Intubation posture fixing device and intubation device

Abstract

Provided are an intubation posture fixing device and an intubation device for assisting in performing smooth tracheal intubation.　According to the present invention, there is provided an intubation posture fixing device for fixing the head of a patient in a supine position, the intubation posture fixing device comprising a head holding part, a jaw holding part, and a mouthpiece part. The head holding part is configured to hold the back of the head of the patient in a lifted state. The jaw holding part is configured to elevate the lower jaw of the patient. The mouthpiece part comprises an upper jaw fixing part and a lower jaw fixing part. The upper jaw fixing part and the lower jaw fixing part are configured to be insertable between the upper jaw and the lower jaw of the patient, and are configured to be relatively movable in the height direction of the patient.

Description

Insertion Posture Fixing Device and Insertion Device

[0001] The present invention relates to an insertion posture fixing device and an insertion device.

[0002] Conventionally, a device for assisting tracheal intubation has been known.

[0003] Patent Document 1 discloses an intubation device that assists intubation by an operator inserting an intubation device from the mouth of a subject and then indicating a target site such as the glottis in an image displayed on a display unit of the intubation device.

[0004] Japanese Unexamined Patent Application Publication No. 2019 - 170666

[0005] However, in order to use such an intubation device, first, the user needs to put the treatment patient in a posture suitable for intubation and then insert the device to a predetermined position in the oral cavity while maintaining the posture. Since a series of such operations also require specialized techniques, the conventional devices were insufficient to assist intubation.

[0006] The present invention has been made in view of such circumstances, and provides an insertion posture fixing device and an insertion device that assist in the smooth implementation of tracheal intubation.

[0007] The present invention provides the following: [1] An intubation posture fixing device for fixing the head of a patient in a supine position, comprising a head support portion, a jaw support portion, and a mouthpiece portion, wherein the head support portion is configured to hold the occipital region of the patient in an elevated position, the jaw support portion is configured to elevate the lower jaw of the patient, and the mouthpiece portion comprises an upper jaw fixing portion and a lower jaw fixing portion, wherein the upper jaw fixing portion and the lower jaw fixing portion are configured to be insertable between the upper jaw and the lower jaw of the patient and are configured to be relatively movable in the direction of the patient's height. [2] An intubation posture fixing device according to [1], wherein the jaw support portion is configured to be in contact with the lower jaw and is configured to be movable in the direction of the patient's height, and the lower jaw is elevated when the jaw support portion moves toward the head side in the direction of the patient's height and enters under the lower jaw. [3] An intubation posture fixing device according to [1], comprising a frame portion movably connected to the head support portion, the mouthpiece portion being attached to the frame portion, the mouthpiece portion being configured to adjust its relative position to the patient's mouth by the movement of the frame portion, and the maxillary fixing portion and the mandibular fixing portion being inserted between the patient's maxilla and mandible. [4] An intubation posture fixing device according to [1], further comprising a forehead fixing portion, the forehead fixing portion being connected to the head support portion and configured to cover the patient's forehead in a left-right direction. [5] Intubation device comprising an intubation posture fixing device according to any one of [1] to [4] and an arm unit, wherein the arm unit is positioned at a predetermined relative position with respect to the intubation posture fixing device and is configured to be inserted at least a portion into the mouth of the patient, the predetermined relative position being a position and orientation such that the tip of the arm unit inserted from the mouthpiece portion is positioned in front of the epiglottis in a trajectory passing through the oral cavity and oropharynx of the patient whose posture is fixed by the intubation posture fixing device. [6] Intubation device according to [5], further comprising a frame portion rotatably connected to the head holding portion, the frame portion movably supporting the arm unit, and the arm unitAn intubation device comprising a retaining arm attached to the frame portion and an intubation arm held by the retaining arm and inserted into the patient's mouth, wherein one end of the retaining arm is pivotally supported on a rotation axis provided on the frame portion and the other end supports the intubation arm, the intubation arm is curved in an arc shape about the rotation axis, and the tip of the intubation arm inserted from the mouthpiece portion is positioned in front of the epiglottis by the rotational movement of the retaining arm, tracing an arc-shaped trajectory. An intubation device according to [7] [5], further comprising a bending control unit, wherein the tip of the arm unit is configured to bend, and the bending control unit controls the arm unit to bend the tip of the intubation arm when a bending condition is met. An intubation device according to [8] [7], further comprising a pressure sensor, the pressure sensor is attached to the tip of the intubation arm, and the bending condition is when the pressure value obtained by the pressure sensor exceeds a threshold. An intubation device according to [9] and [8], further comprising an imaging unit and a pharyngeal wall recognition unit, wherein the imaging unit is attached to the tip of the intubation arm, the pharyngeal wall recognition unit is configured to determine whether or not a pharyngeal wall is present in the image acquired from the imaging unit, and the bending condition is when the pharyngeal wall recognition unit determines that the pharyngeal wall is present.

[10] Intubation device comprising an intubation posture fixing device for fixing the head of a patient in a supine position, an arm unit, a flexion control unit, and a pressure sensor, wherein the intubation posture fixing device comprises a head support unit, a jaw support unit, a forehead fixing unit, a frame unit, and a mouthpiece unit, wherein the head support unit is configured to hold the back of the patient's head in an elevated position, the jaw support unit is configured to contact the mandible and is movable in the direction of the patient's height, the mandible is raised when the jaw support unit moves toward the head and enters under the mandible, the forehead fixing unit is connected to the head support unit and is formed in a band shape to cover the patient's forehead in a left-right direction, and the frame unit is rotatably connected to the head support unit and is configured to movably support the arm unit.The mouthpiece portion is attached to the frame portion and comprises an upper jaw fixing portion and a lower jaw fixing portion, the upper jaw fixing portion and the lower jaw fixing portion are configured to be insertable between the upper jaw and the lower jaw of the patient and are configured to be relatively movable in the direction of height, the mouthpiece portion is configured to be able to adjust its relative position with respect to the patient's mouth by moving the frame portion, the upper jaw fixing portion and the lower jaw fixing portion are inserted between the upper jaw and the lower jaw of the patient, the arm unit is positioned at a predetermined relative position with respect to the intubation posture fixing device and is configured to be inserted at least a portion of the patient's mouth, the predetermined relative position is a position and orientation such that the tip of the arm unit inserted from the mouthpiece portion is positioned in front of the epiglottis in a trajectory passing through the oral cavity and oropharynx of the patient whose posture is fixed by the intubation posture fixing device, and the arm unit is, An intubation device comprising a holding arm attached to the frame portion and an intubation arm held by the holding arm and inserted into the patient's mouth, wherein one end of the holding arm is pivotally supported on a rotation axis provided on the frame portion and the other end supports the intubation arm, the intubation arm is curved in an arc shape around the rotation axis, and the tip of the intubation arm inserted from the mouthpiece portion is positioned in front of the epiglottis by the rotational movement of the holding arm, the tip of the intubation arm is configured to bend, the bending control unit controls the arm unit to bend the tip of the intubation arm when the bending condition is met, the pressure sensor is attached to the tip of the intubation arm, and the bending condition is when the pressure value obtained by the pressure sensor exceeds a threshold,

[0008] The intubation posture fixing device and intubation device according to the present invention have a configuration that includes a head support part, a jaw support part, and a mouthpiece part, making it possible to easily achieve a posture that facilitates tracheal intubation.

[0009] This is a schematic perspective view of a cardiopulmonary resuscitation (CPR) device 10 including an intubation posture fixing device 80 according to the first embodiment of the present invention. This is a schematic side view of the CPR device 10 before the intubation process SC is performed using the CPR system 1 according to the first embodiment of the present invention. This is a schematic side view of the CPR device 10 when the intubation process SC is being performed using the CPR system 1 according to the first embodiment of the present invention. This is an exploded view of the frame portion 100 in Figure 2. This is an enlarged view of region A in Figure 1 before the intubation process SC is performed using the CPR system 1 according to the first embodiment of the present invention. This is an enlarged view of region A in Figure 1 when the intubation process SC is being performed using the CPR system 1 according to the first embodiment of the present invention. This is a schematic side view of the intubation arm 122 according to the first embodiment of the present invention. This is a schematic cross-sectional view along the cross-sectional line B-B in Figure 5. This is a block diagram showing the hardware configuration of the information processing unit 170 of the CPR device 10 according to the first embodiment of the present invention. This is a block diagram showing the hardware configuration of the information processing device 20 according to the first embodiment of the present invention. This is a block diagram showing the functional configuration of the control unit 200 of the information processing device 20 according to the first embodiment of the present invention. Figure 13A is an example of an image including the epiglottis taken by the imaging unit 150 of the cardiopulmonary resuscitation device 10 according to the first embodiment of the present invention. Figure 13A is an example of an image showing the lower edge E of the epiglottis recognized by the epiglottis recognition unit 202a of the information processing device 20 according to the first embodiment of the present invention. Figure 13B is an example of an image showing a part of the lower edge of the epiglottis recognized by the epiglottis recognition unit 202a of the information processing device 20 according to the first embodiment of the present invention. Figure 15C is an example of an image showing the vocal cords recognized by the insertion position determination unit 202b of the information processing device 20 according to the first embodiment of the present invention. This is an example of an image displaying the insertion reference position R recognized by the insertion position determination unit 202b of the information processing device 20 according to the first embodiment of the present invention. This is a schematic diagram of the flow of the cardiopulmonary resuscitation method in the cardiopulmonary resuscitation system 1 according to the first embodiment of the present invention.This is a schematic diagram of the processing flow of the intubation process SC in the cardiopulmonary resuscitation system 1 according to the first embodiment of the present invention. This is a schematic diagram of the state in which the flap portion 723b of the intubation arm 722 is closed according to the second embodiment of the present invention. This is a schematic diagram of the state in which the flap portion 723b of the intubation arm 722 is open according to the second embodiment of the present invention. This is a schematic cross-sectional view taken along the cross-sectional line C-C in Figure 20. This is a schematic cross-sectional view taken along the cross-sectional line D-D in Figure 20. This is a schematic diagram of the cardiopulmonary resuscitation system 1 including the intubation posture fixing device 80 according to the third embodiment of the present invention. This is a schematic diagram of the cardiopulmonary resuscitation system 1 including the intubation posture fixing device 80 according to the third embodiment of the present invention. This is a schematic diagram of the area around the arm unit 720 according to the third embodiment of the present invention. This is a block diagram showing the functional configuration of the control unit 200 of the information processing device 20 according to the third embodiment of the present invention. Figures 27A, 27B, 27C, 27D, 27E, and 27F are schematic diagrams for explaining the cardiopulmonary resuscitation method according to the third embodiment of the present invention. This is a schematic diagram showing the trajectory of the movement of the tip of the intubation arm 722. Figures 29A and 29B illustrate the effects of performing intubation using the intubation posture fixing device 80.

[0010] Embodiments of the present invention will be described below. The various features shown in the embodiments below can be combined with each other. Furthermore, each feature constitutes an independent invention.

[0011] 1. The cardiopulmonary resuscitation system 1 according to one embodiment of the first embodiment is a system primarily for performing smooth tracheal intubation, and in this specification, the cardiopulmonary resuscitation system can be read as an intubation system, and the cardiopulmonary resuscitation device as an intubation device. The cardiopulmonary resuscitation system 1 comprises an imaging unit 150, a flap unit 122b, an epiglottis recognition unit 202a, and a flap control unit 203c.

[0012] In this embodiment, as an example of a cardiopulmonary resuscitation system 1, a system comprising a cardiopulmonary resuscitation device 10 and an information processing device 20 will be described. The cardiopulmonary resuscitation device 10 comprises an imaging unit 150 and a flap unit 122b, and the information processing device 20 comprises an epiglottis recognition unit 202a and a flap control unit 203c.

[0013] The cardiopulmonary resuscitation device 10 and the information processing device 20 are configured to communicate with each other via a communication line.

[0014] 1.1 Cardiopulmonary Resuscitation Device 10 Figure 1 shows a schematic perspective view of a cardiopulmonary resuscitation device 10 equipped with an intubation posture fixing device 80 according to the first embodiment of the present invention. The intubation posture fixing device 80 includes a frame portion 100, a mouthpiece portion 110, and a head and neck fixing portion 160. The cardiopulmonary resuscitation device 10 comprises the intubation posture fixing device 80, an arm unit 120, a drive unit (not shown), an oral balloon 130, a gas filling unit (not shown), a tube 140 (details in Figure 5), an imaging unit 150 (details in Figure 8), a ventilator (not shown), and an information processing unit 170 (details in Figure 9).

[0015] In the following explanation, the up-down, left-right, and front-back directions are defined as shown in Figures 1 and 2. The front-back direction and the height direction are interchangeable. Furthermore, "head side" refers to the rear direction within the front-back direction.

