Tracheal catheter conveying device, tracheal intubation equipment and tracheal intubation system

Abstract

The utility model discloses a tracheal catheter conveying device, tracheal intubation equipment and a tracheal intubation system, and belongs to the technical field of manipulators suitable for surgery. The utility model solves the problems of poor degree of freedom and uncontrollability of the execution end of the existing tracheal intubation machine in the practical operation process of tracheal intubation. The continuum structure comprises a flexible framework main body, a through hole group, a fixing piece and a driving wire group, wherein the flexible framework main body comprises at least one segment group; each segment set comprises a wire limiting segment and a bending segment, the wire limiting segments and the bending segments are sequentially arranged from the first end in the first direction, the through hole sets and the segment sets are arranged in a one-to-one correspondence mode, and the driving wire sets and the segment sets are arranged in a one-to-one correspondence mode. According to the utility model, the bending degree of freedom of each section group on the flexible skeleton main body can be independently and controllably adjusted according to the internal structure of the air pipe, so that the inner wall of the air pipe is prevented from being touched and damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators applicable to surgery, in particular to a tracheal catheter delivery device, a tracheal intubation device and a system. Background Art

[0002] Tracheal intubation is a technique of inserting a special catheter into the trachea through the mouth or nose. The artificial airway established through intubation keeps the patient's airway unobstructed to provide oxygen and excrete carbon dioxide. Tracheal intubation is an important measure applied in scenarios such as anesthesia, first aid, and critical care. Currently, tracheal intubation is mainly manually completed by experienced doctors under the guidance of a bronchoscope. During the intubation process, doctors need to be in close contact with patients, so it is very easy to cause respiratory cross-infection between doctors and patients.

[0003] Although existing tracheal intubation machines can reduce doctor-patient contact, the flexible continuum execution end on the tracheal intubation machine has the following problems: Since the drive wire for driving the flexible continuum is arranged outside and inside the flexible skeleton main body and there is no direct connection relationship, during the driving deformation process, the flexible skeleton main body has a problem of poor deformation adjustment freedom, and furthermore, during the actual operation of tracheal intubation, the flexible continuum execution end may touch and injure the human larynx and trachea. Summary of the Utility Model

[0004] In view of the above analysis, the utility model aims to provide a tracheal catheter delivery device, a tracheal intubation device and a system to solve the problems of poor freedom and uncontrollability of the execution end of existing tracheal intubation machines during the actual operation of tracheal intubation.

[0005] The purpose of the utility model is mainly achieved through the following technical solutions:

[0006] The first aspect of the utility model provides a tracheal catheter delivery device, including a flexible skeleton main body, a through-hole group, a fixing member and a drive wire group;

[0007] The flexible skeleton main body includes a first end and a second end;

[0008] The second end is connected to the fixing member;

[0009] It is set that the direction where the long axis of the flexible skeleton main body is located is the first direction;

[0010] The flexible skeleton main body further includes at least one segment group;

[0011] The segment group includes a wire limiting segment and a bending segment, and along the first direction and starting from the first end, the wire limiting segment and the bending segment are arranged in sequence;

[0012] The through-hole group is arranged in one-to-one correspondence with the segment group;

[0013] Each through-hole group includes at least one through-hole;

[0014] The driving wire groups and the segment groups are arranged in one-to-one correspondence;

[0015] The driving wire group includes at least one driving wire, and one driving wire passes through one through-hole.

[0016] Furthermore, at least one notch is provided on the wire limiting segment;

[0017] The through-hole penetrates the flexible framework body from the notch to the second end.

[0018] Furthermore, more than two segment groups are provided.

[0019] Furthermore, the flexible framework body further includes grooves, and a plurality of grooves are provided;

[0020] The grooves are provided on the bending segments.

[0021] Furthermore, the grooves with the same opening direction are set to form a groove group;

[0022] At least two groove groups are arranged on the bending segments.

[0023] Furthermore, the flexible framework body further includes an intermediate channel;

[0024] Along the first direction, the intermediate channel is located inside the flexible framework body and penetrates the flexible framework body. At the same time, the central axis of the intermediate channel coincides with the central axis of the flexible framework body.

[0025] Furthermore, the through-holes in the through-hole group are arranged around the intermediate channel.

[0026] Furthermore, an optical camera fixing seat is further included;

[0027] The optical camera fixing seat is arranged at the first end.

[0028] In a second aspect of the present invention, a tracheal intubation device is provided, including the above-mentioned tracheal catheter delivery device;

[0029] It further includes a rigid robotic arm and a base unit;

[0030] The rigid robotic arm includes a mounting seat unit and a multi-degree-of-freedom robotic arm unit connected in sequence;

[0031] The mounting seat unit is fixedly connected to the fixing member;

[0032] The multi-degree-of-freedom robotic arm unit is fixedly connected to the base unit.

