CN108904049B

CN108904049B - Clinical intubation operation application apparatus

Info

Publication number: CN108904049B
Application number: CN201810382315.5A
Authority: CN
Inventors: 高峰; 李辉; 刘辰; 李艳; 解瑞东; 王豆
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2018-04-26
Filing date: 2018-04-26
Publication date: 2021-01-15
Anticipated expiration: 2038-04-26
Also published as: CN108904049A

Abstract

The invention discloses a clinical intubation operation application device, which comprises an intubation operation robot and a clinical operation table, wherein the intubation operation robot comprises a mechanical arm, the mechanical arm consists of a rotating base with a motor, a large arm joint, a small arm joint and a wrist joint with two degrees of freedom, the motor and a gear transmission mechanism are arranged inside the rotating base, a flange plate is arranged above the rotating base, the motor is connected with the input end of the gear transmission mechanism, the output end of the gear transmission mechanism is connected with the flange plate, the large arm joint is fixed on the flange plate, and the bottom of the large arm joint is connected with a base sliding groove on the flange plate through a spline; the large arm joint is connected with the small arm joint through a rotating mechanism, the tail end of the small arm joint is provided with a wrist joint, the wrist joint is provided with a mechanical clamp holder, and the intubation operation is performed under the condition of accurate positioning through a clinical operating table. The invention has simple mechanical structure, small volume, low manufacturing cost and very convenient use, and can be popularized and used in a large scale.

Description

Clinical intubation operation application apparatus

Technical Field

The invention belongs to the technical field of clinical operation robots, and particularly relates to an application device for clinical intubation operation.

Background

A teleoperation intubation operation robot belongs to a teleoperation robot. Because the medical staff must be in direct contact with the patient when treating the patient, if the patient has serious infectious diseases, the probability that the medical staff is infected in the process of treating the patient is very high. The robot is required to replace a doctor to help a patient complete a complete intubation operation under the control of a main manipulator. Nowadays, the surgery is often performed by one-step intubation because the patient cannot normally maintain and use the respiratory function when the patient is under general anesthesia or local anesthesia.

Intubation normally requires the performance of an operation in which the endotracheal tube is first selected to fit the patient and a laryngoscope of the appropriate type is prepared. The head of the patient is lifted, the oral cavity of the patient is opened and the lower dentition of the patient is propped against by hands, so that the oral cavity of the patient is prevented from being closed due to self consciousness. A laryngoscope is then used to provide searchlighting and patient glottis exposure, and a catheter is used to insert the tip into the patient's glottis along the direction of the laryngoscope. Therefore, the intubation operation robot needs to replace the intubation operation actions completed by medical staff to be divided into opening a cavity for the patient, fixing the head of the patient, fixing the mandible of the patient and the state of the mouth of the patient, selecting a laryngoscope with a proper size according to the pharyngeal cavity condition of the patient to expose the glottis and performing the integral operation of the intubation operation for the patient with the help of laryngoscopy.

Various medical robot systems at home and abroad have one defect, namely, the medical robot systems only have visual information and are generally two-dimensional images, and a tube in the intubation operation process is easy to slide and easily causes secondary damage to a patient. In addition, the existing various medical robot systems have high manufacturing cost, large volume and very inconvenient use.

Disclosure of Invention

The invention aims to provide a clinical intubation operation application device, which solves the problems that an inserted tube is easy to slide and inconvenient to use in the prior art.

The technical scheme adopted by the invention is that the clinical intubation operation application device comprises an intubation operation robot and a clinical operation table, wherein the intubation operation robot comprises a mechanical arm, the mechanical arm consists of a rotating base with a motor, a large arm joint, a small arm joint and a wrist joint with two degrees of freedom, the motor and a gear transmission mechanism are arranged in the rotating base, a flange plate is arranged above the rotating base, the motor is connected with the input end of the gear transmission mechanism, the output end of the gear transmission mechanism is connected with the flange plate, the large arm joint is fixed on the flange plate, and the bottom of the large arm joint is connected with a base sliding groove on the flange plate through a spline; the big arm joint is connected with the small arm joint through a rotating mechanism, the tail end of the small arm joint is provided with a wrist joint, and the wrist joint is provided with a mechanical clamp holder;