[0016] 1.1.1 Frame section 100 (Intubation posture fixing device 80) The frame section 100 is configured to allow adjustment of the position of the mouthpiece section 110 (and / or arm unit 120). The frame section 100 is configured to allow adjustment of the relative position between the mouthpiece section 110 (and / or arm unit 120) and the mouth of the patient 2 fixed to the head and neck fixing section 160. An example of the frame section 100 will be described with reference to Figures 1 to 4.

[0017] The frame section 100 supports other members (at least some of them) of the cardiopulmonary resuscitation device 10 and comprises a first frame 101, a second frame 102, and a third frame 103. In the illustrated example, the shapes of the first frame 101, the second frame 102, and the third frame 103 are shown as rectangular, but they can be any shape as long as the functions described later can be achieved. For convenience, the shapes of the first frame 101, the second frame 102, and the third frame 103 will be described below as rectangular.

[0018] The first frame 101 constitutes the base of the cardiopulmonary resuscitation device 10 and is therefore installed horizontally with respect to the ground, floor, or other installation surface. One side of the first frame 101 is connected to the head and neck fixation part 160. Preferably, the first frame 101 is connected to the head and neck fixation part 160 on the head side of the patient 2 that is fixed by the head and neck fixation part 160. In this specification, "patient" refers to the person on whom cardiopulmonary resuscitation is being performed.

[0019] The second frame 102 is connected to the first frame 101 so as to be movable in the front-rear direction of the first frame 101. In the illustrated example, the second frame 102 includes a frame that moves in the front-rear direction along the first frame 101, and a frame that connects to the third frame 103. This movable configuration allows the second frame 102 to align the mouthpiece portion 110 held by the third frame 103 in the front-rear direction with respect to the mouth of the patient 2 (Figure 3).

[0020] The third frame 103 is connected to the second frame 102 so as to be movable in the vertical direction. In the illustrated example, the third frame 103 includes a frame that moves vertically along the second frame 102, and a frame that includes a mouthpiece mounting section 103a. The mouthpiece mounting section 103a is connected to the mouthpiece section 110 and the third frame 103 (Figure 5). With this configuration, the third frame 103 can be moved, and the mouthpiece section 110 can be positioned vertically relative to the mouth of the patient 2 (Figure 3).

[0021] Any mechanism can be used for the movement mechanism of the second frame 102 and the third frame 103, as long as it can be fixed in the aligned position. For example, the edges of the frame that serve as the axis of movement can be configured in a rail shape, and the frame can be fixed in a suitable position using screws. Alternatively, for example, the edges of the frame that serve as the axis of movement can be configured in a ratchet type to fix the frame in a suitable position. The movement mechanism of the frame section 100 may be configured to be operated manually or mechanically.

[0022] 1.1.2 Mouthpiece section 110 (Intubation posture fixing device 80) The mouthpiece section 110 will be described with reference to Figure 5. The mouthpiece section 110 is detachably provided on the mouthpiece section mounting section 103a of the third frame 103. The mouthpiece section 110 comprises an upper jaw fixing section 111 and a lower jaw fixing section 112. The upper jaw fixing section 111 and the lower jaw fixing section 112 are configured to be insertable between the upper jaw and lower jaw of the patient 2. The upper jaw fixing section 111 and the lower jaw fixing section 112 are configured to be relatively movable in the height direction of the patient 2.

[0023] The movable mechanism of the mandibular fixation part 112 can be configured as a ratchet type. Alternatively, the movable mechanism of the mandibular fixation part 112 may be configured so that it is opened by turning a screw with a handle.

[0024] The maxillary fixation part 111 is made of a plate-shaped member and is attached to the mouthpiece mounting part 103a. The mandibular fixation part 112 has a plate-shaped intraoral insertion part and is attached to the mouthpiece mounting part 103a so as to be movable in the front-rear direction. Opening is performed by inserting the intraoral insertion parts of the maxillary fixation part 111 and the mandibular fixation part 112 between the upper and lower jaws of the patient 2 and moving the mandibular fixation part 112 forward.

[0025] The length of the maxillary fixation portion 111 in the direction of insertion into the oral cavity should be such that it extends beyond the incisors when inserted into the oral cavity of patient 2. Specifically, the length of the maxillary fixation portion 111 is, for example, 2 to 4 cm, and preferably 3 cm.

[0026] The oral insertion portion is necessary to retract the tongue in order to secure the airway and create space for the intubation arm 122 (described later) to pass through. Therefore, it is preferable that the length of the oral insertion portion reaches near the base of the tongue when inserted into the mouth of patient 2. In other words, the oral insertion portion is longer than the maxillary fixation portion 111. Specifically, the length of the oral insertion portion in the direction of insertion into the oral cavity is, for example, 5 to 8 cm. Specifically, the length of the oral insertion portion is, for example, 5, 6, 7, or 8 cm, and may be within the range of any two of the values ​​exemplified here. The oral insertion portion may be configured in other shapes as long as it can achieve the function of retracting the tongue.

[0027] The mandibular fixation portion 112 can be, for example, a rectangular member having a through hole as shown in Figure 5, with one side being an intraoral insertion portion inserted between the maxilla and the mandible. In the configuration shown in Figure 5, the mandibular fixation portion 112 can be opened by inserting a hand into the through hole and moving it forward. Note that the mouthpiece portion 110 in Figure 5 is shown with the mandibular fixation portion 112 already moved forward.

[0028] Furthermore, in this embodiment, the opening is achieved by moving the mandibular fixing portion 112, and therefore a strong force is applied to the mandibular fixing portion 112. For this reason, it is preferable that the thickness of the oral insertion portion be greater than that of the maxillary fixing portion 111. Here, thickness refers to the length in the front-to-back direction. If the thickness of these components inserted into the mouth is too great, it becomes difficult for the intubation arm 122 to enter the mouth. On the other hand, if the thickness is too great, the mouthpiece portion 110 may be damaged, making it impossible to open smoothly. Therefore, specifically, for example, the thickness of the maxillary fixing portion 111 is preferably 6 to 8 cm, specifically, for example, 6, 7, or 8 cm. The thickness of the oral insertion portion is preferably 8 to 10 cm, specifically, for example, 8, 9, or 10 cm.

[0029] It is preferable to use a soft material for the maxillary fixation portion 111 and the intraoral insertion portion so as not to damage the teeth. Specifically, for example, the maxillary fixation portion 111 and the intraoral insertion portion can be manufactured from silicone rubber, EVA resin, or polycarbonate.

[0030] When intubating, the patient's mouth may be closed with great force, making it difficult for non-medical personnel to open it, and even for medical personnel, it is not always easy, and there is a risk of fingers getting caught. By configuring the mouthpiece 110 as described above, the user can easily and safely assist in opening the mouth. In this specification, "user" refers to the person performing cardiopulmonary resuscitation using the cardiopulmonary resuscitation system 1, and therefore refers to a person other than the patient 2 to whom cardiopulmonary resuscitation is being performed.

[0031] Furthermore, maintaining the open position with the mouthpiece portion 110 also contributes to maintaining the mandibular elevation posture formed by the head and neck fixation portion 160, which will be described later. In typical tracheal intubation performed by a physician, the mouth is opened using the cross-finger technique, and once the larynx is exposed using a blade, the cross-finger technique is stopped and the tube 140 is inserted. Therefore, when the tube 140 is inserted, the mandibular position generally drops slightly from its elevated position, narrowing the airway space. In this embodiment, since the open position is always maintained during intubation using the mouthpiece portion 110, intubation can be performed more easily.

[0032] The mouthpiece portion 110 can be made of, for example, fiber-reinforced plastic, and can be used by covering it with a cover made of a soft material such as silicone that will not injure the inside of the mouth.

[0033] 1.1.3 Arm Unit 120 The arm unit 120 is configured to hold the tube 140 and enable intubation into patient 2. The arm unit 120 comprises a holding arm 121 and an intubation arm 122. The arm unit 120 is also connected to a drive unit. Figure 5 shows the state of the arm unit 120 in its initial position before intubation, and Figure 6 shows the state of the arm unit 120 during intubation.

[0034] The holding arm 121 comprises a holding portion 121a and a frame mounting portion 121b. The holding portion 121a is provided at a predetermined position on the holding arm 121, is connected to the intubation arm 122, and is configured to hold the oral balloon 130, the intubation arm 122, and the tube 140 attached to the intubation arm 122. Here, the predetermined position on the holding arm 121 can be any position in which the intubation arm 122 and the oral balloon 130 can be inserted between the maxillary fixing portion 111 and the mandibular fixing portion 112 (i.e., between the user's maxilla and mandible) when the holding arm 121 moves in the direction of arrow X in Figure 2. In the illustrated example, the holding portion 121a is provided at the tip of the holding arm 121.

[0035] The holding arm 121 can be configured to allow the oral balloon 130 to be attached to and detached from the holding portion 121a. The holding arm 121 may be configured to allow the oral balloon 130 to be attached and detached mechanically based on a command from the holding arm control unit 203a, which will be described later, or it may be configured to allow the user to attach and detach it manually.

[0036] The frame mounting portion 121b is attached to one side of the third frame 103 on the head fixing portion 160 side (forward direction), and the holding arm 121 is configured to rotate in the direction of arrow X in Figure 2 around this side as an axis. The frame mounting portion 121b is controlled based on a command from the holding arm control unit 203a, allowing the holding arm 121 to move to the intubation start position (Figure 6). Alternatively, the holding arm 121 may be configured to be moved manually.

[0037] The intubation arm 122 comprises a guide section 122a, a flap section 122b, an imaging unit mounting section 122c, and an intubation section 122d (Figures 7 and 8). The intubation arm 122 can perform intubation by controlling the operation of the guide section 122a, the intubation section 122d, and the flap section 122b via the tube control section 203b and the flap control section 203c.

[0038] The guide portion 122a can be configured in any shape that allows it to pass through the inside of the tube 140. The guide portion 122a can be formed, for example, in the shape of a rod. The base of the guide portion 122a is connected to the insertion portion 122d, and a flap portion 122b is attached to the tip of the guide portion 122a. The guide portion 122a may have multiple joints. In this case, the guide portion 122a can be configured to bend in various directions and can be controlled by the tube control unit 203b.

[0039] The flap portion 122b is provided at the tip of the guide portion 122a and is configured to be movable to open the epiglottis in the cardiopulmonary resuscitation method described later. The shape of the flap portion 122b can be any shape that can open the epiglottis, for example, it can be formed into a spatula shape or an alligator-claw shape. Figure 7 is a side view of the intubation arm 122 when a spatula-shaped flap portion 122b is provided. The flap portion 122b with this configuration is configured to be movable in the direction of the epiglottis opening operation indicated by arrow Y, with the tip of the guide portion 122a on which the flap portion 122b is provided as the pivot point F. The epiglottis opening operation is performed based on a command from the flap control unit 203c, which will be described later.

[0040] Specifically, the flap portion 122b is inserted so as to slide under the epiglottis, based on at least a portion of the epiglottis recognized by the epiglottis recognition portion 202a. Then, the epiglottis can be opened by moving it upward from the lower edge side of the epiglottis (arrow Y direction).

[0041] The imaging unit mounting section 122c is a component for mounting the imaging unit 150, and can be installed at any position so that the imaging unit 150 can photograph the direction of travel of the intubation arm 122 when intubation is performed. For example, it may be installed at the tip of the guide section 122a (Figure 8), or at the tip of the flap section 122b, or both.

[0042] The intubation section 122d is connected to the holding section 121a. The intubation section 122d is equipped with a tube support section 122a1, which can support the connector end of the tube 140 and is configured to allow the tube 140 to be attached and detached. The attachment and detachment of the tube 140 may be configured to be performed mechanically or manually.

[0043] The intubation part 122d is configured to push out or pull in both the tube 140 and the guide part 122a. The intubation part 122d can have any configuration as long as it can perform the said function. For example, the intubation part 122d can be configured in a ratchet type. Specifically, the operation of the intubation part 122d is configured to be drivable to push out or pull in the tube 140 supported by the tube support part 122a1 and the guide part 122a connected to the intubation part 122d based on the command of the tube control part 203b. Therefore, with the driving of the intubation part 122d, the tube 140 moves forward or backward, enabling intubation to be performed.

[0044] Also, the intubation arm 122 can be provided with a lighting source (not shown). It can be provided at any position that can illuminate the advancing direction of the intubation arm 122 when performing intubation. Therefore, for example, the lighting source may be built into the imaging part 150, or may be provided at the position where the imaging part installation part 122c is provided or around that position. The lighting source can be, for example, an LED.

[0045] 1.1.4 Driving Part The driving part is configured to be able to drive other members of the cardiopulmonary resuscitation device 10. The driving part drives the arm unit 120, the ventilator, and the gas filling part based on various commands from the control part 171 and can include any plurality of actuators. For example, the driving part can drive the flap part 122b and drive the guide part 122a and the intubation part 122d to move the tube 140 based on the commands obtained from the information processing device 20. The power of the actuator can use any power or well-known technical mechanisms that can drive to perform the operating functions of the aforementioned arm unit 120, the ventilator described later, and the gas filling part. The power can be, for example, electricity, pneumatic pressure, or hydraulic pressure.