[0033] In a third aspect of the present invention, a tracheal intubation system is provided, including the above-mentioned tracheal intubation device;

[0034] It also includes a wireless communication mechanism, a multi-axis motion controller host, an operating handle, and a display;

[0035] The endotracheal intubation device, the wireless communication mechanism, the multi-axis motion controller host, and the operating handle are connected in sequence;

[0036] The multi-axis motion controller host is also connected to the display.

[0037] Compared with the prior art, the present utility model can at least achieve one of the following beneficial effects:

[0038] 1. In the endotracheal tube delivery device of the present utility model, the flexible skeleton main body includes at least one segment group; the segment group includes a wire limiting segment and a bending segment. Along the first direction and starting from the first end, the wire limiting segment and the bending segment are arranged in sequence. The through-hole group is arranged in one-to-one correspondence with the segment group, and the driving wire group is arranged in one-to-one correspondence with the segment group. Through the one-to-one correspondence setting of the segment group, the through-hole group, and the driving wire group, the independent adjustment of the bending freedom degree of each segment group is realized, so that during the actual operation of endotracheal intubation, the independent and controllable adjustment of the bending freedom degree of each segment group on the flexible skeleton main body can be carried out according to the tracheal structure, avoiding touching and damaging the inner wall of the trachea.

[0039] 2. In the endotracheal tube delivery device of the present utility model, a through-hole group and a segment for limiting and fixing the driving wire are arranged on the flexible skeleton main body, so that during the actual operation of endotracheal intubation, there is direct contact between the driving wire and the flexible skeleton main body, improving the deformation adjustment accuracy of the flexible skeleton main body.

[0040] 3. The through-hole group of the present utility model is arranged in one-to-one correspondence with the segment group, and the driving wire group is arranged in one-to-one correspondence with the segment group. The driving wires in the driving wire group pass through the through-holes on the flexible skeleton main body, pass through the bending segment, and are limited and connected to the wire limiting segment. This setting realizes the control of the bending deformation of the bending segment on the segment group corresponding to the driving wire group through the elongation and / or shortening of each driving wire in a driving wire group, so as to achieve the active and independent adjustment of the bending deformation of each segment group.

[0041] In the present utility model, the above technical solutions can also be combined with each other to realize more preferred combination schemes. Other features and advantages of the present utility model will be described in the subsequent specification, and some advantages can be made obvious from the specification, or understood by implementing the present utility model. The purpose and other advantages of the present utility model can be realized and obtained through the content specifically pointed out in the embodiments of the specification and the drawings. Description of the Drawings

[0042] The drawings are only for the purpose of showing specific embodiments, and are not considered to be a limitation of the present utility model. Throughout the drawings, the same reference signs represent the same components.

[0043] Figure 1 One of the structural schematic diagrams of a tracheal catheter delivery device of the present utility model;

[0044] Figure 2 is Figure 1 The structural schematic diagram after the flexible skeleton body passes through the driving wire group in;

[0045] Figure 3 is Figure 1 The top view structural schematic diagram of the first end of the flexible skeleton body in;

[0046] Figure 4 is Figure 1 The three-dimensional structural schematic diagram of a partial section of the flexible skeleton body of;

[0047] Figure 5 is Figure 1 The partial enlarged structural schematic diagram at position A in;

[0048] Figure 6 is Figure 5 One of the three-dimensional structural schematic diagrams;

[0049] Figure 7 is Figure 5 Two of the three-dimensional structural schematic diagrams;

[0050] Figure 8 Two of the structural schematic diagrams of a tracheal catheter delivery device of the present utility model;

[0051] Figure 9 is Figure 8 The three-dimensional structural schematic diagram of the front-end segment group in;

[0052] Figure 10 is Figure 8 One of the three-dimensional structural schematic diagrams of the first intermediate segment group in;

[0053] Figure 11 is Figure 8 Two of the three-dimensional structural schematic diagrams of the first intermediate segment group in;

[0054] Figure 12 is Figure 8 One of the three-dimensional structural schematic diagrams of the second intermediate segment group in;

[0055] Figure 13 is Figure 8 Two of the three-dimensional structural schematic diagrams of the second intermediate segment group in;

[0056] Figure 14 One of the structural schematic diagrams of a tracheal intubation device of the present utility model;

[0057] Figure 15 Two of the structural schematic diagrams of a tracheal intubation device of the present utility model;

[0058] Figure 16 This is a schematic structural diagram of a tracheal intubation system of the present utility model.

[0059] Reference numerals:

[0060] 100 - Tracheal catheter delivery device, 200 - Rigid robotic arm, 300 - Base unit;

[0061] 110 - Flexible skeleton main body, 120 - Through - hole group, 130 - Fixing member, 140 - Driving wire group;

[0062] 1101 - First end, 1102 - Second end, 1103 - Segment group, 1104 - Groove, 1105 - Intermediate channel;

[0063] 1103 - 1 - Wire limiting segment, 1103 - 2 - Bending segment;

[0064] Q - 1 - First incision, Q - 2 - Second incision;

[0065] 1103a - Front - end segment group, 1103b - First intermediate segment group, 1103c - Second intermediate segment group;

[0066] 1103a - 1 - Front - end wire limiting segment, 1103a - 2 - Front - end bending segment;