the mechanical gripper comprises a gripper shell, a rotating chuck, a roller, a gripper upper jaw and a gripper lower jaw, wherein the tail part of the gripper shell is connected with a wrist joint in a matched manner through a threaded shaft and a screw, a sliding block groove is milled on the end surface of the gripper shell, and a small motor is installed inside the gripper shell; a servo motor is arranged in the holder shell, an output shaft of the servo motor is inserted into a tail hole of the rotary chuck and is connected with the tail hole in an interference fit mode in an irregular shape, the end face of the rotary chuck is a spiral slideway, slideway teeth are arranged on the spiral slideway, an upper claw of the holder is connected with the rotary chuck by meshing of concave teeth at the root part and the slideway teeth, and a lower claw of the holder is directly fixed with the holder shell; the upper jaw and the lower jaw of the gripper are respectively provided with a plurality of semi-exposed rollers, the rollers arranged on the upper jaw of the gripper are driving rollers, the rollers arranged on the lower jaw of the gripper are driven rollers, the upper jaw of the gripper is also provided with a roller rotating gear set, the input end of the roller rotating gear set is connected with the output end of a small motor, a plurality of meshed roller rotating gears are arranged inside the roller rotating gear set, and each driving roller is fixedly arranged on a roller supporting hard tube arranged on the rotating shaft of the roller rotating gear.

The gear transmission mechanism comprises a first transmission shaft, a second transmission shaft, a third transmission shaft and a fourth transmission shaft; the axis of rotation of motor passes through the hex bolts and is connected with the one end of first transmission shaft, and the other end of first transmission shaft passes through bevel gear transmission with the one end of second transmission shaft to be connected, and the other end of second transmission shaft passes through gear drive with the one end of third transmission shaft to be connected, and the one end of third transmission shaft and fourth transmission shaft passes through gear engagement transmission to be connected, and the other end of fourth transmission shaft is gear drive's output.

The wrist rotating motor and the wrist transmission mechanism are arranged in the forearm joint, the wrist transmission mechanism comprises a fifth transmission shaft, a sixth transmission shaft, a seventh transmission shaft and an eighth transmission shaft, the wrist rotating motor is fixed to one end of the fifth transmission shaft, the other end of the fifth transmission shaft is in transmission connection with one end of the sixth transmission shaft through a bevel gear, the sixth transmission shaft is in transmission connection with one end of the seventh transmission shaft through a gear, the other end of the seventh transmission shaft is in transmission connection with the eighth transmission shaft through a gear, and the end of the eighth transmission shaft is fixed to the wrist joint.

The bottom of the large arm joint is provided with a bidirectional speed reducing motor, and the bidirectional speed reducing motor is connected with the rotating end of the spline.

The clinical operating table comprises a bed body, an adjustable bed board, an open cavity clamp holder and a head clamping device; the upper part of the bed body is provided with an adjustable bed board, a head clamping device is arranged on the adjustable bed board, an open cavity holder is arranged beside the head clamping device, and the open cavity holder is fixed on the bed body through an open cavity holder bracket.

The open cavity holder support comprises a vertical supporting rod and a horizontal supporting rod, one end of the vertical supporting rod is fixed on the bed body, the other end of the vertical supporting rod is connected with one end of the horizontal supporting rod through a rotation adjusting device, and the open cavity holder is fixed at the other end of the horizontal supporting rod.

The open cavity gripper comprises an open jaw, a fixed support part and a thrust rod, the open jaw consists of a plurality of clamping rollers which are hinged, one end of the thrust rod is fixed on a support of the open cavity gripper, the other end of the thrust rod penetrates through the fixed support part and is fixed with the tail end of the open jaw, and the open jaw is fixed with the fixed support part through a hinge.

The inside of opening claw is equipped with the rubber piece.

The head clamping device comprises a movable head fixing block and a neck pillow, the movable head fixing block and the neck pillow are arranged in parallel, lead screws are arranged at two ends of the movable head fixing block, and a baffle is arranged at the position, back to the neck pillow, of the movable head fixing block.

