross sections of the first elastic module 3421 and the second elastic module 3422 from the neutral axis are superimposed in the same direction, so that the second bending module 34 is asymmetrically bent, realizing the superposition of the bending section moment of inertia and forming an anisotropic high-stiffness skeleton.

[0037] Please refer to the attached document. Figures 1-7In this embodiment, each of the multiple isolation discs 341 is provided with a thread-passing hole 341c. The thread connected to the pull-wire assembly 32 passes through each thread-passing hole 341c in sequence, and the end of the thread is connected to the isolation disc 341 at the end. The multiple isolation discs 341 switch states as the thread is stretched to adjust the bending angle of the second bending module 34 so that each thread-passing hole 341c provides a guide channel for the thread. When a pulling force is applied, the pulling force is transmitted forward from the end isolation disc 341 in sequence, so that the second bending module 34 can bend continuously from the end, avoiding the generation of local angles or sharp bends, and reducing the risk of puncturing the patient's soft tissue during cannulation.

[0038] The first bending module 33 is provided with a wire passage 33a, which is used for the wire to pass through and connects to the wire passage holes 341c of each isolation plate 341 along the extension direction of the wire. The connection between the wire passage 33a and the wire passage holes 341c provides a smooth track for the wire, reduces the friction loss and stress concentration of the wire at the junction of the first bending module 33 and the second bending module 34, ensures that the wire extends to the end isolation plate 341, and improves the control accuracy and response sensitivity of the second bending module 34.

[0039] Please refer to the attached document. Figures 1-5 In this embodiment, the wire passage 33a extends through the first bending module 33 along its extension direction. The first bending module 33 is provided with a spiral groove 33b, which is spirally arranged along the length of the first bending module 33 and is formed on the peripheral sidewall of the first bending module 33. The spiral groove 33b connects to the same wire passage 33a along the annular direction of the first bending module 33. By forming the spiral groove 33b, the rigid pipe wall is transformed into a flexible spiral spring structure, enabling the first bending module 33 to bend under tension. At the same time, it ensures the torsional stability and radial compression resistance of the first bending module 33 during bending.

[0040] Please refer to the attached document. Figures 1-3 In this embodiment, the outer wall of the support base 31 is provided with a positioning groove 31a; one end of the first bending module 33 is inserted into the positioning groove 31a; the second bending module 34 is inserted into the other end of the first bending module 33. The second bending module 34 elastically swings relative to the first bending module 33. When the second bending module 34 performs a lifting action, the axial tension is transmitted to the support base 31 through the line. The positioning groove 31a can prevent the first bending module 33 from being pulled out or from radially moving, thus ensuring the stability of the anisotropic stiffness skeleton when bearing load.

[0041] Please refer to the attached document. Figures 1-4In this embodiment, the pull wire assembly 32 is provided with multiple pull wire modules 321, and the positions of the multiple pull wire modules 321 are adjusted as the support base 31 moves; each pull wire module 321 is connected to a corresponding wire and independently stretches the corresponding wire; each wire passes through the first bending module 33 and acts on different wire holes 341c of the second bending module 34, so that the second bending module 34 can be deflected in the circumferential direction by pulling the diagonal wire; at the same time, in conjunction with the bending of the first bending module 33, an S-shaped or spiral angle adjustment is realized, which improves the passage effect of the insertion tube.

[0042] When there are three pull-wire modules 321, three wires pass through nine isolation discs 341, and the wires are passed backward through the wire passage 33a of the first bending module 33. The first bending module 33 allows passive bending to adapt to the oral cavity passage, so that the internal wires will not generate torsional torque on the first bending module 33 under high tension, thus ensuring the torsional stability and field of vision of the second bending module 34 and the first bending module 33.

[0043] Please refer to the attached document. Figures 1-2 In this embodiment, a linear motion module 21 is provided between the support base 31 and the connecting base 20. The linear motion module 21 is arranged vertically, and its fixed end is connected to the connecting base 20. The support base 31 is slidably mounted on the sliding end of the linear motion module 21, so that the support base 31 can move vertically relative to the support base 31 under the action of the linear motion module 21. When the second bending module 34 bends due to the tension of the wire, the linear motion module 21 synchronously drives the support base 31 to retract axially to compensate for the difference in wire travel caused by bending, thereby ensuring constant wire tension. Optionally, the linear motion module 21 is a double-rail ball screw module.

[0044] The second bending module 34 uses three strands of No. 10 nylon filament. The motor-controlled cable-pulling assembly 32 of the linear motion module 21 is mounted on the slide of the linear motion module 21. The slide of the linear motion module 21 is fixed to the end of the movable support arm 11 via the connecting seat 20. In terms of operation logic, the movable support arm 11 is first used to find the three-dimensional spatial coarse positioning of the patient's oral cavity entrance. Then, the second bending module 34 achieves the bending posture aligned with the glottis through the cable strands. Once the posture is aligned, the slide of the linear motion module 21 drives the entire cable-pulling assembly 32 to move forward linearly. At this time, the catheter insertion depth is increased without changing the locked bending posture of the second bending module 34, realizing the decoupling of posture adjustment and axial feed motion.

[0045] The wire drawing module 321 adopts a linear slider direct-pull mechanism. The wire drawing module 321 includes a base 3211, a fixing frame 3212, a stepper motor 3213, a lead screw 3214, a slider connector 3215, and a slider 3216. The base 3211 is connected to the support base 31, the fixing frame 3212 is connected to the base 3211, the stepper motor 3213 is connected to the fixing frame 3212, the lead screw 3214 is connected to the stepper motor 3213, and the lead screw 3214 is connected to the slider 3216 through the slider connector 3215. Three No. 10 nylon wires are respectively fixed on the three slider connectors 3215. The linear push-pull motion of the stepper motor 3213 is directly converted into the winding and unwinding displacement of the nylon wires, avoiding the wire tangling and hysteresis errors that are prone to occur in traditional wire winding wheel mechanisms.

