CN110721380B - Device capable of automatically implementing trachea cannula - Google Patents
Device capable of automatically implementing trachea cannula Download PDFInfo
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- CN110721380B CN110721380B CN201911132046.8A CN201911132046A CN110721380B CN 110721380 B CN110721380 B CN 110721380B CN 201911132046 A CN201911132046 A CN 201911132046A CN 110721380 B CN110721380 B CN 110721380B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M16/00—Devices for influencing the respiratory system of patients by gas treatment, e.g. mouth-to-mouth respiration; Tracheal tubes
- A61M16/04—Tracheal tubes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M16/00—Devices for influencing the respiratory system of patients by gas treatment, e.g. mouth-to-mouth respiration; Tracheal tubes
- A61M16/04—Tracheal tubes
- A61M16/0402—Special features for tracheal tubes not otherwise provided for
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Abstract
The invention relates to a device capable of automatically implementing tracheal intubation, which comprises a bendable and stretchable advancing and retreating built-in end, a bendable and stretchable control motor, an advancing and retreating control motor, an axial rotating motor, a catheter gripping and pushing device, a fixing and translation module and an equipment end host, wherein the bendable and stretchable advancing and retreating built-in end is of a bendable and slender tubular structure and is internally provided with a hollow channel, and the front end of the bendable and stretchable advancing and retreating built-in end is provided with a camera; each motor is connected with the flexible and extensible advancing and retreating device, the catheter gripping and pushing device is sleeved outside the flexible and extensible advancing and retreating device, and an inner inserting tube sleeved outside the front end of the flexible and extensible advancing and retreating device is clamped and pushed; the fixing and translation control module supports the retractable and advancing and retreating built-in end and moves the retractable and advancing and retreating built-in end transversely and/or longitudinally; the equipment end host is provided with a data analysis control system which receives the information transmitted by the camera and controls one or more of the driving parts to complete corresponding operations. The invention can completely and autonomously realize the endotracheal intubation operation without manual operation, and can ensure the accuracy and the advancement of the endotracheal intubation operation.
Description
Technical Field
The invention relates to the technical field of intelligent autonomous trachea cannula, in particular to a device capable of autonomously implementing trachea cannula.
Background
Tracheal intubation is an important step in medical practice, surgical anesthesia and first aid treatment. The difficulty, operation and required equipment of tracheal intubation are quite different due to different patients and different conditions, and the requirement on operators is extremely high. Even a fully trained professional anesthesiologist cannot ensure successful intubation. Of the direct deaths associated with anesthesia, 1/3 was the result of a failed endotracheal tube.
Among the currently internationally available computer-assisted Intubation devices, the most mature one is the Kepler Intubation System. However, the device is actually remotely controlled by other operators, autonomous intubation cannot be really realized, meanwhile, the device is constructed based on the visible laryngoscope, only can be suitable for intubation conditions which can be realized by the visible laryngoscope, and is not suitable for situations which are not suitable for intubation by using the visible laryngoscope, such as small opening degree. Other similar products are also based on manual control, currently, only can be assisted by a computer, and cannot be automatically inserted by an equipment instrument, and meanwhile, because the device at the inlet end is complex, a patient is often required to meet certain conditions, and the device is applicable.
Disclosure of Invention
In view of the above, the present invention is directed to an intubation device that can be used for most patients requiring intubation, and can completely and autonomously perform intubation operation by a device, and further, the device can continuously and autonomously improve evolution data and analyze and determine.
The invention provides a device capable of automatically implementing tracheal intubation, which comprises a retractable advancing and retreating end, a retractable control motor, an advancing and retreating control motor, an axial rotating motor, a catheter grasping and pushing device, a fixing and translating module and an equipment end host, wherein,
the flexible advancing and retreating built-in end is a flexible slender tubular structure and is internally provided with a hollow channel, and the front end of the flexible advancing and retreating built-in end is provided with a camera;
the bending and stretching control motor is connected with the bending and stretching advancing and retreating built-in end and controls the bending and stretching of the bending and stretching advancing and retreating built-in end;
the advancing and retreating control motor is connected with the flexible advancing and retreating end and controls the advancing and retreating of the flexible advancing and retreating end;
the axial rotating motor is connected with the flexible and extensible forward and backward placing end and controls the axial rotation of the flexible and extensible forward and backward placing end;
the catheter grasping and pushing device is sleeved outside the retractable advancing and retreating end and is used for clamping and pushing an endotracheal tube sleeved outside the front end of the retractable advancing and retreating end;
the fixing and translation control module supports the retractable and retractable end and moves the retractable and retractable end transversely and/or longitudinally;
the equipment end host machine is provided with a data analysis control system, receives the information transmitted by the camera and controls one or more of the flexion and extension control motor, the advance and retreat control motor, the axial rotation motor, the catheter grasping and pushing device and the fixing and translation module to complete respective corresponding operations through the data analysis control system.