The movable head fixing block is composed of two movable blocks, and a spring is arranged between the two movable blocks.

The clinical intubation operation application device has the beneficial effects that the intubation robot can reach any position of the upper half part of the bed body through the rotating base, the large arm joint, the small arm joint and the wrist joint with two degrees of freedom, and the movement of the intubation operation robot to a point or a continuous track can be controlled. The plurality of rollers are arranged at the tail end of the clamp holder and are used for fixing the trachea, so that the trachea is not suitable to slide after being inserted into the oral cavity of a patient, and secondary injury to the patient caused by positioning errors in an operation is prevented. The invention has simple structure, can carry out the intubation operation under the condition of accurate positioning, greatly improves the success rate and the efficiency of the intubation operation, has low integral manufacturing cost and can be popularized and used in a large range.

Drawings

FIG. 1 is a block diagram of an intubation surgical robot of the present invention;

FIG. 2 is a side view of the intubation surgical robot of the present invention;

FIG. 3 is a top view of the cannula surgical robot of the present invention;

FIG. 4 is an internal block diagram of a rotating base of the intubation surgical robot of the present invention;

FIG. 5 is a block diagram of the large arm joint of the intubation robot of the present invention;

FIG. 6 is a block diagram of the forearm joint of the intubation robot of the present invention;

FIG. 7 is a block diagram of a wrist joint of the intubation surgical robot of the present invention;

FIG. 8 is an internal block diagram of the mechanical gripper of the intubation surgical robot of the present invention;

FIG. 9 is a structural view of the roller rotation gear set of the mechanical gripper of the intubation surgical robot of the present invention;

fig. 10 is an overall structural view of a clinical operation table of the present invention;

FIG. 11 is a right side view of FIG. 10;

FIG. 12 is a top view of FIG. 10;

FIG. 13 is a block diagram of a head clamping device of a clinical operating table according to the present invention;

fig. 14 is a top view of fig. 13.

In the figure, 1, a rotating base, 2, a motor, 3, a gear transmission mechanism, 4, a flange plate, 5, a base sliding groove, 6, a spline, 7, a big arm joint, 8, a rotating mechanism, 9, a small arm joint, 10, a wrist joint, 11, a mechanical gripper, 111, a gripper shell, 112, a servo motor, 113, a rotating chuck, 114, a roller, 115, a gripper upper jaw, 116, a gripper lower jaw, 117, a roller supporting hard tube, 118, a small motor, 119, a roller rotating gear set, 21, a bed body, 22, a head clamping device, 221, a moving head fixing block, 222, a neck pillow, 223, a lead screw, 224, a spring, 23, an opening cavity gripper bracket, 231, a vertical supporting rod, 232, a horizontal supporting rod, 24, an adjustable bed plate, 25, an opening cavity gripper, 251, a rubber block, 252, an opening jaw, 253, a fixing supporting piece, 254, a thrust rod, 26, a rotating adjusting device, 301. the wrist-waist-rotation-type electric bicycle comprises a first transmission shaft 302, a second transmission shaft 303, a third transmission shaft 304, a fourth transmission shaft 61, a bidirectional speed reduction motor 91, a wrist-rotation motor 92, a fifth transmission shaft 93, a sixth transmission shaft 94, a seventh transmission shaft 95 and an eighth transmission shaft 95.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

In an embodiment of the present invention, a clinical intubation surgery application device structure is provided as shown in fig. 1 to 14, including an intubation surgery robot and a clinical operation table, where the intubation surgery robot includes a mechanical arm, the mechanical arm is composed of a rotating base 1 (shown in fig. 4) with a motor 2, a large arm joint 7 (shown in fig. 5), a small arm joint 9 (shown in fig. 6) and a wrist joint 10 (shown in fig. 7) with two degrees of freedom, the rotating base 1 is internally provided with the motor 2 and a gear transmission mechanism 3, a flange plate 4 is arranged above the rotating base 1, the motor 2 is connected with an input end of the gear transmission mechanism 3, an output end of the gear transmission mechanism 3 is connected with the flange plate 4, the large arm joint 7 is fixed on the flange plate 4, and the bottom of the large arm joint 7 is connected with a base chute 5 on the flange plate 4 through a spline 6; the big arm joint 7 is connected with the small arm joint 9 through the rotating mechanism 8, the tail end of the small arm joint 9 is provided with a wrist joint 10, the wrist joint 10 is provided with a mechanical clamp holder 11, the wrist joint 10 can rotate, and self-rotation and pitching motion can be completed through the wrist joint 10.