[0067] 1103b - 1 - First intermediate wire limiting segment, 1103b - 2 - First intermediate bending segment;

[0068] 1103c - 1 - Second intermediate wire limiting segment, 1103c - 2 - Second intermediate bending segment;

[0069] 120a - Front - end through - hole group, 120b - First through - hole group, 120c - Second through - hole group;

[0070] 120a - 1 - Front - end through - hole;

[0071] 120b - 1 - First through - hole,

[0072] 120c - 1 - Second through - hole;

[0073] 210 - Mounting seat unit, 220 - Multi - degree - of - freedom robotic arm unit;

[0074] 211 - Housing, 212 - Driver group, 213 - Fixed support;

[0075] 221 - First - degree - of - freedom robotic arm assembly, 222 - Second - degree - of - freedom robotic arm assembly, 223 - Third - degree - of - freedom robotic arm assembly, 224 - Fourth driver unit;

[0076] 2211 - The first mechanical support arm, 2212 - The first drive unit;

[0077] 2221 - The second mechanical support arm, 2222 - The second drive unit;

[0078] 2231 - The third mechanical support arm, 2232 - The third drive unit;

[0079] 301 - The support, 302 - The slide rail, 302 - The slide rail, 303 - The slider, 304 - The lead screw, 305 - The lead screw mounting bracket, 306 - The driver;

[0080] B - The optical camera;

[0081] 1 - The tracheal intubation device, 2 - The wireless communication mechanism, 3 - The multi - axis motion controller host, 4 - The operating handle, 5 - The display. Detailed implementation manners

[0082] The following combines the accompanying drawings to specifically describe the preferred embodiments of the present invention. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0083] Embodiment 1

[0084] Some embodiments of the present invention disclose a tracheal catheter delivery device 100, as Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, including a flexible skeleton body 110, a through - hole group 120, a fixing member 130, and a driving wire group 140; the flexible skeleton body 110 includes a first end 1101 and a second end 1102; the second end 1102 is connected to the fixing member 130; the direction of the long axis of the flexible skeleton body 110 is set as the first direction; the flexible skeleton body 110 includes at least one segment group 1103; the segment group 1103 includes a wire - limiting segment 1103 - 1 and a bending segment 1103 - 2; along the first direction and starting from the first end 1101, the wire - limiting segment 1103 - 1 and the bending segment 1103 - 2 are arranged in sequence; the through - hole group 120 is arranged in one - to - one correspondence with the segment group 1103; each through - hole group 120 includes at least one through - hole; the driving wire group 140 is arranged in one - to - one correspondence with the segment group 1103; the driving wire group 140 includes at least one driving wire, and one driving wire passes through one through - hole.

[0085] In this embodiment, based on the cross - sectional shape of the airway and the cross - sectional shape of the tracheal catheter, the flexible skeleton body 110 is set as a cylindrical structure.

[0086] In the tracheal catheter delivery device 100 of the present utility model, the flexible skeleton main body 110 includes at least one segment group 1103. The segment group 1103 includes a wire limiting segment 1103-1 and a bending segment 1103-2. Along the first direction and starting from the first end 1101, the wire limiting segment 1103-1 and the bending segment 1103-2 are arranged in sequence. The through-hole group 120 is arranged in one-to-one correspondence with the segment group 1103, and the driving wire group 140 is arranged in one-to-one correspondence with the segment group 1103. Through the one-to-one setting of the segment group 1103, the through-hole group 120, and the driving wire group 140, independent adjustment of each segment group is realized, so that during the actual operation of tracheal intubation, the flexible skeleton main body 110 can be adaptively bent and adjusted according to the internal structure of the trachea, avoiding touching and damaging the inner wall of the trachea.

[0087] In this embodiment, by setting the driving wire group 140 and the segment group 1103 to be configured in one-to-one correspondence, independent adjustment of the bending degrees of freedom of each segment group 1103 is realized to adapt to complex airways. More specifically: the driving wires in the driving wire group 140 pass through the through-holes on the flexible skeleton main body 110, pass through the bending segment 1103-2, and are limited and connected to the wire limiting segment 1103-1. This setting realizes the elongation or shortening of the driving wires on the same driving wire group 140 to control the bending deformation of the bending segment 1103-2 on the segment group 1103 corresponding to the driving wire group 140. Finally, the active and independent adjustment of the bending degrees of freedom of each bending segment 1103-2 is achieved, realizing that during the actual operation of tracheal intubation, the tracheal catheter delivery device 100 can complete adaptive bending adjustment according to the structure of the trachea, avoiding touching and damaging the inner wall of the trachea.

[0088] In this embodiment, the through-hole group 120 and the wire limiting segment 1103-1 for limiting and fixing the driving wires are arranged on the flexible skeleton main body 110 of the tracheal catheter delivery device 100, so that during the actual operation of tracheal intubation, the driving wires are in direct contact with the flexible skeleton main body 110, improving the accuracy of deformation adjustment of the flexible skeleton main body 110.