[0046] 1.1.5 Oral balloon 130 The oral balloon 130 is configured to be inflated inside the mouth of the patient 2. The oral balloon 130 includes a tube portion 131, a gas inlet (not shown), and a cuff 132 (Fig. 5). The oral balloon 130 is attached such that the holding portion 121a of the holding arm 121 holds the end that is not on the cuff 132 side of the oral balloon 130, and is attached so that the intubation arm 122 connected to the tip of the holding arm 121 and the tube 140 supported by the intubation arm 122 pass through the tube portion 131 (Fig. 8).

[0047] The gas inlet is connected to the gas filling portion and the cuff 132. The gas inlet introduces the gas sent from the gas filling portion into the cuff 132. The cuff 132 is configured to expand when the gas introduced from the gas inlet fills the cuff 132.

[0048] Details of the cardiopulmonary resuscitation method will be described later. During intubation during cardiopulmonary resuscitation, the cuff 132 is placed in the mouth of the patient 2. When the cuff 132 expands inside the mouth of the patient 2, the position of the oral balloon 130 inside the mouth is fixed, so that the movement of the intubation arm 122 passing through the tube portion 131 of the oral balloon 130 can be stably and easily performed. Therefore, by providing the oral balloon 130, intubation can be performed more smoothly.

[0049] Further, the oral balloon 130 also serves as a supraglottic device, and simple artificial respiration becomes possible by connecting to a ventilator in a state where the oral balloon 130 inside the mouth is arranged. Therefore, when the intubation of the tube 140 is not successful, the cardiopulmonary resuscitation system 1 can be used as an auxiliary ventilation device.

[0050] 1.1.6 Gas Filling Section The gas filling section is configured to inject and aspirate gas. The gas filling section is connected to the drive unit and the gas inlet of the oral balloon 130 (and the gas inlet of the cuffed tube 140), respectively. Based on a command from the balloon control unit 203d, the gas filling section can fill the oral balloon 130 with gas via the gas inlet, or degas the oral balloon 130 via the gas inlet. The gas filling section can be any component that can inject and aspirate gas into the gas inlet. For example, the gas filling section can be a syringe.

[0051] 1.1.7 Imaging Unit 150 The imaging unit 150 may be one or more cameras capable of capturing still images or videos. The imaging unit 150 may be installed on the imaging unit mounting section 122c provided on the intubation arm 122. Alternatively, the imaging unit 150 may be directly attached to the tip of the tube 140, or placed on the outer circumference of the tip of the tube 140. The imaging unit 150 may also be equipped with a distance sensor. Any sensor capable of measuring distance or angle can be used as the distance sensor. For example, the distance sensor can be an infrared distance sensor.

[0052] 1.1.8 Tube 140 The tube 140 can be an existing intubation tube commonly used when tracheal intubation is performed. The tube 140 preferably has a cuff. The cuffed tube 140 has a gas inlet, which is connected to a gas filling section and configured to inflate the cuff.

[0053] 1.1.9 Head and Neck Fixation Unit 160 (Intubation Posture Fixing Device 80) The head and neck fixation unit 160 may have any configuration that can fix the head and neck and assist in securing the airway. By fixing the head and neck and securing the airway, the head and neck fixation unit 160 can perform intubation more smoothly. The head and neck fixation unit 160 can be configured to lift the mandible by fixing the head in a way that presses the head downwards, or to lift the mandible by holding the mandibular angle as shown in Figure 1. Existing devices, such as mandibular lifting devices manufactured by Hypnoz Therapeutic Devices, Inc., may also be used.

[0054] 1.1.10 Ventilator The ventilator is configured to provide artificial respiration to patient 2 by connecting to a tube 140 and a drive unit. The ventilator may have a configuration similar to that of commonly used ventilators, but is configured to enable artificial respiration operation based on commands from the ventilator control unit 203e. The ventilator is equipped with a sensor. The sensor is, for example, CO ２ Any sensor capable of determining the respiratory status of patient 2 and whether a normal airway is being maintained can be used, such as a detector or flow sensor.

[0055] 1.1.11 Information Processing Unit 170 Figure 9 shows a block diagram illustrating the hardware configuration of the information processing unit 170. The information processing unit 170 comprises a control unit 171, a storage unit 172, a communication unit 173, and an input unit 174. The information processing unit 170 may further include an output unit (not shown).

[0056] The control unit 171 may include a processor such as a central processing unit (CPU), a digital signal processor, a microprocessor, a microcontroller, an application-specific integrated circuit (ASIC), or a programmable logic device (PLD). The control unit 171 can perform the tube insertion process SC by receiving instructions from the information processing device 20 and controlling the movement of the drive unit.

[0057] The storage unit 172 may include volatile memory or non-volatile memory. Examples of volatile memory include RAM (Random Access Memory) and DRAM (Dynamic Random Access Memory), which are used as work areas when the control unit 171 executes various programs. Examples of non-volatile memory include ROM (Read Only Memory) and flash memory, which are used to store various data and programs used in the processing of the control unit 171. It may also include external storage devices such as HDD (Hard Disk Drive).

[0058] The programs stored in the memory unit 172 include, for example, an OS (Operating System) for realizing the basic functions of the information processing unit 170, drivers for controlling various hardware, programs for realizing various functions, and other computer programs according to this embodiment.

[0059] The communication unit 173 is configured to transmit and receive data and has the function of connecting to a communication line. Preferably, the communication unit 173 is configured to communicate with the information processing device 20 without an internet connection. Preferably, the communication unit 173 can have a function that enables short-range wireless communication such as Bluetooth® or infrared communication, or a function that enables wired connection.

[0060] The input unit 174 can, for example, allow the user to input information to activate the cardiopulmonary resuscitation device 10. The input unit 174 may include one or more of the following: a keyboard, keypad, mouse, microphone, touchscreen, buttons, etc.

[0061] The drive unit and the information processing unit 170 are interconnected by a communication bus 600.

[0062] 1.2 Information Processing Device 20 1.2.1 Hardware Configuration Diagram 10 of the Information Processing Device 20 is a diagram showing the hardware configuration of the information processing device 20 according to the present invention. The information processing device 20 according to the present invention comprises a control unit 200, a storage unit 210, a communication unit 220, an input unit 230, and an output unit 240.

[0063] The control unit 200 may include processors such as a central processing unit (CPU), a digital signal processor, a microprocessor, a microcontroller, an application-specific integrated circuit (ASIC), or a programmable logic device (PLD).

[0064] The storage unit 210 may include volatile memory or non-volatile memory. Examples of volatile memory include RAM (Random Access Memory) and DRAM (Dynamic Random Access Memory), which are used as a work area when the control unit 200 executes various programs. Examples of non-volatile memory include ROM (Read Only Memory) and flash memory, which are used to store various data and programs used in the processing of the control unit 200. It may also include an external storage device such as an HDD (Hard Disk Drive).

[0065] The programs stored in the memory unit 210 include, for example, an OS (Operating System) for realizing the basic functions of the information processing device 20, drivers for controlling various hardware, programs for realizing various functions, and other computer programs according to this embodiment.

[0066] The communication unit 220 is configured to transmit and receive data and has the function of connecting to a communication line. Preferably, the communication unit 220 is configured to communicate with the cardiopulmonary resuscitation device 10 without an internet connection. Preferably, the communication unit 220 can have a function that enables short-range wireless communication such as Bluetooth® or infrared communication, or a function that enables wired connection.

[0067] The input unit 230 allows the user to input, for example, instruction information for performing the intubation process SC. This instruction information may include, for example, instructions for starting or ending the intubation process SC, or instructions for starting or ending each step within the intubation process SC.

[0068] The input unit 230 may include one or more of the following: a keyboard, keypad, mouse, microphone, touchscreen, buttons, etc.

[0069] The output unit 240 can display, for example, images and videos captured by the imaging unit 150 of the cardiopulmonary resuscitation device 10, and images and videos generated by the epiglottis recognition unit 202a and the insertion position determination unit 202b. The output unit 240 can also emit images, videos, and / or audio that instruct the user on what to do when performing cardiopulmonary resuscitation using the cardiopulmonary resuscitation system 1.

[0070] The output unit 240 can be, for example, any display and / or speaker.

[0071] The control unit 200, storage unit 210, communication unit 220, input unit 230, and output unit 240 are interconnected by a communication bus 600.

[0072] The information processing device 20 may be, for example, a personal computer, a smartphone, a tablet, a smartwatch, smart glasses, etc.

[0073] 1.2.2 Functional Configuration of Information Processing Device 20 The information processing device 20 is configured to communicate with the cardiopulmonary resuscitation device 10 via a communication line. The information processing device 20 performs various information processing in the intubation process SC. Specifically, the information processing device 20 can determine the start and end of the intubation process SC based on signals input by the input unit 230, images and videos taken by the imaging unit 150 of the cardiopulmonary resuscitation device 10, data acquired by the distance sensor, and data acquired by the sensor of the ventilator, and can determine the operation of the components of the cardiopulmonary resuscitation device 10 related to the intubation process SC.

[0074] As will be described in more detail later, for example, the information processing device 20 can transmit to the cardiopulmonary resuscitation device 10 a command to control the operation of the flap portion 122b by recognizing at least a portion of the epiglottis region, and a command to control the operation of the guide portion 122a and the intubation portion 122d by recognizing the glottal region, based on the image or video captured by the imaging unit 150.

[0075] Figure 11 is a block diagram showing the functional configuration of the information processing device 20 according to the present invention. The control unit 200 of the information processing device 20 comprises an acquisition unit 201, an image processing control unit 202, and a drive control unit 203.

[0076] (1) Acquisition unit 201 The acquisition unit 201 acquires images and videos (hereinafter referred to as "captured images") taken by the imaging unit 150 of the cardiopulmonary resuscitation device 10, distance and angle data (hereinafter referred to as "distance data") acquired by the distance sensor, information regarding the status of operations performed by the drive unit of the cardiopulmonary resuscitation device 10 in accordance with the command of the drive control unit 203 (hereinafter referred to as "operation information"), data such as the respiratory status of the patient 2 acquired by the sensor of the ventilator (hereinafter referred to as "respiratory data"), and instruction information (hereinafter referred to as "instruction information") entered in the input unit 230.

[0077] Captured images, distance data, respiration data, and motion information can be obtained by communicating with the cardiopulmonary resuscitation device 10 via the communication unit 220. Instruction information can be obtained either directly from information entered by the user via the input unit 230, or from the recording unit which records information entered by the user via the input unit 230.

[0078] (2) Image processing control unit 202 The image processing control unit 202 comprises an epiglottis recognition unit 202a and an insertion position determination unit 202b. Based on the captured image and distance data acquired by the acquisition unit 201, the image processing control unit 202 performs image processing by the epiglottis recognition unit 202a and the insertion position determination unit 202b.

[0079] The epiglottis recognition unit 202a is configured to recognize the epiglottis in the captured image using a first learning model. The epiglottis recognition unit 202a can generate an image (hereinafter referred to as the epiglottis display image) in which the recognized epiglottis is displayed on the captured image. Alternatively, the epiglottis recognition unit 202a may be configured to display the recognized epiglottis superimposed on the captured image.

[0080] Here, "recognizing the epiglottis" does not require recognizing the entire epiglottis; it is sufficient to recognize at least a portion of the epiglottis. The portion of the epiglottis recognized by the epiglottis recognition unit 202a can be any reference area that allows the tube control unit 203b and the flap control unit 203c to determine whether to open the epiglottis. For example, the object of recognition may be the lower edge of the epiglottis (Figure 13A), a portion of the lower edge of the epiglottis (Figure 13B), or the center point of the epiglottis.

[0081] In a configuration that recognizes the lower edge of the epiglottis, the epiglottis recognition unit 202a can use an image of the patient 2 including the epiglottis (Figure 12) to generate an epiglottis display image in which the lower edge E of the epiglottis recognized based on the image is displayed on the image (Figure 13A). The display of the epiglottis in the epiglottis display image can be in any manner; for example, the recognized epiglottis may be displayed as a line (including a dashed line, etc.) as shown in Figure 13A, or it may be displayed as a filled-in area as shown in Figure 13B.

[0082] The insertion position determination unit 202b is configured to recognize the glottal region in the captured image using a second learning model. The insertion position determination unit 202b can generate an image (glottal display image) in which the recognized glottal region is displayed on the captured image. Alternatively, the insertion position determination unit 202b may be configured to overlay and display the recognized glottal region on the captured image.