Wherein, the whole material of the big arm joint 7 and the small arm joint 9 is made of titanium alloy, so that the big arm and the small arm have more flexible structures and meet the arm requirements.

When the rotary table works, the motor 2 in the rotary base 1 rotates, and after passing through the gear transmission mechanism 3, the flange plate 4 is driven to rotate, so that the rotation direction of the large arm joint 7 arranged on the flange plate 4 is driven, the rotating mechanism 8 on the large arm joint 7 drives the small arm joint 9 to rotate along the large arm joint 7, the wrist joint 10 rotates along the small arm joint 9, and then the mechanical clamp holder 11 on the wrist joint 10 is driven to rotate along the small arm joint 9. Thereby realizing the multi-free movement of the intubation operation robot.

As shown in fig. 8, the mechanical gripper 11 includes a servo motor 112, a gripper housing 111, a rotary chuck 113, a roller 114, a gripper upper jaw 115, and a gripper lower jaw 116, the tail of the gripper housing 111 is connected with the wrist joint 10 by a threaded shaft and a screw, a slider groove is milled on the end surface of the gripper housing 111, and a small motor 118 is installed inside; the servo motor 112 is arranged inside the holder shell 111, and an output shaft of the servo motor 112 is inserted into a tail hole of the rotary chuck 113 and is connected with the tail hole in an irregular shape in an interference fit manner, so that the rotary chuck 113 can be driven to rotate. A sliding bearing is arranged between the spin chuck 113 and the holder housing 111, and the sliding bearing and the spin chuck 113 are in interference fit with the holder housing 111.

The spin chuck 113 is a non-standard part and needs to be manufactured separately. The rotating chuck only drives a single hand to grab, the end face of the rotating chuck 113 is a spiral slideway, the spiral slideway rotates along with the rotating chuck, slideway teeth are arranged on the spiral slideway, and the upper claw 115 of the gripper is connected with the rotating chuck 113 through the meshing of the concave teeth at the root part and the slideway teeth.

The gripper lower jaw 116 is directly fixed with the gripper housing 111; the upper gripper jaw 115 and the lower gripper jaw 116 are respectively provided with a plurality of rollers 114 which are half exposed, that is, one end of each roller 114 is fixed to the upper gripper jaw 115 or the lower gripper jaw 116, and the other end is exposed to the upper gripper jaw 115 or the lower gripper jaw 116.

The roller 114 arranged on the gripper upper jaw 115 is a driving roller, the roller 114 arranged on the gripper lower jaw 116 is a driven roller, the gripper upper jaw 115 is further provided with a roller rotating gear set 119 (as shown in fig. 9), the input end of the roller rotating gear set 119 is connected with the output end of the small motor 118, a plurality of meshed roller rotating gears are arranged inside the roller rotating gear set 119, and the roller rotating gears in the roller rotating gear set 119 are driven to rotate by the small motor. Each drive roller is fixed to a roller support tube 117 provided on the rotational shaft of the roller-rotation gear.

When the gripper is in work, the servo motor 112 drives the rotary chuck 113 to rotate, so that the gripper upper jaw 115 moves along a spiral slideway on the end face of the rotary chuck 113; the small motor 118 drives the roller rotation gear in the roller rotation gear set 119 to rotate, and further drives the roller on the gripper upper jaw 115 to rotate.

In another embodiment of the invention, the material of the rollers is not fixed, and the rollers can be extended to improve the performance, and the shape of the rollers can be changed, so that the conveying direction of the rollers can be changed; such as the addition of grooves on the rollers.