[0046] Please refer to the attached document. Figure 1 In this embodiment, the robot body 10 further includes a mobile body 12. The mobile body 12 has a support area 12a, which is located at the front end of the mobile body 12 and offset to one side of the middle of the mobile body 12. A movable support arm 11 is located in the support area 12a of the mobile body 12 and is movably connected to the mobile body 12. This allows the mobile body 12 to be positioned close to the operating table, with the offset support area 12a and the movable support arm 11 extending into the operating area beside the bed. This offset avoidance utilizes limited space to achieve close proximity of the intubation robot 100 to the patient. The mobile body 12 moves relative to the ground via casters, improving the transfer convenience of the intubation robot 100.

[0047] Compared with the prior art, the beneficial effects of the present invention are: The present invention provides an intubation robot 100, wherein a support base 31 is movably connected to a connecting base 20, so that the intubation device 30 can achieve bending while the axial feed compensation is performed by the movement of the support base 31, ensuring a smooth intubation process; a wire assembly 32 passes through a first bending module 33 and is connected to a second bending module 34, and the continuous bending of the first bending module 33 and the second bending module 34 is achieved by the traction of the wire, thereby improving the control over the bending shape of the intubation.

[0048] By setting multiple isolation discs 341 with movable gaps and exposing the elastic connection structure 342 between adjacent isolation discs 341 in the gaps, the bending moment of inertia of the multiple elastic connection structures 342 can be superimposed in the lifting direction, thereby constructing an anisotropic high-stiffness skeleton for the lifting action. This improves the bending stiffness of the second bending module 34 in the lifting force direction, effectively resists the heavy lifting load, and avoids buckling deformation that is easy to occur when using a symmetrical structure with orthogonal distribution. In the non-lifting direction, appropriate flexibility is maintained, ensuring the safety and stability of the cannulation lifting operation of the cannulation robot 100.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0050] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0051] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0052] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An intubation robot, characterized in that, include: The robot body is equipped with multiple movable arms, and two adjacent movable arms are movably connected. A connecting base is connected to the movable arm at the end of the robot body and rotates relative to the movable arm at the end. The cannulation device includes a support base, a wire pull assembly, a first bending module, and a second bending module; the support base is movably mounted on the connecting base, and the wire pull assembly is mounted on the connecting base; The wire connected to the pull assembly passes through the first bending module and is connected to the second bending module; the second bending module is in a bending state as the wire is pulled; the first bending module is connected to the support base, and the second bending module is disposed at the end of the first bending module away from the support base; The second bending module is an asymmetric bending structure. The second bending module includes multiple isolation discs, with an movable gap between two adjacent isolation discs, and an elastic connection structure is provided between two adjacent isolation discs. The elastic connection structure is installed in the movable gap.

2. The intubation robot according to claim 1, characterized in that, The elastic connection structure includes a first elastic module and a second elastic module, which are arranged alternately in adjacent movable gaps.

3. The intubation robot according to claim 2, characterized in that, The isolation plate includes multiple first connection holes and multiple second connection holes; The center points of multiple first connecting holes are located on the same straight line to form a first hole row, and the center points of multiple second connecting holes are located on the same straight line to form a second hole row. The first hole row and the second hole row intersect each other in the same plane.

4. The intubation robot according to claim 2, characterized in that, Both the first elastic module and the second elastic module include multiple spring structures; The multiple spring structures of the first elastic module are installed corresponding to the multiple first connecting holes, and the multiple spring structures of the second elastic module are installed corresponding to the multiple second connecting holes.

5. The intubation robot according to claim 1, characterized in that, Each of the isolation discs is provided with a wire hole, and the wire connected to the pull wire assembly passes through each of the wire holes in sequence, with the end of the wire connected to the isolation disc at the end; The multiple isolation discs switch states as the line is stretched to adjust the bending angle of the second bending module; The first bending module is provided with a wire passage for the wire to pass through, and the wire passage is connected to the wire passage holes of each of the isolation discs along the extension direction of the wire.

6. The intubation robot according to claim 5, characterized in that, The wire passage extends through the first bending module along the extension direction of the first bending module. The first bending module is provided with a spiral groove, which is arranged spirally along the length of the first bending module and is formed on the peripheral sidewall of the first bending module.

7. The intubation robot according to claim 1, characterized in that, The support base is provided with a positioning groove; One end of the first bending module is inserted into the positioning groove; the second bending module is inserted into the other end of the first bending module, and the second bending module oscillates elastically relative to the first bending module.

8. The intubation robot according to claim 1, characterized in that, The pull wire assembly is provided with multiple pull wire modules, and the positions of the multiple pull wire modules are adjusted as the support base moves; Each of the aforementioned wire-pulling modules is connected to a corresponding wire and can independently pull the corresponding wire; Each wire is threaded through the first bending module and acts on different wire holes of the second bending module.

9. The intubation robot according to claim 1, characterized in that, A linear motion module is provided between the support base and the connecting base. The fixed end of the linear motion module is connected to the connecting base, and the support base is slidably installed on the sliding end of the linear motion module.

10. The intubation robot according to claim 1, characterized in that, The robot body also includes a mobile body, which has a support area; a movable arm is located in the support area of ​​the mobile body and is movably connected to the mobile body; the mobile body moves relative to the ground.

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