[0083] For example, the glottal region recognized by the insertion position determination unit 202b may include the vocal cords in the captured image (Figure 15C) or the trachea shown between the vocal cords (Figures 15A and 15B). In the case of a configuration that recognizes the trachea, the insertion position determination unit 202b can use a captured image including the glottis of patient 2 (Figure 14) to generate a glottal display image in which the recognized trachea T ​​is displayed on the image (Figure 15A or Figure 15B). The display of the glottal region in the glottal display image can be in any manner; for example, the glottal region may be filled in as shown in Figure 15A, or it may be displayed by enclosing the glottal region with lines as shown in Figures 15B and 15C.

[0084] Furthermore, the insertion position determination unit 202b can determine the insertion reference position of the tube 140 based on the recognized glottal region and the distance data acquired by the acquisition unit 201, and generate an image (reference position display image) in which the determined insertion reference position is displayed on the captured image or glottal display image. Alternatively, the insertion position determination unit 202b may be configured to display the determined insertion reference position superimposed on the captured image or glottal display image.

[0085] The insertion reference position can be, for example, the center point of the recognized glottal region. For example, an image displaying the insertion reference position R can be generated based on the glottal region in the glottal display image (Figure 15) (Figure 16).

[0086] The recognized region and determined position, which are displayed overlaid on each image generated by the epiglottis recognition unit 202a and the insertion position determination unit 202b, or on captured images, can be displayed on the output unit 240 of the information processing device 20. Preferably, they are displayed in real time while the intubation process SC is being performed.

[0087] (3) Drive control unit 203 The drive control unit 203 controls the operation of each component connected to the drive unit of the cardiopulmonary resuscitation device 10 based on the various information acquired by the acquisition unit 201. The drive control unit 203 includes a holding arm control unit 203a, a tube control unit 203b, a flap control unit 203c, a balloon control unit 203d, and a ventilator control unit 203e (Figure 11).

[0088] The holding arm control unit 203a controls the holding arm 121 based on the instruction information acquired by the acquisition unit 201. For example, the operation controlled by the holding arm control unit 203a may include moving the holding arm 121 to its initial position or the intubation start position.

[0089] Furthermore, for example, the operation controlled by the holding arm control unit 203a may include the operation of attaching and detaching the oral balloon 130. In this case, specifically, the holding arm control unit 203a may decide to detach the oral balloon 130 when the oral balloon detachment conditions are met. The oral balloon detachment conditions include, for example, one of the following conditions: when the epiglottis recognition unit 202a fails to recognize the epiglottis region, when the insertion position determination unit 202b fails to recognize the glottal region, when the insertion reference position cannot be determined, and when the tube 140 is detached, or all of these conditions may be met.

[0090] If it is decided to detach the oral balloon 130, the detachment operation may be performed automatically or manually. However, in the case of manual operation, the holding arm control unit 203a (or control unit 200) may control the transmission of operation instructions to the user via an output unit such as a speaker or display, which may be provided by any of the devices constituting the cardiopulmonary resuscitation system 1 (for example, the cardiopulmonary resuscitation device 10 or the information processing device 20).

[0091] The tube control unit 203b can control the insertion of the tube 140 by controlling the guide unit 122a and the intubation unit 122d based on various information. The various information includes, for example, instruction information and operation information acquired by the acquisition unit 201, as well as epiglottis recognition information from the epiglottis recognition unit 202a and insertion reference position information from the insertion position determination unit 202b.

[0092] The tube control unit 203b controls the drive of the guide unit 122a so that the flap unit 122b moves to a position where it can open the epiglottis, based on various information. The tube control unit 203b also controls the drive of the intubation unit 122d so that the tube 140 is inserted, based on various information. The tube control unit 203b also decides to detach the tube 140 when the tube detachment conditions are met. The tube detachment conditions include, for example, the completion of insertion of the tube 140 (see the second insertion step S9 described later), and the fulfillment of this condition can be a condition for detachment.

[0093] If it is decided to detach the tube 140, the detachment operation may be performed automatically or manually. In the case of manual operation, the tube control unit 203b (or control unit 200) may control the transmission of operation instructions to the user via an output unit such as a speaker or display, which may be provided by any of the devices constituting the cardiopulmonary resuscitation system 1 (for example, the cardiopulmonary resuscitation device 10 or the information processing device 20).

[0094] The tube control unit 203b can determine the start or end of the operation of the guide unit 122a and the insertion unit 122d. For example, the instruction information is an instruction to start the insertion process entered by the user in the input unit 230, and when the acquisition unit 201 acquires the instruction information, the tube control unit 203b can determine the start of the operation of the guide unit 122a and the insertion unit 122d based on the acquired instruction information. Alternatively, for example, the operation information is an operation information indicating that gas filling into the balloon is complete or an operation information indicating that the movement of the holding arm 121 to the insertion start position is complete, and when the acquisition unit 201 acquires the operation information, it can determine the start of the operation of the guide unit 122a and the insertion unit 122d based on the operation information.

[0095] Furthermore, the operation of the guide section 122a controlled by the tube control unit 203b may include bending of the tube 140 in the longitudinal direction. Also, the operation of the intubation section 122d controlled by the tube control unit 203b may include pushing or pulling the tube 140 into or out of the patient's trachea, or attaching and detaching the tube 140. Specific control contents of the tube control unit 203b include, for example, the following.

[0096] The tube control unit 203b decides to cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation so that the epiglottis recognition section 202a can recognize a desired area of ​​the epiglottis. Based on the area of ​​the epiglottis recognized by the epiglottis recognition section 202a, the tube control unit 203b decides to cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation so that the guide section 122a is positioned so that the flap section 122b can open the epiglottis. Based on the operation information of the flap section 122b acquired by the acquisition section 201 (for example, completion of the epiglottis opening operation), the tube control unit 203b decides to cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation. The tube control unit 203b decides to cause the insertion section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation, based on the insertion reference position determined by the insertion position determination unit 202b.

[0097] Based on the operation information that the operations of the intubation section 122d and the guide section 122a, which were performed based on the insertion reference position, have been completed, the tube control unit 203b decides to detach the tube 140 from the tube support section 122a1.

[0098] The flap control unit 203c can control the flap portion 122b to open the epiglottis based on information from the epiglottis recognition unit 202a. For example, the flap control unit 203c can decide to move the flap portion 122b in the direction of arrow Y based on at least a portion of the area of ​​the epiglottis displayed in the epiglottis display image.

[0099] The balloon control unit 203d can control the gas filling unit. For example, the operations controlled by the balloon control unit 203d include injecting gas into the gas inlet or drawing gas from the gas inlet.

[0100] The ventilator control unit 203e can control the operation of the ventilator based on the respiratory data acquired by the acquisition unit 201. For example, the ventilator control unit 203e can decide to start or stop artificial respiration based on the respiratory data acquired by the acquisition unit 201. The ventilator control unit 203e can also decide to set or switch the operating mode of the ventilator based on the respiratory data acquired by the acquisition unit 201. Furthermore, the artificial respiration operation of the ventilator controlled by the ventilator control unit 203e can be performed using technology similar to the drive mechanism used in general ventilators.

[0101] 1.3 Cardiopulmonary Resuscitation Method Using Cardiopulmonary Resuscitation System 1 A method for performing cardiopulmonary resuscitation using the cardiopulmonary resuscitation system 1 according to the first embodiment will be described. The method for performing cardiopulmonary resuscitation using the cardiopulmonary resuscitation system 1 includes an airway securing step SA, an airway opening step SB, and an intubation step SC (Figure 17). Each step will be described below.

[0102] Here, among patient 2, the cardiopulmonary resuscitation method according to this embodiment is applied to patients in cardiac arrest or respiratory arrest. This includes patients who are not in life-threatening condition, such as those in cardiac arrest or respiratory arrest due to anesthesia, but who require resuscitation for medical reasons.

[0103] Before initiating cardiopulmonary resuscitation (CPR) using the CPR system 1, the user can activate the CPR device 10 via its input unit 174 and the information processing device 20 via its input unit 230.

[0104] Furthermore, the cardiopulmonary resuscitation (CPR) method using the CPR system 1 described below can be started with the oral balloon 130 attached to the holding part 121a, the tube 140 attached to the tube support part 122a1, and the ventilator attached to the tube 140. When each device is activated, the output unit 240 may be configured to instruct the user to attach the oral balloon 130 and the tube 140 to the arm unit 120, respectively.

[0105] First, the airway management process SA is performed. In the airway management process SA, the user places patient 2 in the head and neck fixation unit 160 of the cardiopulmonary resuscitation device 10 and performs jaw elevation of patient 2. The output unit 240 of the information processing device 20 may instruct the user on how to perform the airway management process SA.

[0106] Next, the mouth opening process SB is performed. In the mouth opening process SB, the user moves the second frame 102 of the cardiopulmonary resuscitation device 10 in the front-to-back direction and the third frame 103 in the up-and-down direction to align the upper jaw fixing portion 111 of the mouthpiece portion 110 and the oral insertion portion of the lower jaw fixing portion 112 so as to be inserted between the upper and lower jaws of the patient 2. Once the alignment is complete, the second frame 102 and the third frame 103 are fixed in place. After fixing, the lower jaw fixing portion 112 is moved forward to open the mouth. The output unit 240 of the information processing device 20 may instruct the user on how to perform the mouth opening process SB.

[0107] Next, the intubation process SC is performed. In the intubation process SC, the user inputs instruction information to start the intubation process SC into the input unit 230 of the information processing device 20. Subsequently, the information processing device 20 controls the cardiopulmonary resuscitation device 10 based on the instruction information, thereby enabling automatic intubation. The output unit 240 of the information processing device 20 may also instruct the user on the operations to be performed in the intubation process SC.

[0108] For example, in the insertion position determination step S7 described later, when the information processing device 20 receives operation information that the operation of the intubation section 122d has been completed, the output unit 240 can instruct the patient 2 to secure the oral balloon 130 and tube 140 to the patient 2 with tape or the like before the withdrawal step S10 is started.

[0109] The specific processing flow of the intubation process SC in the information processing device 20 and the cardiopulmonary resuscitation device 10 will be explained below with reference to Figure 18.

[0110] In the intubation process SC, the following steps are performed: preparation step S1, balloon inflation step S2, epiglottis recognition step S3, first adjustment step S4, first insertion step S5, epiglottis release step S6, insertion position determination step S7, second adjustment step S8, second insertion step S9, detachment step S10, and artificial respiration initiation step S11.

[0111] First, preparation step S1 is performed. In preparation step S1, the holding arm 121 is set to the intubation start position. Based on the instruction information from the user to start the intubation process SC, the information processing device 20 can decide that the holding arm control unit 203a should move the holding arm 121 to the intubation start position. In the cardiopulmonary resuscitation device 10, the drive unit moves the holding arm 121 to the intubation start position in accordance with the command from the holding arm control unit 203a, and can transmit operation information indicating that the movement to the intubation start position is complete to the information processing device 20 via the information processing unit 170.

[0112] When the information processing device 20 receives operation information indicating that the movement to the intubation start position is complete, the balloon inflation process S2 is executed. At this point, the oral balloon 130 is positioned in the oral cavity of the patient 2 because the holding arm 121 has been set to the intubation start position. In the balloon inflation process S2, the oral balloon 130 is inflated. The information processing device 20 can determine that the balloon control unit 203d will introduce gas into the gas inlet of the oral balloon 130. In the cardiopulmonary resuscitation device 10, the drive unit drives the gas filling unit according to the command from the balloon control unit 203d, thereby filling the balloon with gas. The cardiopulmonary resuscitation device 10 can transmit operation information indicating that gas filling is complete to the information processing device 20 via the information processing unit 170.

[0113] When the information processing device 20 receives operational information indicating that gas filling is complete, the epiglottis recognition step S3 is executed. In the epiglottis recognition step S3, at least a portion of the region of the epiglottis in the captured image is recognized using the first learning model.

[0114] The first learning model is a model that has been trained using various images of the epiglottis as training data. Specifically, when an image is input to the first learning model, it recognizes the extent of the epiglottis in the image and outputs at least a portion of the region of the epiglottis from within that extent. The extent of the epiglottis is identified, for example, using a bounding box.

[0115] As the first learning model, various learning models can be used as long as they are capable of object detection and outputting the region of the object. However, it is preferable to use a model with a fast processing speed so that images can be displayed in real time while the intubation process (SC) is being performed. As a model with a fast processing speed, for example, a model that uses YOLO for object detection and U-net as the segmentation network structure can be used. In this case, YOLO can be used to recognize the range of the epiglottis, and U-net can be used to output at least a portion of the region of the epiglottis from within its range.

[0116] In the epiglottis recognition step S3, if the epiglottis is successfully recognized, an image of the epiglottis is output to the output unit 240.