[0089] In this embodiment, one driving wire passes through one through-hole. After one end of each driving wire is limited and connected to the wire limiting segment 1103-1, the other end is connected to the wire telescopic control device, thereby realizing the elongation or shortening of the driving wires located inside the flexible skeleton main body 110 to control the bending deformation of the flexible skeleton main body 110. In this process, on the one hand, the wire limiting segment 1103-1 is used to provide the limiting and fixing position of the driving wires on the flexible skeleton main body 110, and on the other hand, under the condition of elongation or shortening of the driving wires, the wire limiting segment 1103-1 provides a fixed support for the driving wires to realize the bending deformation of the flexible skeleton main body 110 by the elongation or shortening of the driving wires.

[0090] In some embodiments of the present utility model, considering the limiting connection between the driving wire and the wire limiting segment 1103-1, at least one notch is provided on the wire limiting segment 1103-1, such as Figure 5 , Figure 6 and Figure 7 As shown, two notches are provided on the wire limiting segment 1103-1, namely the first notch Q-1 and the second notch Q-2. Both the first notch Q-1 and the second notch Q-2 are arranged inward along the columnar surface of the flexible skeleton body 110. The through holes in the through hole group 120 penetrate the flexible skeleton body 110 from the first notch Q-1 and / or the second notch Q-2 to the second end 1102, ensuring more accurate threading operation and avoiding wrong threading.

[0091] More specifically, when two or more segment groups 1103 are provided on the flexible skeleton body 110, in order to distinguish the through hole groups corresponding to different segment groups 1103 and avoid the problem that the driving wire penetrates out of the target segment group during the threading process, the through holes in the through hole group 120 penetrate the flexible skeleton body 110 along the first direction, starting from the wire limiting segment 1103-1 of the target segment group to the second end 1102, so as to ensure more accurate threading operation and avoid wrong threading.

[0092] In this embodiment, the opening directions of the first notch Q-1 and the second notch Q-2 are parallel, and both the first notch Q-1 and the second notch Q-2 are arranged inward along the columnar surface of the flexible skeleton body 110, such as Figure 5 As shown. When a driving wire passes through a through hole on the first notch Q-1 or the second notch Q-2 and then passes back through another through hole on the same notch, in order to avoid blocking the movement of the driving wire in other through hole groups on the first notch Q-1 and / or the second notch Q-2, a shielding member is provided on the first notch Q-1 and / or the second notch Q-2, such as Figure 5 and Figure 7 As shown.

[0093] In some embodiments of the present utility model, to make the tracheal catheter delivery device 100 have more flexible bending deformation, two or more segment groups 1103 are provided. The two or more segment groups 1103 include a front-end segment group and at least one middle segment group. The at least one middle segment group is arranged continuously. Along the first direction, starting from the first end 1101 to the second end 1102, the front-end segment group and the at least one middle segment group are arranged continuously in sequence. Among them, the front-end segment group includes a front-end wire limiting segment and a front-end bending segment; the middle segment group includes a middle wire limiting segment and a middle bending segment.

[0094] When a front segment group and an intermediate segment group are set, along the first direction from the first end 1101 to the second end 1102, the front segment group and the intermediate segment group are arranged in sequence. More specifically, when a front segment group and an intermediate segment group are set, along the first direction and starting from the first end 1101, the front wire limiting segment, the front bending segment, the intermediate wire limiting segment, and the intermediate bending segment are continuously arranged in sequence.

[0095] When a front segment group and more than two intermediate segment groups are set, the front segment group is arranged at the front end of the tracheal catheter delivery device 100, and more than two intermediate segment groups are continuously arranged along the first direction from the front segment group to the second end 1102. More specifically, when a front segment group and two intermediate segment groups are set, and the two intermediate segment groups include a first intermediate segment group and a second intermediate segment group, along the first direction and starting from the first end 1101, the front wire limiting segment, the front bending segment, the first intermediate wire limiting segment, the first intermediate bending segment, the second intermediate wire limiting segment, and the second intermediate bending segment are continuously arranged in sequence.

[0096] In some embodiments of the present utility model, in order to achieve large-angle bending deformation of the flexible skeleton body 110, the flexible skeleton body 110 further includes a plurality of grooves 1104, such as Figure 1 and Figure 2 As shown, the grooves 1104 are arranged inward along the cylindrical surface of the flexible skeleton body 110 and a plurality of them are provided. More specifically, the grooves 1104 are arranged on the bending segment 1103-2, and preferably the opening direction of the grooves 1104 is perpendicular to the first direction.

[0097] In this embodiment, the grooves 1104 with the same opening direction are set to form a groove group, and a plurality of groove groups are arranged on the flexible skeleton body 110. Specifically, a plurality of groove groups are arranged along the cylindrical surface of the flexible skeleton body 110 corresponding to each bending segment 1103-2. Preferably, a plurality of groove groups are evenly arranged in the circumferential direction of the cylindrical surface of the flexible skeleton body 110 corresponding to each bending segment 1103-2 to increase the bending deformation of each bending segment.