In another embodiment of the present invention, a sensor is added to the driven roller to give a more detailed description of the hand. For example, a high-intelligent camera and a positioning device are added beside the driven roller, the intubation operation can be clearly displayed through the high-intelligent camera, and the mechanical arm is controlled in real time through a control system, so that the operation flow of the minimally invasive operation is completed; the success and the accuracy in the operation are ensured, and the medical care personnel can know the real-time state of the patient on the basis of positioning.

In another embodiment of the present invention, the number of the rollers in the mechanical gripper 11 is preferably 7, the 7 rollers are matched with each other, 3 rollers are distributed on the upper jaw 115 of the gripper, 4 rollers are distributed on the lower jaw 116 of the gripper, so that the flexible breathing tube can travel in a wavy curve in the mechanical gripper 11, and the intubation operation can be completed according to different requirements. The breathing tube of the patient is generally between 7.0 mm and 8.0mm, the maximum engagement of the intubation robot of the present invention is such that the gap between the rollers is 5mm, and the breathing tube is in a clamped state in the jaws.

In another embodiment of the invention, the tooth width of the slideway tooth can be 2mm, the tooth depth can be 3mm, and the tooth shape is a right angle shape and has 4 turns and a half.

It should be noted that the above examples are only for better explaining the working principle and are not intended to limit the scope of the present invention.

In another embodiment of the present invention, the gear transmission mechanism 3 includes a first transmission shaft 301, a second transmission shaft 302, a third transmission shaft 303, a fourth transmission shaft 304; the rotating shaft of the motor 2 is connected with one end of a first transmission shaft 301 through a hexagon bolt, the other end of the first transmission shaft 301 is in transmission connection with one end of a second transmission shaft 302 through a bevel gear, the other end of the second transmission shaft 302 is in transmission connection with one end of a third transmission shaft 303 through a gear, the third transmission shaft 303 is in transmission connection with one end of a fourth transmission shaft 304 through gear meshing, and the other end of the fourth transmission shaft 304 is the output end of a gear transmission mechanism 3.

During operation, the motor 2 drives the first transmission shaft 301 to rotate, the first transmission shaft 301 drives the second transmission shaft 302 to rotate, the second transmission shaft 302 drives the third transmission shaft 303 to rotate, and the third transmission shaft 303 drives the fourth transmission shaft 304 to rotate so as to drive the flange plate to rotate.

In another embodiment of the present invention, a wrist rotation motor 91 and a wrist transmission mechanism are disposed inside the forearm joint 9, the wrist transmission mechanism includes a fifth transmission shaft 92, a sixth transmission shaft 93, a seventh transmission shaft 94 and an eighth transmission shaft 95, the wrist rotation motor 91 is fixed to one end of the fifth transmission shaft 92, the other end of the fifth transmission shaft 92 is in transmission connection with one end of the sixth transmission shaft 93 through a bevel gear, the sixth transmission shaft 93 is in transmission connection with one end of the seventh transmission shaft 94 through a gear, the other end of the seventh transmission shaft 94 is in transmission connection with the eighth transmission shaft 95 through a gear, and an end of the eighth transmission shaft 95 is fixed to the wrist joint 10.

During operation, the wrist rotation motor 91 drives the fifth transmission shaft 92 to rotate, the fifth transmission shaft 92 drives the sixth transmission shaft 93 to rotate, the sixth transmission shaft 93 drives the seventh transmission shaft 94 to rotate, and the seventh transmission shaft 94 drives the eighth transmission shaft 95 to rotate, thereby driving the wrist joint 10 to rotate.

In another embodiment of the present invention, a bidirectional speed reducing motor 61 is disposed at the bottom of the large arm joint 7, and the bidirectional speed reducing motor 61 is connected to the rotating end of the spline 6. The rotation angle of the large arm joint 7 can be controlled by the bidirectional reduction motor 61.

The intubation surgery robot of the invention has the following functions:

1. the rotation function is as follows: the whole hand structure can be driven to rotate by a motor in the clamp holder shell.

2. The clamping function is as follows: the upper jaw of the gripper is engaged with the rotating chuck through the sliding teeth of the gripper root, and the upper jaw of the gripper can only move up and down due to the cooperation with the gripper shell. The motor in the gripper shell drives the rotating chuck to rotate, and the rotating chuck slide rotates and drives the sliding teeth to move. The sliding tooth can rotate on the slideway for 2 weeks, and the hand is grabbed and moved for 4mm in each revolution.