[0117] The epiglottis recognition step S3 can be set to be repeated a predetermined number of times. If the desired epiglottis region is not recognized in the epiglottis recognition step S3, and the number of repetitions of the epiglottis recognition step S3 has not reached the predetermined number, the first adjustment step S4 is executed. In the first adjustment step S4, the position of the guide section 122a is adjusted so that the epiglottis recognition section 202a can recognize the desired epiglottis region. The information processing device 20 can determine whether the tube control section 203b should cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation. Specifically, the guide section 122a can move freely across a horizontal plane perpendicular to the direction of intubation. In the cardiopulmonary resuscitation device 10, the drive unit can drive the intubation section 122d and the guide section 122a according to commands from the tube control section 203b. During or after the intubation section 122d and guide section 122a are driven, the epiglottis recognition step S3 is performed again based on the captured image. If the epiglottis recognition step S3 is repeated within a predetermined number of times and the desired epiglottis region is still not recognized by the epiglottis recognition section 202a, the process proceeds to the detachment step S10. In this case, the cardiopulmonary resuscitation system 1 can be used as an auxiliary ventilation device.

[0118] In the epiglottis recognition step S3, if the epiglottis is successfully recognized, the first insertion step S5 is executed. In the first insertion step S5, the intubation section 122d and the guide section 122a are driven to move the flap section 122b to a position where it can open the epiglottis, and the tube 140 is inserted toward the airway. For example, if the epiglottis recognition section 202a recognizes the lower edge or a part of the lower edge of the epiglottis, the intubation section 122d and the guide section 122a can be moved so that the flap section 122b is positioned below the recognized lower edge or part of the lower edge (referring to the downward direction in Figure 13). If the epiglottis recognition section 202a recognizes the center point of the epiglottis, the intubation section 122d and the guide section 122a are configured so that the flap section 122b is positioned at a predetermined distance below the center point recognized by the epiglottis recognition section 202a.

[0119] In the first insertion step S5, the information processing device 20 can determine whether the tube control unit 203b should cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation. In the cardiopulmonary resuscitation device 10, the drive unit can drive the intubation section 122d and the guide section 122a according to the command from the tube control unit 203b. The cardiopulmonary resuscitation device 10 can transmit operation information that the driving of the intubation section 122d and the guide section 122a has been completed to the information processing device 20 via the information processing unit 170.

[0120] When the information processing device 20 receives operation information that the intubation section 122d and the guide section 122a have been driven, the epiglottis opening process S6 is executed. In the epiglottis opening process S6, the epiglottis is opened by the flap section 122b. The information processing device 20 decides that the flap control section 203c will perform the opening operation of the flap section 122b. In the cardiopulmonary resuscitation device 10, the drive section can perform the opening operation of the flap section 122b in accordance with the command from the flap control section 203c. The cardiopulmonary resuscitation device 10 can transmit operation information that the opening operation of the flap section 122b has been completed to the information processing device 20 via the information processing unit 170.

[0121] When the information processing device 20 receives operation information indicating that the release operation has been completed, the insertion position determination step S7 is executed. In the insertion position determination step S7, the glottal region in the captured image is recognized using the second learning model, and the insertion reference position is determined.

[0122] The second learning model is a model that has been trained using various glottal images as training data. Specifically, when an image is input to the second learning model, it recognizes the range of the glottal region in the image and outputs the glottal region from within that range. The range of the glottal region is identified, for example, using a bounding box (Figures 15B and 15C).

[0123] As the second learning model, various learning models can be used as long as they are capable of object detection and outputting the region of that object. However, it is preferable to use a model with a fast processing speed so that images can be displayed in real time while the intubation process (SC) is being performed. For example, a model can be used that uses YOLO for object detection and U-net as the segmentation network structure. In this case, YOLO can be used to recognize the range of the glottal region, and U-net can be used to output the glottal region from within that range.

[0124] In the insertion position determination step S7, if the glottal region is successfully recognized, a glottal surface image is output to the output unit 240. Next, in the insertion position determination step S7, the insertion reference position is determined based on the recognized glottal region and the distance and angle data acquired by the distance sensor, and a reference position display image is output to the output unit 240. If the insertion reference position cannot be determined at this point, the process proceeds to the withdrawal step S10. In this case, the cardiopulmonary resuscitation system 1 can be used as an auxiliary ventilation device.

[0125] The insertion position determination step S7 can be set to be repeated a predetermined number of times. If the desired glottal region is not recognized in the insertion position determination step S7, and the number of repetitions of the insertion position determination step S7 has not reached the predetermined number, the second adjustment step S8 is executed. In the second adjustment step S8, the position of the guide section 122a is adjusted so that the insertion position determination unit 202b can recognize the desired glottal region. The information processing device 20 can determine whether the tube control unit 203b should cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation. In the cardiopulmonary resuscitation device 10, the drive unit can drive the intubation section 122d and the guide section 122a according to commands from the tube control unit 203b. During or after the driving of the intubation section 122d and the guide section 122a, the insertion position determination step S7 is performed again based on the captured image. If the insertion position determination step S7 is repeated within a predetermined number of times and the desired glottal region is still not recognized by the insertion position determination unit 202b, the process proceeds to the withdrawal step S10. In this case, the cardiopulmonary resuscitation system 1 can be used as an auxiliary ventilation device.

[0126] In the insertion position determination step S7, if the glottal region is successfully recognized and the insertion reference position is determined, the second insertion step S9 is executed. In the second insertion step S9, the intubation section 122d and the guide section 122a are driven toward the trachea based on the insertion reference position to insert the tube 140 toward the glottis. The information processing device 20 can determine whether the tube control unit 203b should cause the intubation section 122d to perform an extrusion operation and / or the guide section 122a to perform a bending operation. In the cardiopulmonary resuscitation device 10, the drive unit can drive the intubation section 122d and the guide section 122a according to commands from the tube control unit 203b.

[0127] The cardiopulmonary resuscitation device 10 can transmit operation information to the information processing device 20 via the information processing unit 170 that the insertion of the tube 140 has been completed, that is, that the intubation section 122d and the guide section 122a have been driven. If the tube 140 could not be inserted, the second insertion step S9 is terminated at this point, and the device proceeds to the withdrawal step S10. In this case, the cardiopulmonary resuscitation system 1 can be used as an auxiliary ventilation device.

[0128] In this case, if a cuffed tube 140 is used, when the information processing device 20 receives operation information that the intubation section 122d and the guide section 122a have been driven, the process of inflating the cuff of the tube 140 is executed (not shown). The information processing device 20 can determine that the balloon control unit 203d will introduce gas into the gas inlet of the tube 140.

[0129] If the information processing device 20 receives operation information indicating that the driving of the intubation section 122d and the guide section 122a in the second insertion step S9 has been completed, or if the information processing device 20 fails to recognize the epiglottis in the epiglottis recognition step S3, fails to recognize the glottal region in the insertion position determination step S7, fails to determine the insertion reference position, or fails to insert the tube 140 in the second insertion step S9, the detachment step S10 is executed. In the detachment step S10, if the process has progressed to the second insertion step S9, the tube 140 is detached from the tube support section 122a1, the oral balloon 130 is detached from the holding arm 121, and the holding arm 121 returns to its initial position. If the process has progressed to the detachment step S10 because the tube 140 could not be inserted in the epiglottis recognition step S3, the insertion position determination step S7, or the second insertion step S9, only the oral balloon 130 is detached without detaching the tube 140 from the tube support section 122a1.

[0130] In the information processing device 20, the tube control unit 203b can determine the operation of detaching the tube 140 from the tube support unit 122a1. In the cardiopulmonary resuscitation device 10, the drive unit can detach the tube 140 from the tube support unit 122a1 according to the command from the tube control unit 203b. The information processing unit 170 of the cardiopulmonary resuscitation device 10 can transmit operation information that the detachment of the tube 140 has been completed to the information processing device 20.

[0131] When the information processing device 20 receives operation information indicating that the detachment operation of the tube 140 has been completed, or when the device proceeds from the epiglottis recognition step S3 or the insertion position determination step S7 to the detachment step S10, the holding arm control unit 203a can determine the detachment operation of the oral balloon 130 from the holding arm 121 and the movement of the holding arm 121 to its initial position. In the cardiopulmonary resuscitation device 10, the drive unit can detach the oral balloon 130 from the holding arm 121 and move the holding arm 121 to its initial position in accordance with the command from the holding arm control unit 203a. The cardiopulmonary resuscitation device 10 can transmit operation information indicating that the movement of the holding arm 121 to its initial position has been completed to the information processing device 20 via the information processing unit 170.

[0132] When the information processing device 20 receives operation information indicating that the holding arm 121 has completed moving to its initial position, the artificial respiration initiation process S11 is executed. In the artificial respiration initiation process S11, artificial respiration is performed on the patient 2 based on the respiratory data. In the information processing device 20, the ventilator control unit 203e can decide to start artificial respiration using the ventilator based on the respiratory data acquired by the acquisition unit 201. In the cardiopulmonary resuscitation device 10, the drive unit drives the ventilator and starts artificial respiration according to the command of the ventilator control unit 203e.

[0133] Furthermore, in the artificial respiration initiation step S11, the operating mode of the ventilator is set or switched as appropriate based on the respiratory data. In the information processing device 20, the ventilator control unit 203e can decide to set or switch the operating mode of the ventilator as appropriate based on the respiratory data. In the cardiopulmonary resuscitation device 10, the drive unit drives the ventilator in the set or switched operating mode according to the command of the ventilator control unit 203e.

[0134] When artificial respiration is started in the artificial respiration initiation step S11, the oral balloon 130 connected to the ventilator remains in the patient's mouth, and if the second insertion step S9 has been performed, the oral balloon 130 and the tube 140 remain, and the intubation step SC according to this embodiment is completed.

[0135] In the intubation process SC described here, except for the initial preparation process S1, the start of the next process is determined based on the operation information that the previous process has been completed. However, the start of each process may also be determined by the user inputting the start of each process into the input unit 230. In this case, the output unit 240 of the information processing device 20 may instruct the user to perform operations such as inputting instruction information.

[0136] Cardiopulmonary resuscitation (CPR), particularly tracheal intubation, requires specialized skills from a physician. The CPR method using CPR System 1 utilizes machine learning-based image recognition technology to enable smooth intubation. Furthermore, this configuration allows for automatic intubation without user intervention. This automated intubation capability allows for intubation even in situations where a physician is unavailable, such as emergency scenes, improving the chances of survival. Additionally, the automated intubation configuration contributes to reducing the risk of medical errors and infection during intubation.

[0137] 2. Second Embodiment The cardiopulmonary resuscitation system 1 according to this embodiment differs from the first embodiment mainly in the structure around the intubation arm 122. The following description will focus on the differences from the first embodiment.

[0138] 2.1 Cardiopulmonary Resuscitation Device 10 As shown in Figure 19, the intubation arm 722 according to this embodiment includes a guide section 722a, an imaging unit mounting section 722b, an intubation section (not shown), and a guide unit 723. The guide unit 723 of the intubation arm 722 is configured to curve in an arc shape around the axis of rotation in which the holding arm 721 rotates. The guide section 722a, the imaging unit mounting section 722b, and the intubation section can each have the same functions as the guide section 122a, the imaging unit mounting section 122c, and the intubation section 122d according to the first embodiment. Furthermore, it is preferable that the imaging unit mounting section 722b is provided at the tip of the guide section 722a.

[0139] The guide unit 723 has a function similar to that of the oral balloon 130 and flap portion 122b in the first embodiment, but integrated together. Therefore, in the intubation arm 722 according to this embodiment, unlike the first embodiment, the flap portion 723b is not attached to the guide portion 722a. Note that the oral balloon 130 in the first embodiment can be read as the guide unit 723, and the oral balloon detachment condition can be read as the guide unit detachment condition.

[0140] As shown in Figure 19, the guide unit 723 may include a guide body 723a, a flap portion 723b, and an inlet portion 723c. The guide unit 723 is formed in a cylindrical shape, and is configured so that a guide portion 722a and a tube 140 can be arranged inside it from the inlet portion 723c. Specifically, the tube 140 is arranged inside the cylinder of the guide unit 723, and the guide portion 722a is arranged inside the tube 140.

[0141] With this configuration, the intubation arm 722 according to this embodiment is configured such that the drive of the guide portion 722a is controlled by the tube control unit 203b, and when the guide portion 722a moves, the flap portion 723b and the tube 140 move in accordance with the movement of the guide portion 722a. Furthermore, the guide portion 722a and the guide unit 723 are configured to be fixed in the direction of intubation after their positions are adjusted in the first insertion step S5. That is, from the epiglottis opening step S6 onward, only the tube 140 is configured to move forward and / or backward.

[0142] The guide body 723a is equipped with a fixing balloon 723a1. The fixing balloon 723a1 plays the role of the oral balloon 130 in the first embodiment. The fixing balloon 723a1 is configured to be inflatable in the mouth of the patient 2. The fixing balloon 723a1 is positioned 40 to 60 mm from the tip of the flap portion 723b of the intubation arm 722. Specifically, the position where the fixing balloon 723a1 is positioned is, for example, 20, 25, 30, 35, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 65, 70, 75, 80 mm from the tip of the flap portion 723b, and may be within the range of any two of the values ​​exemplified here.