[0098] In this embodiment, considering that the front segment group is located at the front end of the tracheal catheter delivery device 100, in order to have more and freer bending adjustment for the front segment group, four groove groups are arranged on the front bending segment of the front segment group, and the grooves in the four groove groups are arranged staggeredly. Preferably, the opening directions of any two adjacent groove groups are perpendicular to each other. Two groove groups are arranged on the intermediate bending segment of the intermediate segment group, and the two groove groups are arranged on both sides of the flexible skeleton body 110 and the grooves in the two groove groups are arranged staggeredly, and the opening directions of the two groove groups are parallel.

[0099] In this embodiment, when there are two or more intermediate segment groups, the slot opening directions of the slot groups on two adjacent intermediate segment groups are different, so that the two adjacent intermediate segment groups can be bent and deformed in different directions, and further the flexible skeleton body 110 can have bending deformations in more directions. For example: two slot groups are arranged on the first intermediate segment group, namely slot group M and slot group N, and the slot opening directions in slot group M and slot group N are parallel; two slot groups are arranged on the second intermediate segment group, namely slot group R and slot group P, and the slot opening directions in slot group R and slot group P are parallel, and the angle between the slot opening directions in slot group M and slot group R is 90° or an acute angle.

[0100] In this embodiment, to obtain a greater bending deformation for the flexible skeleton body 110, the depth of the slot 150 is set to be greater than half of the cross-sectional diameter of the flexible skeleton body 110.

[0101] In some embodiments of the present utility model, the tracheal catheter delivery device 100 further includes an intermediate channel 1105, as Figure 3 shown, along the first direction, the intermediate channel 1105 penetrates through the flexible skeleton body 110 and is located inside the flexible skeleton body 110, providing a channel for the cable in the endoscope to pass through the flexible skeleton body 110.

[0102] Considering that the intermediate channel 1105 is used to provide a penetration channel for the cable in the endoscope assembly, in order to meet the passage of a cable with a cross-sectional diameter of 2 mm, the cross-sectional diameter of the intermediate channel 1105 is set to be greater than 2 mm and less than or equal to 3 mm. Preferably, the cross-sectional diameter of the intermediate channel 1105 is set to 3 mm.

[0103] During the actual operation of tracheal intubation using the tracheal catheter delivery device 100 of this embodiment, because the intermediate channel 1105 is provided, the cable in the endoscope assembly is located in the intermediate channel 1105, and the optical camera passes through the intermediate channel 1105 and is fixed at the first end of the flexible skeleton body 110, realizing the acquisition and image transmission of the internal image of the human trachea during the actual operation of tracheal intubation.

[0104] In this embodiment, preferably, the central axis of the intermediate channel 1105 coincides with the central axis of the flexible skeleton body 110, ensuring that the cable located in the intermediate channel 1105 will not be squeezed during the bending deformation process of the flexible skeleton body 110. It is also set that the through holes in each through hole group 120 are arranged around the intermediate channel 1105, ensuring that the bending deformation of the intermediate channel 1105 is the same as that of the flexible skeleton body 110.

[0105] In some embodiments of the present utility model, considering that during the actual operation of tracheal intubation, the tracheal catheter is sleeved outside the tracheal catheter delivery device 100, and then the tracheal catheter delivery device 100 carries the tracheal catheter to the designated position. It is set that the outer diameter of the flexible skeleton body 110 is smaller than the inner diameter of the tracheal catheter. For example, the inner diameter of a commonly used adult tracheal catheter is 8 mm, and it is set that the outer diameter of the cross-section of the flexible skeleton body 110 is less than 8 mm.

[0106] In some embodiments of the present utility model, considering the fixation of the optical camera B in the endoscope assembly at the first end of the flexible skeleton body 110 for obtaining the internal tracheal vision during the actual operation of tracheal intubation, the tracheal catheter delivery device 100 further includes a camera fixing seat. The optical camera fixing seat is arranged at the first end, and the optical camera is fixedly connected to the optical camera fixing seat to ensure that during tracheal intubation, the optical camera and the flexible skeleton body 110 are in a relatively static state, maintaining the accuracy of the image data obtained by the optical camera.

[0107] In this embodiment, a light-sensitive camera fixing position is arranged at the first end of the tracheal catheter delivery device 100 for fixing the light-sensitive camera, so as to increase the visual feedback inside the trachea during tracheal intubation, improve the control accuracy through multi-modal sensing, and improve and ensure the safety of tracheal intubation operation.

[0108] Exemplarily, as Figure 8 shown, when the number of the segment groups 1103 is set to three, along the first direction, starting from the first end 1101 of the flexible skeleton body 110 to the second end 1102, a front-end segment group 1103a, a first middle segment group 1103b, and a second middle segment group 1103c are arranged in sequence. Figure 8 The second middle segment group 1103c in

[0109] is shown in detail as the through-hole group 120. In this example: Figure 9 shown, the front-end segment group 1103a includes a front-end wire limiting segment 1103a-1 and a front-end bending segment 1103a-2, and four groove groups are arranged on the front-end bending segment 1103a-2.