3. Transport function (extendible studies): the mechanical clamper is provided with a roller. The roller arranged on the upper claw of the gripper is a driven roller. The roller arranged on the lower jaw of the gripper is a driving roller, one end of the roller is arranged on a rotating shaft of the roller rotating gear, and the roller is driven to rotate by a small motor, so that a pipe can be conveyed into a human body.

4. The extension function is as follows: the plurality of roller materials may be varied and extended to improve performance. The shape of the rollers can also be changed to change the direction of tube transport (e.g., grooves can be added to the rollers). Inductors may be incorporated into the driven rollers. A more detailed description of the hand.

As shown in fig. 10-12, the present invention also includes a clinical table; the clinical operating table comprises a bed body 21, an adjustable bed plate 24, an open cavity clamp holder 25 and a head clamping device 22; an adjustable bed board 24 is arranged at the upper part of the bed body 21, a head clamping device 22 is arranged on the upper surface of the adjustable bed board 24, an open cavity holder 25 is arranged beside the head clamping device 22, and the open cavity holder 25 is fixed on the bed body 21 through an open cavity holder bracket 23.

The clinical operating table has a back lifting function through the adjustable bed plate 24, the main purpose of the function is to prevent vomit from entering the esophagus when the air duct is pulled out after the intubation operation is completed, and the sickbed can effectively solve the problem.

In another embodiment of the present invention, a backrest plate is provided on the adjustable bed plate 24, because the patient needs to sit up or raise his/her upper body through the backrest plate during operation or lying in bed, and a rigid support is arranged under the backrest plate, the rigid support forms a lifting mechanism by a four-bar mechanism or other connecting mechanisms and the rigid support under the backrest plate, so that the required mechanical movement can be completed by the lifting mechanism, the backrest board, the bed board of the medical bed body and the pedal are driven by the lifting mechanism to move up and down, the clinical operating table can be adjusted to the states of enabling a patient to lie aslant, lean against, bend the knee and the like, so that the patient can complete an operation process or a rehabilitation process more comfortably, unnecessary actions of medical personnel during operation or operation are reduced, and the lifting mechanism is operated in a remote control mode to achieve self-nursing and self-conditioning of the patient.

The foot pedal can be arranged below the bed body, and the foot pedal can help patients and medical staff to finish the operation of adjusting the backboard in the operation and medical treatment processes. The angle of the patient leaning and rising movement is adjusted to be 0-70 degrees, and the adjustment can be carried out at any time according to different patients in practical situations.

The open cavity holder is a device which is fixed on the bed body and assists the intubation operation robot to complete the intubation operation. The open cavity holder completes the open cavity action only before the intubation operation after the head is fixed and keeps the action until the intubation operation is finished.

In another embodiment of the present invention, the open cavity holder support 23 comprises a vertical support rod 231 and a horizontal support rod 232, wherein one end of the vertical support rod 231 is fixed on the bed 21, the other end is connected with one end of the horizontal support rod 232 through a rotation adjusting device 26, and the other end of the horizontal support rod 232 is fixed on the open cavity holder 25.

In another embodiment of the present invention, the open cavity gripper 25 adopts a lever type sliding chute, and comprises an open claw 252, a fixed support 253, and a thrust rod 254, wherein the open claw 252 is composed of a plurality of clamping rollers which are hinged, one end of the thrust rod 254 is fixed on the support 23 of the open cavity gripper 25, the other end of the thrust rod 254 passes through the fixed support 253 and is fixed with the tail end of the open claw 252, and the open claw 252 is further fixed with the fixed support 253 through a hinge.

In another embodiment of the invention, the open jaw 252 is internally provided with a rubber block 251, which is added to the open jaw 252 to ensure comfort as the open chamber holder is in direct contact with the person's chin.