[0143] When the intubation arm 722 is positioned in the oral cavity of patient 2, the fixing balloon 723a1 inflates, fixing the position of the intubation arm 722 in the oral cavity of patient 2, thereby enabling smooth intubation. The fixing balloon 723a1 is equipped with a gas inlet (not shown) and is driven by a gas filling unit via the gas inlet. The gas inlet is provided in a tubular shape, for example, extending along the guide body 723a to the inlet portion 723c.

[0144] The flap portion 723b is adjacent to the fixing balloon 723a1 and is formed continuously with the guide body 723a (Figure 19). The flap portion 723b is tapered, becoming narrower from the guide body 723a towards the tip of the guide unit 723 (Figure 20). The flap portion 723b is formed in an alligator-claw shape by having notches formed in the left-right direction.

[0145] The flap portion 723b is equipped with a flap balloon 723b1 inside (Figure 22). The flap portion 723b is configured to open and close by the drive of the flap balloon 723b1. Specifically, the flap portion 723b is configured to open when the flap balloon 723b1 expands (Figure 20) and close when the flap balloon 723b1 contracts (Figure 19).

[0146] The flap portion 723b opens in the oral cavity of patient 2, thereby enabling the opening of the epiglottis. The flap balloon 723b1 is equipped with a gas inlet (not shown) and is driven by a gas filling unit via the gas inlet. The gas inlet is provided in a tubular shape, for example, extending along the inside of the guide body 723a to the entrance portion 723c.

[0147] Furthermore, the flap portion 723b may be further provided with a band portion 723b2 (Figures 19 and 20). The band portion 723b2 is a member for closing the flap portion 723b and maintaining the closed state of the flap portion 723b. This prevents the flap portion 723b from opening and getting caught in the oral cavity of the patient 2. It also allows for more secure fixation of the tube 140 after the intubation process SC is completed.

[0148] The band portion 723b2 can be made of any stretchable material, such as rubber. The stretchability of the band portion 723b2 should be such that it can maintain the closed state of the flap portion 723b, and the flap balloon 723b1 can inflate to open the flap portion 723b. In the illustrated example, the band portion 723b2 is provided so as to wrap around the flap portion 723b in a direction perpendicular to the longitudinal direction of the guide unit 723.

[0149] The width T of the band portion 723b2 is preferably 10 to 40% of the length L of the flap portion 723b. Specifically, for example, the width T of the band portion 723b2 may be 10, 15, 20, 25, 30, 35, or 40% of the length L of the flap portion 723b, and may be within the range of any two of the values ​​exemplified here.

[0150] The band portion 723b2 is preferably positioned at a location 50 to 90% of the length L of the flap portion 723b from the tip of the flap portion 723b. Specifically, for example, the position where the band portion 723b2 is positioned may be 50, 55, 60, 65, 70, 75, 80, 85, or 90% of the length L of the flap portion 723b from the tip of the flap portion 723b, and may be within the range of any two of the values ​​exemplified here.

[0151] Furthermore, it is preferable that a notch 723b3 is formed at the tip of the flap portion 723b. By forming the notch 723b3, the imaging unit 150 can photograph the direction of travel even when the flap portion 723b is closed. The notch 723b3 can be formed in any shape, but in the illustrated example, the notch 723b3 is formed in a substantially U shape. The material of the guide body 723a and the flap portion 723b can be any elastomer that does not affect the human body, such as silicone or styrene-ethylene-butylene-styrene (SEBS).

[0152] The gas filling unit is connected to the gas inlet of the fixing balloon 723a1 and the gas inlet of the flap balloon 723b1, respectively. The gas filling unit can fill the fixing balloon 723a1 and the flap balloon 723b1 with gas via their respective gas inlets, or degas the fixing balloon 723a1 and the flap balloon 723b1 with gas via their respective gas inlets.

[0153] The flap control unit 203c can control the flap balloon 723b1 via the gas inlet. The flap control unit 203c controls the gas filling unit so that the flap balloon 723b1 expands to a predetermined pressure. The predetermined pressure is, for example, 20 to 35 cmH. ２ It is O.

[0154] The balloon control unit 203d can control the fixing balloon 723a1 via the gas inlet. The balloon control unit 203d controls the gas filling unit so that the fixing balloon 723a1 inflates to a predetermined pressure. The predetermined pressure is, for example, 15 to 30 cmH. ２ It is O.

[0155] 2.2 Cardiopulmonary Resuscitation Method Using Cardiopulmonary Resuscitation System 1 In the cardiopulmonary resuscitation method according to this embodiment, in the balloon inflation step S2, the fixing balloon 723a1 is inflated instead of the oral balloon 130.

[0156] Furthermore, in the epiglottis opening process S6, the flap control unit 203c can decide to introduce gas into the gas inlet of the flap balloon 723b1. In the cardiopulmonary resuscitation device 10, the drive unit drives the gas filling unit in accordance with the command from the flap control unit 203c, thereby filling the flap balloon 723b1 with gas. This causes the flap section 723b to open.

[0157] 3. Third Embodiment The cardiopulmonary resuscitation system 1 according to this embodiment differs from the first embodiment mainly in the structure of the arm unit 120 and the inclusion of an intubation posture fixing device 80 and a pressure sensor (not shown), as shown in Figures 23 and 24. The intubation posture fixing device 80 is a device that combines the functions of the frame part 100, mouthpiece part 110, and head and neck fixing part 160 in the first embodiment. The intubation posture fixing device 80 is a device for fixing the head of a patient 2 in a supine position in a sniffing position. The sniffing position is a posture in which the angle formed by the pharyngeal axis, laryngeal axis, and oral axis is relatively small. The following will focus on the differences from the first embodiment.

[0158] 3.1 Cardiopulmonary Resuscitation Device 10 The cardiopulmonary resuscitation device 10 according to this embodiment will be described with reference to Figure 23.

[0159] 3.1.1 Intubation posture fixing device 80 The intubation posture fixing device 80 comprises a head support part 801, a forehead support part 802, a jaw support part 803, a frame part 804, a mouthpiece part 805, and a drive part (not shown).

[0160] (1) Head support unit 801 The head support unit 801 is a base that fixes the cervical spine of patient 2 in a flexed position. The head support unit 801 is configured to hold at least the back of the head of patient 2, who is lying supine on the ground or floor (hereinafter referred to as the ground), off the ground.

[0161] The thickness T of the head support portion 801 is 3 to 12 cm. More preferably, the thickness T of the head support portion 801 is 5 to 10 cm. Specifically, the thickness T of the head support portion 801 is, for example, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, and may be within the range of any two of the values ​​exemplified here. When patient 2 is simply placed supine on the ground, the pharyngeal axis and the laryngeal axis intersect at an angle. However, by holding the head with a head support portion 801 having such a thickness, the head of patient 2 can be positioned higher than the chest above the ground, and the pharyngeal axis and the laryngeal axis can be positioned in a straight line.

[0162] The head support portion 801 has a head rest portion 801a for positioning the patient's head 2. The head rest portion 801a is preferably concave in shape to conform to the shape of the human head (at least the back of the head). This configuration allows the patient's head 2 to be fixed in the left-right direction, making intubation easier.

[0163] Furthermore, although the head support portion 801 has a rectangular parallelepiped shape in the illustrated example, its external shape can be any shape as long as stability can be ensured as a base.

[0164] (2) Forehead fixing part 802 The forehead fixing part 802 is a member for fixing the forehead of the patient 2 in a position where the head is tilted backward. It can be configured in any way as long as it has this function. For example, it may be formed in the shape of a helmet and configured to cover the forehead from the back of the patient 2's head.

[0165] The intubation posture fixing device 80, with its forehead fixing portion 802 that presses down on the patient's 2 forehead from above, can distribute the force that would otherwise be required to maintain the head in a tilted and mandibular-elevated state compared to when the jaw holding portion 803 alone (described later) is used to maintain this state. In other words, the inclusion of the forehead fixing portion 802 makes it easier to maintain the head in a tilted and mandibular-elevated state.

[0166] In the illustrated example, the forehead fixing portion 802 is connected to the head holding portion 801 and comprises an extension portion 802a and a pressing portion 802b. The extension portions 802a are connected to the head holding portion 801 so as to extend forward from the left and right sides of the rear (head side when the patient 2 is placed) of the head holding portion 801. As shown in Figure 23, the forehead fixing portion 802 is rotatably connected to the head holding portion 801 in the direction of arrow Z1 about axis A. The extension portions 802a are configured to rotate based on commands from the posture control unit 203f, which will be described later.

[0167] The pressing portion 802b has the function of pressing against the forehead in such a way that it causes the patient's head to flex backward. The pressing portion 802b can have any configuration as long as it can perform this function. In the illustrated example, the pressing portion 802b is formed in a strip shape and attached to the head holding portion 801 via the extension portion 802a. In the forehead fixing portion 802, the pressing portion 802b is configured to cover the patient's forehead in a left-right direction by the rotational movement of the extension portion 802a. When the pressing portion 802b is formed from a rigid material, it is preferable that it is shaped to fit a human forehead. Specifically, the pressing portion 802b can be manufactured from, for example, latex-free synthetic rubber. Specifically, it is preferable that it has an arc-shaped curved configuration as shown in Figure 23.

[0168] Furthermore, the pressing portion 802b may be made of a flexible material, such as a hairband. In this case, it may be connected to the front end of the head rest portion 801a (the position where the back of the patient's neck is placed). With this configuration, the pressing portion 802b can press the patient's forehead toward the back of the neck, and can more effectively maintain a posterior head position.

[0169] (3) Chin support portion 803 The chin support portion 803 is a member that elevates the mandible of patient 2 and causes the head to flex backward. The chin support portion 803 is connected to the head support portion 801 via the extension portion 802a of the forehead fixing portion 802. Specifically, the chin support portion 803 is connected to the front end of the extension portion 802a. The chin support portion 803 is movably connected from the extension portion 802a. The chin support portion 803 is configured to start moving when the forehead fixing portion 802 is in the position shown in Figure 24 (i.e., rotated downward from the state shown in Figure 23 to a position that is almost horizontal to the ground) (details will be described later), and is movable in the direction of the patient 2's height (direction of arrow A) in that position.

[0170] The jaw support unit 803 may be connected using a ratchet mechanism, for example. The jaw support unit 803's position in the front-to-back direction is determined based on commands from the jaw position control unit 203h, which will be described later. The movable position of the jaw support unit 803 makes it possible to support the jaw regardless of the size of the patient's head.

[0171] The jaw support portion 803 is configured to contact the lower jaw of patient 2. Therefore, it is preferable that the jaw support portion 803 has a shape that conforms to the shape of a human jaw. Specifically, for example, the jaw support portion 803 is configured in a U-shape or a V-shape. In the illustrated example, the jaw support portion 803 is formed in a U-shape.

[0172] The jaw support portion 803 can move towards the head and enter under the mandible, thereby lifting the mandible. The jaw support portion 803 may have a slope formed such that, from the viewpoint of the forehead fixing portion 802 in the state shown in Figure 24, it rises from posterior to anterior. With this configuration, the jaw support portion 803 can easily slide under the mandible when moving posteriorly (towards the head) towards the mandible of patient 2, making it easy to lift the mandible.

[0173] By raising the mandible using the jaw fixation device in this way, the angle between the oral axis and the pharyngeal and laryngeal axes can be reduced. Reducing the angle between these three axes makes it possible to achieve the so-called sniffing position, which makes it easier to position the intubation arm 722 from the patient's mouth to just before the epiglottis.

[0174] (4) Frame portion 804 The frame portion 804 is movably connected to the head support portion 801 on the head side of the patient 2. Specifically, the frame portion 804 is mounted above the forehead fixing portion 802 and extending from the end side of the head support portion 801 to which the forehead fixing portion 802 is connected. The frame portion 804 is connected to the head side position of the head support portion 801 and is rotatably mounted in the direction of arrow Z2 about axis B shown in Figure 23. The movement of the frame portion 804 is controlled according to commands from the frame control unit 203g, which will be described later. The frame has the same function as the third frame 103 according to the first embodiment. Therefore, the mouthpiece portion 805 and the arm unit 720 are attached to the frame portion 804. Specifically, the frame portion 804 movably supports the arm unit 720.

[0175] (5) Mouthpiece portion 805 The structure of the mouthpiece portion 805 can be the same as that of the mouthpiece portion 110 in the first embodiment. As described above, the mouthpiece portion 805 is attached to the frame portion 804. Therefore, the relative position of the mouthpiece portion 805 with respect to the mouth of the patient 2 is adjusted by the movement of the frame portion 804, and the upper jaw fixing portion 805a and the lower jaw fixing portion 805b are inserted into the mouth. In the illustrated example, the frame portion 804 rotates, so that the upper jaw fixing portion 805a and the lower jaw fixing portion 805b are inserted between the upper jaw and the lower jaw of the patient 2.