[0110] As Figure 10 and Figure 11 shown, the first middle segment group 1103b includes a first middle wire limiting segment 1103b-1 and a first middle bending segment 1103b-2, and two groove groups are arranged on the first middle bending segment 1103b-2.

[0111] As Figure 12 and Figure 13As shown, the second intermediate segment group 1103c includes a second intermediate wire limiting segment 1103c-1 and a second intermediate bending segment 1103c-2, and two groove groups are provided on the second intermediate bending segment 1103c-2.

[0112] Correspondingly, three groups of through holes 120 are provided, including a front-end through hole group 120a, a first through hole group 120b, and a second through hole group 120c. In this example:

[0113] As Figure 9 shown, the front-end through hole group 120a includes four front-end through holes 120a-1. The front-end through holes 120a-1 start from the first end 1101 to the second end 1102 along the first direction and penetrate the flexible frame body 110, that is, the front-end through holes 120a-1 penetrate the front-end segment group 1103a, the first intermediate segment group 1103b, and the second intermediate segment group 1103c.

[0114] As Figure 10 and Figure 11 shown, the first through hole group 120b includes four first through holes. Three of the first through holes are shown by reference numerals 120b-1, 120b-2, and 120b-3, and the other first through hole is marked in the drawing. The first through hole 120b-1 starts from the first intermediate wire limiting segment 1103b-1 to the second end 1102 along the first direction and penetrates the flexible frame body 110, that is, the first through hole 120b-1 penetrates the first intermediate segment group 1103b and the second intermediate segment group 1103c.

[0115] As Figure 12 and Figure 13 shown, the second through hole group 120c includes four second through holes, as shown by reference numerals 120b-1, 120b-2, 120b-3, and 120b-4. Among them, the second through hole 120c-1 starts from the second intermediate wire limiting segment 1103c-1 to the second end 1102 along the first direction and penetrates the flexible frame body 110, that is, the second through hole 120c-1 penetrates the second intermediate segment group 1103c.

[0116] Correspondingly, three groups of driving wires 140 are provided, including a front-end driving wire group corresponding to the front-end segment group 1103a, a first driving wire group corresponding to the first intermediate segment group 1103b, and a second driving wire group corresponding to the second intermediate segment group 1103c;

[0117] In this example, the front-end driving wire group includes four front-end driving wires. One end of each front-end driving wire is connected to a mechanism for controlling the telescopic movement of the driving wire provided outside the second end 1102, and the other end penetrates the front-end through hole 120a-1 and is fixed to the front-end wire limiting segment 1103a-1.

[0118] The first driving wire group includes two first driving wires. One end of each first driving wire is connected to a mechanism for controlling the telescopic movement of the driving wire and arranged outside the second end 1102, and the other end is connected to the first intermediate wire limiting segment 1103b-1 in a limiting manner; alternatively, one end of the first driving wire is connected to a mechanism for controlling the telescopic movement of the driving wire and arranged outside the second end 1102, and the other end passes through two first through holes on the same side in sequence and then is connected to the mechanism for controlling the telescopic movement of the driving wire. In this way, by simultaneously extending or shortening the same first driving wire, the bending deformation on the same side of the first intermediate bending segment 1103b-2 is controlled.

[0119] The second driving wire group includes two second driving wires. One end of each second driving wire is connected to a mechanism for controlling the telescopic movement of the driving wire and arranged outside the second end 1102, and the other end is connected to the second intermediate wire limiting segment 1103c-1 in a limiting manner; alternatively, one end of the second driving wire is connected to a mechanism for controlling the telescopic movement of the driving wire and arranged outside the second end 1102, and the other end passes through two second through holes on the same side in sequence and then is connected to the mechanism for controlling the telescopic movement of the driving wire. In this way, by simultaneously extending or shortening the same second driving wire, the bending deformation on the same side of the second intermediate bending segment 1103c-2 is controlled.

[0120] In this example, by adjusting the extension or shortening of the second driving wire, the bending deformation of the second intermediate bending segment 1103c-2 is controlled; by adjusting the extension or shortening of the first driving wire, the bending deformation of the first intermediate bending segment 1103b-2 is controlled; by adjusting the extension or shortening of the front-end driving wire, the bending deformation of the front-end bending segment 1103a-2 is controlled. In this way, the S-shaped deformation of the tracheal catheter delivery device 100 is achieved.

[0121] Embodiment 2

[0122] Some embodiments of the present utility model disclose a tracheal intubation device 1, such as Figure 14 shown, which includes the above-mentioned tracheal catheter delivery device 100, and further includes a rigid robotic arm 200 and a base unit 300. The rigid robotic arm includes a mounting seat unit 210 and a multi-degree-of-freedom robotic arm unit 220 connected in sequence; the mounting seat unit 210 is fixedly connected to a fixing member 130; the multi-degree-of-freedom robotic arm unit 220 is fixedly connected to the base unit 300.