When the clamping device works, the movement of the clamping roller is driven by the movement of the thrust rod 254, so that the opening and closing control of the open cavity clamp holder is realized. The thrust rod 254 is provided with a groove-shaped structure, so that the thrust rod 254 penetrates through the fixed support 253, the open cavity holder is prepared for intubation, and the open cavity holder is always kept in a clamping state in the intubation process, so as to ensure that the oral cavity of a patient is always kept open in the operation process.

In another embodiment of the present invention, as shown in fig. 13 and 14, the head clamping device 22 includes a moving head fixing block 221, a neck pillow 222, a screw rod 223, and a baffle, the moving head fixing block 221 and the neck pillow 222 are arranged in parallel, the screw rod 223 is arranged at two ends of the moving head fixing block 221, and the baffle is arranged at a position of the moving head fixing block 221 opposite to the neck pillow 222. Can help medical personnel to fix the head of a patient. The head clamping device 22 mainly solves the possibility that the head of a patient may be disturbed due to physiological reaction in the process of operation. The head attachment device 22 is designed on the basis of ergonomic principles and provides a head fixation effect during a patient's surgery in a comfortable manner.

In another embodiment of the present invention, the neck pillow 222 is designed with two curved sides and a rubber pad is attached to the neck pillow. Therefore, the supporting function can be ensured, the neck of the patient can be comfortable, and the operation cannot be influenced by the comfort degree of the medical instrument. The head clamp securing portion also has a curvature that conforms to the curvature of a human head, which is designed to take into account not only the clamping problem but also the comfort of the human head clamp. A certain space is arranged between the head clamp and the neck pillow and is used for placing ears, so that the discomfort of the ears caused by clamping the ears when the head is clamped is avoided.

In another embodiment of the present invention, the moving head fixing block 221 is composed of two moving blocks, and a spring 224 is disposed between the two moving blocks.

The clinical operating table disclosed by the invention is simple in overall structure, can be used for performing intubation operation under the condition of accurate positioning, greatly improves the success rate and efficiency of intubation operation, is low in overall manufacturing cost, and can be popularized and used in a large range.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and their full range of equivalents.

Claims

1. A clinical intubation operation application device is characterized by comprising an intubation operation robot and a clinical operating table, the intubation surgery robot comprises a mechanical arm, the mechanical arm is composed of a rotating base (1) with a motor, a large arm joint (7), a small arm joint (9) and a wrist joint (10) with two degrees of freedom, a motor (2) and a gear transmission mechanism (3) are arranged in the rotating base (1), a flange plate (4) is arranged above the rotating base (1), the motor (2) is connected with the input end of the gear transmission mechanism (3), the output end of the gear transmission mechanism (3) is connected with a flange plate (4), the large arm joint is fixed on the flange plate (4), the bottom of the large arm joint (7) is connected with a base sliding groove (5) on the flange plate (4) through a spline (6); the large arm joint (7) is connected with a small arm joint (9) through a rotating mechanism (8), the tail end of the small arm joint (9) is provided with a wrist joint (10), and the wrist joint (10) is provided with a mechanical clamp holder (11);

the mechanical gripper (11) comprises a gripper shell (111), a rotary chuck (113), a roller (114), a gripper upper jaw (115) and a gripper lower jaw (116), the tail part of the gripper shell (111) is connected with the wrist joint (10) in a matching way through a threaded shaft and a screw, a slider groove is milled on the end surface of the gripper shell (111), and a small motor (118) is installed inside the gripper shell; the gripper is characterized in that a servo motor (112) is arranged inside the gripper shell (111), an output shaft of the servo motor (112) is inserted into a tail hole of the rotary chuck and is connected with the tail hole in an irregular shape in an interference fit manner, the end face of the rotary chuck (113) is a spiral slideway, slideway teeth are arranged on the spiral slideway, an upper gripper claw (115) is connected with the rotary chuck (113) by meshing of concave teeth at the root part and the slideway teeth, and a lower gripper claw (116) is directly fixed with the gripper shell (111); the gripper upper jaw (115) and the gripper lower jaw (116) are respectively provided with a plurality of semi-exposed rollers, the rollers arranged on the gripper upper jaw (115) are driving rollers (114), the rollers arranged on the gripper lower jaw (116) are driven rollers, the gripper upper jaw (115) is further provided with a roller rotating gear set (119), the input end of the roller rotating gear set (119) is connected with the output end of a small motor (118), a plurality of meshed roller rotating gears are arranged inside the roller rotating gear set (119), and each driving roller is fixedly arranged on a roller supporting hard tube (117) on a roller rotating gear rotating shaft.