[0176] Furthermore, the relative movement of the maxillary fixing portion 805a and the mandibular fixing portion 805b is configured to move in accordance with commands from the opening control unit 203i, which will be described later.

[0177] (6) Drive Unit (Not Illustrated) The drive unit is configured to drive other members of the intubation posture fixing device 80. The drive unit drives the forehead fixing unit 802, the jaw holding unit 803, the frame unit 804, and the mouthpiece unit 805 based on various commands from the control unit 200, and is configured to include any number of actuators. The power source for the actuators can be any power source or a mechanism of known technology that can drive the aforementioned forehead fixing unit 802, jaw holding unit 803, frame unit 804, and mouthpiece unit 805 to perform their movement functions. The power source can be, for example, electric, pneumatic, or hydraulic.

[0178] 3.1.2 Arm Unit 720 The arm unit 720 is positioned at a predetermined relative position to the intubation posture fixing device 80 and is configured so that at least a portion of it is inserted into the mouth of the patient 2. The predetermined relative position is a position and orientation such that the tip of the arm unit 720 inserted from the mouthpiece portion 805 is positioned in front of the epiglottis in a trajectory that passes through the oral cavity and oropharynx of the patient 2, whose posture is fixed by the intubation posture fixing device 80.

[0179] The arm unit 720 may be provided independently of the intubation posture fixing device 80, provided that it can be positioned at a predetermined relative position. Here, as an example of the arm unit 720, an arm unit 720 connected to the intubation posture fixing device 80 will be described. The arm unit 720 comprises a holding arm 721 and an intubation arm 722. The arm unit 720 may further include a monitoring unit 724.

[0180] (1) Holding arm 721 Figure 25 is an enlarged view showing the holding arm 721 in the intubation start position. The holding arm 721 is configured to hold the intubation arm 722. Specifically, the holding arm 721 is pivotally supported at one end on a rotating shaft C provided on the frame portion 804, and is configured to support the intubation arm 722 at the other end. The holding arm 721 is further configured to hold the tube 140 and the monitor portion 724.

[0181] In the illustrated example, the holding arm 721 comprises a holding body 721a, a tube holding portion 721b, and a guide unit holding portion 721c. The tube holding portion 721b and the guide unit holding portion 721c each have functions that combine the insertion portion 122d and the holding portion 121a of the first embodiment. The tube holding portion 721b holds the tube 140, and the guide unit holding portion 721c holds the guide unit 723 provided on the insertion arm 722. One end of the tube holding portion 721b is rotatably connected to the holding body 721a, and the other end is configured to hold the tube 140. The tube 140 is configured to move as the tube holding portion 721b rotates around axis D. The tube holding portion 721b is driven to push out or pull in the tube 140 based on a command from the tube control unit 203b.

[0182] The guide unit holding portion 721c is configured to hold the guide unit 723 at the other end of the holding body 721a. Furthermore, since the tube 140 and the guide portion 722a pass through the inside of the guide unit 723, the guide unit holding portion 721c is formed by creating a through hole in the holding body 721a.

[0183] The above configuration is just one example, and the tube holding portion 721b and the guide unit holding portion 721c can be configured in any way as long as they can perform the functions described above. Furthermore, the positions of the tube holding portion 721b and the guide unit holding portion 721c on the holding body 721a can be any position that allows the intubation arm 722 to be inserted between the maxillary fixing portion 805a and the mandibular fixing portion 805b (i.e., between the maxilla and mandible of patient 2) when positioned at the intubation start position.

[0184] Furthermore, the holding arm 721 is configured to allow the monitor unit 724, which will be described later, to be attached. The holding arm 721 can be configured in any way as long as the monitor unit 724 can be attached.

[0185] (2) Intubation arm 722 The structure of the intubation arm 722 according to this embodiment is similar to the configuration of the intubation arm 722 in the second embodiment. The configuration in which the intubation arm 722 is attached to other members differs from that of the first and second embodiments, so the differences will be explained here in detail.

[0186] The tip of the intubation arm 722 is configured to be positioned in front of the epiglottis by the rotational movement of the holding arm 721, tracing an arc-shaped trajectory. In this specification, "in front of the epiglottis" can be, for example, any location in the oropharynx. More specifically, "in front of the epiglottis" can be a spatial position within 2 to 5 cm from the lower edge of the epiglottis. Specifically, "in front of the epiglottis" can be, for example, 2, 3, 4, or 5 cm, and may be within the range of any two of the values ​​exemplified here. Here, the tip of the intubation arm 722 refers to the tip of the guide portion 722a and / or the tip of the guide unit 723.

[0187] The guide unit 723 is detachably connected at its inlet portion 723c to the guide unit holding portion 721c of the holding arm 721. In the illustrated example, the guide portion 722a is connected to the holding arm 721 via the monitor portion 724, which will be described later. However, the guide portion 722a may be directly connected to any position on the holding arm 721 as long as it can be inserted through the inside of the tube 140.

[0188] The tip of the guide portion 722a is configured to bend, and the tip of the guide portion 722a is controlled to bend based on a command from the bending control unit 203j, which will be described later.

[0189] Furthermore, the intubation arm 722 may be equipped with a pressure sensor. The pressure sensor is used to determine whether there are any obstacles in the direction of travel of the guide section 722a based on the acquired pressure value. The pressure sensor can be attached to any location as long as it can perform this function. Specifically, for example, the pressure sensor can be attached to the tip of the intubation arm 722.

[0190] (3) Monitor Unit 724 The monitor unit 724 can be any display capable of displaying images captured by the imaging unit. In this embodiment, it is integrated with the arm unit 720, but the monitor unit 724 may be provided as a monitor device independent of the cardiopulmonary resuscitation device 10 as long as it can display images.

[0191] 3.1.3 Information Processing Device 20 The information processing device 20 according to this embodiment also performs information processing in the airway securing process SA and the opening process SB. The functional configuration of the information processing device 20 will be described with reference to Figure 26. The acquisition unit 201 of the control unit 200 is configured to also acquire pressure values ​​from the pressure sensor.

[0192] The drive control unit 203 further comprises a posture control unit 203f, a frame control unit 203g, a jaw position control unit 203h, an opening control unit 203i, and a flexion control unit 203j. The posture control unit 203f, the frame control unit 203g, the jaw position control unit 203h, and the opening control unit 203i output commands to drive the actuators (not shown) of the corresponding drive units based on the instruction information acquired by the acquisition unit 201. Specifically, the posture control unit 203f controls the rotational movement of the forehead fixing unit 802 via the drive unit. The jaw position control unit 203h controls the movement of the jaw holding unit 803 in the height direction via the drive unit. The frame control unit 203g controls the rotational movement of the frame unit 804 via the drive unit. The opening control unit 203i controls the movement of the mandibular fixing unit 805b in the height direction via the drive unit.

[0193] The bending control unit 203j outputs a command to control the bending operation of the tip of the guide unit 722a based on the pressure value acquired by the acquisition unit 201. Specifically, the bending control unit 203j determines whether or not the bending condition is met, and if the bending condition is met, it controls the arm unit 720 to bend the tip of the guide unit 722a. The bending condition is when the pressure value acquired by the pressure sensor exceeds a threshold. Specifically, the threshold is 20 to 30 hPa. Specifically, the threshold is, for example, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30 hPa, and may be within the range of any two of the values ​​exemplified here.

[0194] The tip of the guide portion 722a is specifically configured to bend towards the back. The bending angle is specifically, for example, 40° to 60°. Specifically, the bending angle is, for example, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60°, and may be within the range of any two of the values ​​exemplified here.

[0195] Furthermore, the tube control unit 203b according to this embodiment is configured to control the movement of the tube 140 by controlling the drive of the tube holding unit 721b.

[0196] 3.2 Cardiopulmonary Resuscitation Method Using Cardiopulmonary Resuscitation System 1 This section will mainly describe the airway securing process SA and the airway opening process SB using the intubation posture fixing device 80 according to this embodiment. Each process may be started by the user inputting instruction information into the input unit, or the system may be configured so that the next process is performed sequentially based on a control command indicating that one process has been completed.

[0197] In the airway securing process SA, the user first places the patient's head 2 on the head support unit 801 (Figure 27A). Next, the posture control unit 203f can decide to move the forehead fixing unit 802. The drive unit rotates the forehead fixing unit 802 by approximately 90 degrees according to the command from the posture control unit 203f (Figure 27B).

[0198] Once the movement of the forehead fixing unit 802 is complete, the jaw position control unit 203h may decide to move the jaw retaining unit 803 cephalically (arrow in Figure 27C) so that it is positioned to elevate and fix the mandible of the patient 2. The drive unit moves the jaw retaining unit 803 according to the command from the jaw position control unit 203h.

[0199] In the opening process SB, the frame control unit 203g decides to rotate the frame portion 804. Following the command from the frame control unit 203g, the drive unit rotates the frame portion 804 (Figure 27D). At this time, the frame portion 804 is configured to rotate to above the vicinity of the patient's mouth 2.

[0200] When the frame portion 804 stops near the mouth of patient 2, the user manually inserts the upper jaw fixing portion 805a and the oral insertion portion of the lower jaw fixing portion 805b of the mouthpiece portion 805 between the upper and lower jaws of patient 2 (Figure 27E). This configuration, in which the user manually performs part of the operation, allows for safer opening of the mouth. Therefore, the rotational movement angle of the frame portion 804 driven by the drive unit is less than 90°. Specifically, the rotational movement angle may be, for example, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, or 80°, and may also be within the range of any two of the values ​​exemplified here.

[0201] After the user inserts the upper jaw fixation part 805a and the oral insertion part of the lower jaw fixation part 805b between the upper and lower jaws of patient 2, the opening control unit 203i moves the lower jaw fixation part 805b forward (caudally) to open the mouth (Figure 27F).

[0202] The airway securing step SA and opening step SB according to this embodiment make it possible to fix the patient's head in the sniffing position.

[0203] Next, in the intubation process SC, the holding arm 721 is set to the intubation start position, similar to the first embodiment, and various operations are performed. Figure 28 shows an example of the trajectory of the tip of the intubation arm 722 with a dashed line, and an example of the subsequent entry path of the tube 140 with an arrow.

[0204] The trajectory from point P to R is the trajectory that the tip of the intubation arm 722 passes through in preparation step S1. Specifically, the tip of the guide section 722a is moved so that it is positioned in front of the epiglottis in a trajectory that passes through the oral cavity and oropharynx of patient 2. In Figure 28, the position "in front of the epiglottis" includes points Q and R.

[0205] First, as the holding arm 721 moves to the intubation start position, the trajectory of the tip of the intubation arm 722 moves from point P to point Q. The trajectory at this time is an arc-shaped trajectory with the holding arm 721 centered on the rotation axis C provided on the frame portion 804. The trajectory from point P to point Q is the same as in the first embodiment.

[0206] From the time the holding arm 721 starts moving to the intubation start position until the movement is completed, the bending control unit 203j acquires pressure values ​​from the pressure sensor at arbitrary time intervals and determines whether the bending condition is met. The example trajectory shown in Figure 28 shows the case where the bending condition is met when the holding arm 721 has completed moving to the intubation start position. If the bending condition is met, the movement of the guide part 722a is controlled so that the tip of the guide part 722a moves from point Q to point R. With this configuration, the risk of injuring the pharynx of patient 2 can be suppressed. Furthermore, the possibility of recognizing the epiglottis in the subsequent epiglottis recognition step can be increased.

[0207] The trajectory of the arrow from point R supplementarily depicts the trajectory of the guide section 722a to the tube 140 after the epiglottis recognition process, and its behavior is the same as in the first embodiment.

[0208] 3.3 Effects and Effects In the cardiopulmonary resuscitation device 10 according to this embodiment, the arm unit 720 rotates and moves so that the tip of the arm unit 720 is positioned in front of the epiglottis. This simplifies the configuration and control of the device.

[0209] When performing rotational movement, it is necessary to set the central axis of rotation. As shown in Figure 29A, when patient 2 is in a supine position directly on the ground, the path from the oral cavity through the pharynx to just before the epiglottis has a small radius of curvature. Therefore, when inserting the intubation arm 722 in an arc trajectory, the central axis must be set to the lower jaw of patient 2. Consequently, in this case, it becomes difficult to attach the intubation arm 722 to a member placed outside patient 2 and move the intubation arm 722 from the oral cavity through the pharynx to just before the epiglottis using a simple mechanical mechanism such as rotation.