Through the technical scheme, the equipment end host judges the position of the front end of the flexible advancing and retreating embedded end through a preset data analysis system according to a real-time image shot by the front end of the flexible advancing and retreating embedded end, and controls one or more of a moving motor, a rotating motor and a flexible driving motor to enable the front end of the flexible advancing and retreating embedded end to be embedded into a part, needing to be intubated, of a patient; the device end host can control the catheter to be grasped and the pusher to advance along the retractable and retractable placing end, push the tracheal catheter to enter the trachea of a patient for a preset depth, and can carry out oxygen feeding or other operations through the hollow channel, so that the device end host is high in intelligence, advanced in technology and fine in operation action, can realize autonomous intubation operation of the device, and does not need manual operation.
According to an embodiment of the present invention, two sides of the retractable end are respectively a flexible side surface and an extended side surface, the flexible side surface and the extended side surface are respectively provided with a flexible wire, one end of each flexible wire is connected to the flexible control motor at the rear end of the retractable end, and the other end of each flexible wire is fixed to the front end of the retractable end.
When the flexible wire on the side bending surface of the retractable advancing and retracting embedded end is pulled backwards by the bending and extending control motor, the front end of the retractable advancing and retracting embedded end is correspondingly bent, so that the front end of the retractable advancing and retracting embedded end is in a forward bending state.
According to an embodiment of the present invention, the front end of the flexible retractable end is provided with an easily bendable and stretchable region, the flexibility of the easily bendable and stretchable region is greater than that of other portions, when the flexible filament on the bendable side surface of the flexible retractable end is pulled backward, the easily bendable and stretchable region is bent to one side correspondingly, so that the front end of the flexible retractable end is in a forward bent state, and when the flexible filament on the bendable side surface is pulled backward, the easily bendable and stretchable region is bent to the other side correspondingly, so that the front end of the flexible retractable end is in a backward extended state.
According to an embodiment of the present invention, the data analysis control system includes an AI pattern recognition module, which determines and analyzes a position of the front end of the retractable entry/exit end according to information transmitted from the camera, so as to give an operation instruction.
According to one embodiment of the invention, the equipment side host is further provided with a recording storage module and a training evolution module, and the recording storage module records and stores real-time images and data information of specific operations and is used for later training and self-evolution.
According to one embodiment of the invention, the apparatus further comprises a remote data analysis server, and the device side host transmits the stored data to the remote data analysis server and receives a system upgrade and/or operation instruction provided by the remote data analysis server.
According to one embodiment of the present invention, the remote data analysis server includes an AI pattern recognition module, a machine learning module, an analysis and judgment module, and a control module, and obtains pattern recognition capability through early machine learning, and can judge the position information of the front end of the retractable entry/exit end represented by image information, and can give an operation instruction; the remote data analysis server is also provided with a receiving module and a sending module, receives data information provided by the equipment end host, further strengthens training through the machine learning module, perfects the system and can upgrade the equipment end host.
According to an embodiment of the present invention, the apparatus further includes a controllable display device, the controllable display device includes an operation handle and a display, the operation handle can perform bending, extending, advancing, retreating and rotation instruction commands, and the controllable display device receives and displays real-time image information transmitted by the device-side host computer and can send an operation instruction to the device-side host computer.
According to one embodiment of the present invention, the controllable display device is connected to the device host in the field or remotely.
According to one embodiment of the invention, the catheter holder and pusher is advanced or retracted along the retractable insertion end by means of a drive motor, and the catheter holder and pusher is provided with a holding device for holding and releasing the insertion tube.