[0123] In this embodiment, the rigid robotic arm 200 carries the tracheal catheter delivery device 100 to move, and the tracheal catheter delivery device 100 carries the tracheal catheter through the human oral cavity, larynx to the trachea. By controlling the pose of the rigid robotic arm 200 and the bending deformation of each segment group on the tracheal catheter delivery device 100, the movement of the tracheal intubation device 1 is realized to complete the tracheal intubation operation. A micro-optical camera B is installed at the first end of the tracheal catheter delivery device 100 to provide real-time visual feedback for the operating doctor.

[0124] In this embodiment, the multi-degree-of-freedom robotic arm unit 220 has a higher flexibility. Cooperating with the slide rail and slider on the base unit 300, the tracheal catheter delivery device 100 can reach any position in the working space, improving the accuracy of tracheal intubation.

[0125] In this embodiment, the base unit 300 provides 1 degree of freedom of movement in the horizontal direction, the multi-degree-of-freedom robotic arm unit 220 provides 3 rotational degrees of freedom in the sagittal plane and 1 rotational degree of freedom for controlling the mounting seat unit 210 to rotate around its own central axis, and the tracheal catheter delivery device 100 provides bending deformation of 3 segments, so as to achieve the purpose of adapting to the shape of the human airway. Because the multi-degree-of-freedom robotic arm unit 220 can also drive the mounting seat unit 210 to rotate around its own central axis, thereby driving the tracheal catheter delivery device 100 to rotate around its own central axis, and further adapting to the position deviation when the patient is in a non-flat posture, so as to achieve the purpose of improving the accuracy of tracheal intubation.

[0126] In this embodiment, as Figure 15 shown, the mounting seat unit 210 includes a housing 211, a driver group 212, and a fixed support 213. The housing 211 is sleeved outside the driver group 212 for covering and protecting the driver group 212. The driver group 212, the fixed support 213, and the tracheal catheter delivery device 100 are connected in sequence, so as to realize that the driver group 212 drives the tracheal catheter delivery device 100 to move through the fixed support 213.

[0127] In this embodiment, the multi-degree-of-freedom robotic arm unit 220 is used to provide 3 rotational degrees of freedom in the sagittal plane. For example, the multi-degree-of-freedom robotic arm unit 220 includes three single-degree-of-freedom robotic arms connected in sequence. The single-degree-of-freedom robotic arm includes a mechanical support arm and a driving unit, and the driving unit is used to drive the mechanical support arm to rotate around its own central axis. For example, as Figure 15 shown, the multi-degree-of-freedom robotic arm unit 220 includes a first-degree-of-freedom robotic arm assembly 221, a second-degree-of-freedom robotic arm assembly 222, a third-degree-of-freedom robotic arm assembly 223, and a fourth driver unit 224 connected in sequence. Among them, the first-degree-of-freedom robotic arm assembly 221 includes a first mechanical support arm 2211 and a first driving unit 2212 connected to the first mechanical support arm 2211. The second-degree-of-freedom robotic arm assembly 222 includes a second mechanical support arm 2221 and a second driving unit 2222 connected to the second mechanical support arm 2221. The third-degree-of-freedom robotic arm assembly 223 includes a third mechanical support arm 2231 and a third driving unit 2232. One end of the third mechanical support arm 2231 is connected to the third driving unit 2232, and the other end is connected to the fourth driver unit 224.

[0128] In some embodiments of the present utility model, the tracheal intubation device 1 further includes a first connection component; through the first connection component, the mounting seat unit 210 is connected to the multi-degree-of-freedom robotic arm unit 220.

[0129] In this embodiment, the first connection component includes a connection hole and a connecting rod. The matching connection of the connection hole and the connecting rod realizes the quick plug-in connection between the upper housing 211 of the mounting seat unit 210 and the fourth driving unit 224 on the multi-degree-of-freedom robotic arm unit 220. More specifically: a connection hole is provided on the housing 211, and a connecting rod is provided on the fourth driving unit 224; or a connecting rod is provided on the housing 211, and a connection hole is provided on the fourth driving unit 224.

[0130] In this embodiment, as Figure 15 shown, the base unit 300 includes a support 301, a slide rail 302, and a slider 303 that matches the slide rail 302. One end of the support 301 is fixedly connected to the slider 303, and the other end is connected to the third driving unit 2232, for supporting the third driving unit 2232, that is, for supporting the tracheal catheter delivery device 100 and the rigid robotic arm 200. In this embodiment, the base unit 300 is used to provide 1 degree of freedom of movement in the horizontal direction. Specifically, the slider 303 linearly slides from one end of the slide rail 302 to the other end, that is, to drive the support 301 to have a linear displacement, and further drive the tracheal catheter delivery device 100 and the rigid robotic arm 200 to have a linear displacement.

[0131] More specifically, as Figure 15 shown, the base unit 300 further includes a lead screw 304, a lead screw mounting bracket 305, and a driver 306; the lead screw 304 is installed between the two lead screw mounting brackets 305, and the lead screw 304 is slidably connected to the slider 303. The driver 306 is used to drive the slider 303 to perform linear motion along the lead screw 304 between the two lead screw mounting brackets 305.