[0210] In the cardiopulmonary resuscitation device 10 according to this embodiment, the intubation posture fixing device 80, which includes a head support part 801, a jaw support part 803, and a mouthpiece part 805, holds the back of the patient's head in an elevated position and elevates the lower jaw, thereby forming the sniffing position shown in Figure 29B. In the sniffing position shown in Figure 29B, the path from the oral cavity through the pharynx to just before the epiglottis becomes more linear and its radius of curvature increases. This makes it easier to move the intubation arm 722 from the oral cavity through the pharynx to the position just before the epiglottis using a mechanically simple movement mechanism.

[0211] For example, if a simple rotation mechanism is adopted, as shown in Figure 29B, a rotation mechanism is used in which the central axis of rotation is also located outside the patient 2. By using this rotation mechanism to rotate the holding arm 721, which is located outside the patient 2, it becomes easy to insert the intubation arm 722 into the oral cavity of the patient 2 using a simple mechanical mechanism and reach a position just before the epiglottis through the pharynx. In addition to a rotation mechanism, any movement mechanism for the intubation arm 722 that is configured to move the intubation arm 722 along the path from the oral cavity, which has become linear in the sniffing position formed by the intubation posture fixing device 80, through the pharynx, to just before the epiglottis is also acceptable, as long as it combines one or more degrees of freedom of movement other than rotation, such as translation.

[0212] 4. Other Embodiments 4.1 Cardiopulmonary Resuscitation System A cardiopulmonary resuscitation system according to one embodiment of the present invention may consist only of a cardiopulmonary resuscitation device. In this case, drive control and image processing are configured to be performed by the control unit 171 of the information processing unit 170 of the cardiopulmonary resuscitation device 10.

[0213] Furthermore, a cardiopulmonary resuscitation system according to one embodiment of the present invention may be configured to include an image processing device and a drive processing device. In this case, the image processing device is configured to primarily perform the functions provided by the image processing control unit, and the drive processing device is configured to primarily perform the functions provided by the drive control unit.

[0214] 4.2 Computer Program The computer program according to one embodiment of the present invention is a program that causes a computer to execute the processes performed by the information processing device 20 in the preparation step S1, balloon inflation step S2, epiglottis recognition step S3, first adjustment step S4, first insertion step S5, epiglottis opening step S6, insertion position determination step S7, second adjustment step S8, second insertion step S9, detachment step S10, and artificial respiration initiation step S11 of the cardiopulmonary resuscitation method of the first and third embodiments, as well as the processes performed by the information processing device 20 in the airway securing step SA and opening step SB of the cardiopulmonary resuscitation method of the third embodiment.

[0215] The computer on which the program is executed is an information processing device such as a personal computer, smartphone, tablet, smartwatch, or smart glasses, and may be the information processing device 20 described in the first embodiment, etc., or an information processing device having a similar hardware configuration.

[0216] 4.3 Information Processing Device The information processing device can also be implemented as a computer-readable non-temporary recording medium that stores a program related to the information processing function of each embodiment, or as a computer-readable recording medium on which the above-mentioned program is recorded.

[0217] Furthermore, in all embodiments of this specification, the functions performed by the information processing device can be realized by the information processing unit 170 provided in the cardiopulmonary resuscitation device 10.

[0218] 4.4 Imaging Unit 150 In the first embodiment, an endoscope with a movable tip can be used as the imaging unit 150. When using this endoscope, the endoscope may be configured to open the epiglottis by the movement of the endoscope instead of the flap unit 122b. The endoscope can be connected to a drive unit and controlled by a drive control unit 203.

[0219] In the second embodiment, an endoscope with a movable tip can be used as the imaging unit 150 and the guide unit 722a, and in the third embodiment, an endoscope with a movable tip can be used as the imaging unit, the guide unit 722a, and the monitor unit 724. The endoscope can move freely across a horizontal plane perpendicular to the direction of intubation. In this case, in the first insertion step S5, the flap unit 723b can be controlled to move to a position where the epiglottis can be opened by driving the endoscope. Also, in the second insertion step S9, the endoscope can be driven based on the insertion reference position, thereby controlling the tube 140 to move to a position toward the trachea.

[0220] 4.5 Cardiopulmonary Resuscitation Method The intubation process SC in the cardiopulmonary resuscitation method using the cardiopulmonary resuscitation system 1 does not necessarily have to include the epiglottis opening process S6. In this case, in the first insertion process S5, the tube control unit 203b can be configured to control the guide portion 122a so that the guide portion 122a itself goes under the epiglottis (referring to the downward direction in Figure 13) and is inserted toward the trachea.

[0221] For example, if the epiglottis recognition unit 202a recognizes the lower edge or a part of the lower edge of the epiglottis, the guide unit 122a can move toward a part below the position of the recognized lower edge or part of the lower edge. If the epiglottis recognition unit 202a recognizes the center point of the epiglottis, the guide unit 122a can move toward a position below the recognized center point at a predetermined distance. In this embodiment, once the first insertion step S5 is completed, the insertion position determination step S7 is started.

[0222] 4.6 Output Unit In the fifth embodiment, the electrocardiogram data and exhalation data can be displayed by the output unit 240 of the information processing device 20, but a separate output unit for displaying the electrocardiogram data and exhalation data may be provided. This output unit can be provided at any location on the cardiopulmonary resuscitation device 10 or the information processing device 20.

[0223] 4.7 Airway securing process and mouth opening process The operations driven by the posture control unit 203f, frame control unit 203g, jaw position control unit 203h, and mouth opening control unit 203i of the third embodiment may all be performed manually. That is, the user can directly move the forehead fixing unit 802, jaw holding unit 803, frame unit 804, and mouthpiece unit 805.

[0224] 4.8 Bending Conditions The bending conditions defined in the third embodiment may be based on factors other than pressure values. Specifically, for example, in one embodiment, the information processing device is configured to further include a pharyngeal wall recognition unit. The pharyngeal wall recognition unit is configured to determine whether or not a pharyngeal wall is present in the image acquired from the imaging unit. The pharyngeal wall recognition unit can recognize the pharyngeal wall in the captured image using a third learning model. The third learning model is a model that has been machine-learned using images containing various pharyngeal walls as training data. In this case, the bending condition is when the pharyngeal wall recognition unit determines that a pharyngeal wall is present.

[0225] Alternatively, the retaining arm 721 may be configured to bend unconditionally after it has completed moving to the intubation start position.

[0226] 1: Cardiopulmonary resuscitation system, 2: Patient, 10: Cardiopulmonary resuscitation device, 20: Information processing device, 80: Intubation posture fixing device, 200: Control unit, 201: Acquisition unit, 202: Image processing control unit, 203: Drive control unit, 203a: Holding arm control unit, 203b: Tube control unit, 203c: Flap control unit, 203d: Balloon control unit, 203e: Ventilator control unit, 203f: Posture control unit, 203g: Frame control unit, 203h: Jaw position control unit, 203i: Mouth opening control unit, 203j: Bending control unit, 720: Arm unit, 7 21: Holding arm, 721a: Holding body, 721b: Tube holding part, 721c: Guide unit holding part, 722: Intubation arm, 722a: Guide part, 722b: Imaging unit installation part, 723: Guide unit, 724: Monitor part, 801: Head holding part, 801a: Head resting part, 802: Forehead fixing part, 802a: Extension part, 802b: Pressing part, 803: Jaw holding part, 804: Frame part, 805: Mouthpiece part, 805a: Maxillary fixing part, 805b: Mandibular fixing part, SA: Airway securing process, SB: Opening process, SC: Intubation process

Claims

1. An intubation posture fixing device for fixing the head of a patient in a supine position, comprising a head support portion, a jaw support portion, and a mouthpiece portion, wherein the head support portion is configured to hold the patient's occipital region in an elevated position, the jaw support portion is configured to elevate the patient's lower jaw, and the mouthpiece portion comprises an upper jaw fixing portion and a lower jaw fixing portion, wherein the upper jaw fixing portion and the lower jaw fixing portion are configured to be insertable between the patient's upper jaw and lower jaw, and are configured to be relatively movable in the direction of the patient's height.

2. An intubation posture fixing device according to claim 1, wherein the jaw holding portion is configured to be in contact with the mandible and to be movable in the direction of height, and the mandible is raised when the jaw holding portion moves toward the head in the direction of height and enters under the mandible.

3. An intubation posture fixing device according to claim 1, comprising a frame portion movably connected to the head holding portion, a mouthpiece portion attached to the frame portion, the mouthpiece portion configured to adjust its relative position with respect to the patient's mouth by the movement of the frame portion, and the maxillary fixing portion and the mandibular fixing portion being inserted between the maxillary and mandibular of the patient.

4. An intubation posture fixing device according to claim 1, further comprising a forehead fixing portion, wherein the forehead fixing portion is connected to the head holding portion and is configured to cover the patient's forehead in a left-right direction.

5. An intubation device comprising an intubation posture fixing device according to any one of claims 1 to 4, and an arm unit, wherein the arm unit is positioned at a predetermined relative position with respect to the intubation posture fixing device and is configured to be inserted at least a portion into the mouth of the patient, and the predetermined relative position is such that the tip of the arm unit inserted from the mouthpiece portion is positioned in front of the epiglottis in a trajectory passing through the oral cavity and oropharynx of the patient whose posture is fixed by the intubation posture fixing device.

6. An intubation device according to claim 5, further comprising a frame portion rotatably connected to the head holding portion, wherein the frame portion movably supports the arm unit, the arm unit comprises a holding arm attached to the frame portion and an intubation arm held by the holding arm and inserted into the patient's mouth, wherein one end of the holding arm is pivotally supported on a rotation axis provided on the frame portion and the other end supports the intubation arm, the intubation arm is curved in an arc shape about the rotation axis, and the tip of the intubation arm inserted from the mouthpiece portion is positioned in front of the epiglottis by the rotational movement of the holding arm, tracing an arc-shaped trajectory.

7. An intubation device according to claim 5, further comprising a bending control unit, wherein the tip of the arm unit is configured to bend, and the bending control unit controls the arm unit to bend the tip of the intubation arm when a bending condition is met.

8. An intubation device according to claim 7, further comprising a pressure sensor, the pressure sensor being attached to the tip of the intubation arm, and the bending condition being when the pressure value obtained by the pressure sensor exceeds a threshold.

9. An intubation device according to claim 8, further comprising an imaging unit and a pharyngeal wall recognition unit, wherein the imaging unit is attached to the tip of the intubation arm, the pharyngeal wall recognition unit is configured to determine whether or not a pharyngeal wall is present in the image acquired from the imaging unit, and the bending condition is when the pharyngeal wall recognition unit determines that the pharyngeal wall is present.

10. An intubation device comprising an intubation posture fixing device for fixing the head of a patient in a supine position, an arm unit, a flexion control unit, and a pressure sensor, wherein the intubation posture fixing device comprises a head support portion, a jaw support portion, a forehead fixing portion, a frame portion, and a mouthpiece portion, wherein the head support portion is configured to hold the back of the patient's head in an elevated position, the jaw support portion is configured to contact the mandible and to be movable in the direction of the patient's height, the mandible is raised when the jaw support portion moves toward the head and enters under the mandible, the forehead fixing portion is connected to the head support portion and is formed in a band shape to cover the patient's forehead in a left-right direction, the frame portion is rotatably connected to the head support portion and is configured to movably support the arm unit, and the mouthpiece portion is attached to the frame portion and comprises an upper jaw fixing portion and a lower jaw fixing portion. The upper jaw fixing portion and the lower jaw fixing portion are configured to be insertable between the upper jaw and the lower jaw of the patient, and to be relatively movable in the direction of height, the mouthpiece portion is configured to be able to adjust its relative position with respect to the patient's mouth by moving the frame portion, and the upper jaw fixing portion and the lower jaw fixing portion are inserted between the upper jaw and the lower jaw of the patient, the arm unit is positioned at a predetermined relative position with respect to the intubation posture fixing device, and is configured so that at least a portion of it is inserted into the patient's mouth, the predetermined relative position is a position and orientation such that the tip of the arm unit inserted from the mouthpiece portion is positioned in front of the epiglottis in a trajectory that passes through the oral cavity and oropharynx of the patient whose posture is fixed by the intubation posture fixing device, the arm unit comprises a retaining arm attached to the frame portion and an intubation arm held by the retaining arm and inserted into the patient's mouth, one end of the retaining arm is pivotally supported on a rotation axis provided on the frame portion, and the other end is configured to support the intubation arm,The intubation device comprises an intubation arm, which is curved in an arc shape around the axis of rotation, and the tip of the intubation arm inserted from the mouthpiece portion, which is positioned in front of the epiglottis by the rotational movement of the holding arm, which traces an arc-shaped trajectory, and the tip of the intubation arm which is configured to bend, and a bending control unit which controls the arm unit to bend the tip of the intubation arm when a bending condition is met, and a pressure sensor which is attached to the tip of the intubation arm, and the bending condition which is when the pressure value obtained by the pressure sensor exceeds a threshold.

Images