2. A clinical intubation surgical application device according to claim 1, wherein: the gear transmission mechanism (3) comprises a first transmission shaft (301), a second transmission shaft (302), a third transmission shaft (303) and a fourth transmission shaft (304); the rotating shaft of the motor (2) is connected with one end of a first transmission shaft (301) through a hexagon bolt, the other end of the first transmission shaft (301) is in transmission connection with one end of a second transmission shaft (302) through a bevel gear, the other end of the second transmission shaft (302) is in transmission connection with one end of a third transmission shaft (303) through a gear, the third transmission shaft (303) is in transmission connection with one end of a fourth transmission shaft (304) through gear meshing, and the other end of the fourth transmission shaft (304) is the output end of a gear transmission mechanism (3).

3. A clinical intubation surgical application device according to claim 1, wherein: the wrist rotating motor and the wrist transmission mechanism are arranged inside the forearm joint (9), the wrist transmission mechanism comprises a fifth transmission shaft (92), a sixth transmission shaft (93), a seventh transmission shaft (94) and an eighth transmission shaft (95), the wrist rotating motor (91) is fixed to one end of the fifth transmission shaft (92), the other end of the fifth transmission shaft (92) is in transmission connection with one end of the sixth transmission shaft (93) through a bevel gear, the sixth transmission shaft (93) is in transmission connection with one end of the seventh transmission shaft (94) through a gear, the other end of the seventh transmission shaft (94) is in transmission connection with the eighth transmission shaft (95) through a gear, and the end of the eighth transmission shaft (95) is fixed to the wrist joint (10).

4. A clinical intubation surgical application device according to claim 1, wherein: the bottom of the large arm joint (7) is provided with a bidirectional speed reducing motor (61), and the bidirectional speed reducing motor (61) is connected with the rotating end of the spline (6).

5. A clinical intubation surgical application device according to claim 1, wherein: the clinical operating table comprises a bed body (21), an adjustable bed plate (24), an open cavity clamp holder (25) and a head clamping device (22); the bed body (21) upper portion is equipped with adjustable bed board (24), be equipped with head dress card device (22) above adjustable bed board (24), head dress card device (22) next door is equipped with open cavity holder (25), and open cavity holder (25) are fixed on bed body (21) through open cavity holder (25) support.

6. A clinical intubation surgical application device according to claim 5, wherein: the open cavity holder support (23) comprises a vertical support rod (231) and a horizontal support rod (232), one end of the vertical support rod (231) is fixed on the bed body (21), the other end of the vertical support rod is connected with one end of the horizontal support rod (232) through a rotation adjusting device (26), and the open cavity holder (23) is fixed at the other end of the horizontal support rod (232).

7. A clinical intubation surgical application device according to claim 5, wherein: the open cavity gripper (25) comprises an open jaw (252), a fixed support (253) and a thrust rod (254), wherein the open jaw (252) is composed of a plurality of clamping rollers which are connected in a hinged mode, one end of the thrust rod (254) is fixed to the open cavity gripper support (23), the other end of the thrust rod (254) penetrates through the fixed support (253) and is fixed to the tail end of the open jaw (252), and the open jaw (252) is further fixed to the fixed support (253) through a hinge.

8. A clinical intubation surgical application device according to claim 7, wherein: the inside of the opening claw (252) is provided with a rubber block (251).

9. A clinical intubation surgical application device according to claim 5, wherein: head dress card device (22) are including removing head fixed block (221) and neck pillow (222), remove head fixed block (221) and neck pillow (222) and to setting up, it is equipped with lead screw (223) to remove head fixed block (221) both ends, the position that removes head fixed block (221) neck pillow (222) dorsad is equipped with the baffle.

10. A clinical intubation surgical application device according to claim 9, wherein: the moving head fixing block (221) is composed of two moving blocks, and a spring is arranged between the two moving blocks.