[0132] The first driving unit 2212, the first mechanical support arm 2211, the second driving unit 2222, the second mechanical support arm 2221, the third driving unit 2232, the third mechanical support arm 2231, and the fourth driving unit are connected in sequence. Among them, the first driving unit 2212 is connected to the housing 211, and is used to drive the mounting seat unit 210 to rotate through the housing 211.

[0133] Embodiment 3

[0134] Some embodiments of the present utility model disclose a tracheal intubation system, as Figure 16As shown in the figure, it includes the above tracheal intubation device 1, and also includes a wireless communication mechanism 2, a multi-axis motion controller host 3, an operation handle 4, and a display 5. Among them, the tracheal intubation device 1, the wireless communication mechanism 2, the multi-axis motion controller host 3, and the operation handle 4 are connected in sequence, and the multi-axis motion controller host 3 is connected to the display 5.

[0135] In this embodiment, the operation handle 4 controls and issues a motion instruction, which is transmitted to the multi-axis motion controller host 3, and then sent by the multi-axis motion controller host 3 to each drive unit in the tracheal intubation device 1 through the wireless communication mechanism 2. By controlling the output value of the drive unit, the rotation variable of the rigid robotic arm 200 on the tracheal intubation device 1 and the bending deformation amount of each segment group on the tracheal catheter delivery device 100 are controlled, so that the tracheal catheter delivery device 100 moves along the expected trajectory to achieve tracheal intubation.

[0136] In this embodiment, the connections between the multi-axis motion controller host 3 and the operation handle 4, between the multi-axis motion controller host 3 and the display 5, between the multi-axis motion controller host 3 and the wireless communication mechanism 2, and between the tracheal intubation device 1 and the wireless communication mechanism 2 are all wireless communication connections, making the application of each structure more flexible and convenient.

[0137] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A tracheal tube delivery device, characterized in that: It comprises a flexible skeleton body (110), a through hole group (120), a fixing member (130) and a driving wire group (140); The flexible skeleton body (110) comprises a first end (1101) and a second end (1102); The second end (1102) is connected to the fixing member (130); Setting the direction of the long axis of the flexible skeleton body (110) as a first direction; The flexible skeleton body (110) further comprises at least one segment group (1103); The segment group (1103) comprises a wire limiting segment (1103-1) and a curved segment (1103-2), and along the first direction and starting from the first end (1101), the wire limiting segment (1103-1) and the curved segment (1103-2) are arranged in sequence; The through hole group (120) and the segment group (1103) are arranged in a one-to-one correspondence; Each of the through hole groups (120) includes at least one through hole; The driving wire group (140) and the segment group (1103) are arranged in a one-to-one correspondence; The driving wire group (140) includes at least one driving wire, and one of the through holes passes through one of the driving wires.

2. The endotracheal tube delivery device according to claim 1, characterized in that: At least one incision is provided on the wire limiting segment (1103-1); The through hole penetrates the flexible skeleton body (110) from the incision to the second end (1102).

3. The endotracheal tube delivery device according to claim 1, characterized in that: The segment groups (1103) are provided in two or more portions.

4. The endotracheal tube delivery device according to claim 1, characterized in that: The flexible skeleton body (110) further comprises a groove (1104), wherein a plurality of grooves (1104) are provided; The groove (1104) is provided on the curved segment (1103-2).

5. The endotracheal tube delivery device according to claim 4, characterized in that: The slots (1104) with the same opening direction are set to form a slot group; At least two groove groups are arranged on the curved segment (1103-2).

6. The endotracheal tube delivery device according to claim 1, characterized in that: The flexible skeleton body (110) further comprises a middle channel (1105); Along the first direction, the middle channel (1105) is located inside the flexible skeleton body (110) and passes through the flexible skeleton body (110), and at the same time, the central axis of the middle channel (1105) coincides with the central axis of the flexible skeleton body (110).

7. The endotracheal tube delivery device according to claim 6, characterized in that: The through holes in the through hole group (120) are arranged around the middle channel (1105).

8. The endotracheal tube delivery device according to claim 1, characterized in that: Also included is an optical camera mount; The optical camera fixing seat is arranged at the first end (1101).

9. An endotracheal intubation device, characterized in that: A tracheal tube delivery device comprising any one of claims 1 to 8; Also included is a rigid robotic arm (200) and a base unit (300); The rigid mechanical arm (200) comprises a mounting seat unit (210) and a multi-degree-of-freedom mechanical arm unit (220) which are connected in sequence; The mounting seat unit (210) is fixedly connected to the fixing member (130); The multi-degree-of-freedom mechanical arm unit (220) is fixedly connected to the base unit (300).

10. A tracheal intubation system, characterized in that: comprising the endotracheal intubation device as claimed in claim 9; It also includes a wireless communication mechanism, a multi-axis motion controller host, an operating handle and a display; The endotracheal intubation device, the wireless communication mechanism, the multi-axis motion controller host and the operating handle are connected in sequence; The multi-axis motion controller host is also connected to the display.

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