According to one embodiment of the invention, the fixing and translation module comprises a lateral movement device and a longitudinal movement device, wherein,
the transverse moving device comprises a transverse motor and a transverse mechanical arm, and the transverse motor drives the transverse mechanical arm to move;
the longitudinal moving device comprises a longitudinal motor and a longitudinal mechanical arm, and the longitudinal motor drives the longitudinal mechanical arm to move;
the transverse moving device and the longitudinal moving device are arranged in a superposed mode, wherein the lower moving device drives the upper moving device to move along with the lower moving device;
the driving and reversing control motor is arranged on one mechanical arm arranged above the transverse moving device and the longitudinal moving device, the driving end of the driving and reversing control motor is connected with the flexion and extension control motor, the driving end of the flexion and extension control motor is connected with the bendable and extendable driving and reversing end, and the fixing part of the flexion and extension control motor is connected with the fixing part of the axial rotating motor.
The driving module moving transversely and longitudinally is not limited to a placing position, and any driving module can be placed above or below, the module can realize the planar movement of the device, and the driving module can move independently or simultaneously.
The invention can be used for most patients who need to be subjected to endotracheal intubation, has no special requirements on the opening degree and the cervical vertebra mobility of the patients in the intubation process, and can be applied to patients who have high glottis, short distance between the nail and the chin and above Malampati grade III, so the invention can be applied to intubation of difficult airways caused by various conditions besides the intubation of common airways, and has wide practicability. The invention can completely and independently realize the endotracheal intubation operation and can continuously and independently perfect the intubation device which evolves. The invention does not need manual operation, can ensure the accuracy and the advancement of the intubation operation, and has very beneficial significance for improving the normative and the standardization of the intubation operation.
Drawings
FIG. 1 is a schematic diagram of an autonomous endotracheal intubation device according to one embodiment of the present invention;
FIG. 2a is a schematic structural view of a bendable/stretchable insertion end according to an embodiment of the present invention;
FIG. 2b is a schematic view of a rear flexible wire of the flexible insertion/withdrawal end being deformed by a force according to an embodiment of the present invention;
FIG. 2c is a schematic view of a front end of the flexible insertion/withdrawal end being deformed by a force according to an embodiment of the present invention;
FIGS. 3a-3c are schematic views of another embodiment of a catheter capture and pusher device for holding a catheter in accordance with the present invention;
FIG. 4a is a schematic structural diagram of a fixing and translating module according to an embodiment of the present invention;
FIG. 4b is a schematic left side view of the structure of FIG. 4 a;
FIG. 5a is a schematic structural view of a rear end of a flexible retractable insertion end and a fixing and translating module according to an embodiment of the present invention;
FIG. 5b is a schematic diagram of the right side view of FIG. 5 a;
FIG. 6 is a schematic structural view of an operating handle according to an embodiment of the present invention;
the reference numbers illustrate:
10 flexible and retractable insertion end, 101 camera, 102 flexible and retractable area, 103 hollow channel, 104 flexible side, 105 flexible side, 106 flexible wire, 20 flexible and retractable control motor, 30 forward and backward control motor, 40 axial rotation motor, 50 catheter grasping and pushing device, 501 pushing motor, 502 grasping device, 60 fixing and translation module, 601 transverse motor, 602 transverse mechanical arm, 603 longitudinal motor, 604 longitudinal mechanical arm, 70 tracheal catheter, 80 fixing guide tube, 90 operating handle, 901 handheld part, 9011 flexible and retractable control knob, 902 insertion part and 903 receiving part.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
As shown in fig. 1, the apparatus for performing endotracheal intubation mainly comprises a flexible advancing/retracting end 10, a flexible control motor 20, an advancing/retracting control motor 30, an axial rotation motor 40, a catheter grasping and pushing device 50, a fixing and translating module 60 and an equipment end host (not shown).
As shown in fig. 5a and 5b, the retractable end 10 is a bendable elongated tubular structure having a hollow channel 103 therein. As shown in fig. 1, a camera 101 is disposed at the front end of the flexible retractable end and can transmit video signals to the device host in real time. The inner hollow channel which can be bent, stretched, retracted and placed into the opening at the rear end of the end is continued, and can be connected with an oxygen pipeline, an injector, a suction device or an implanted fetching clamp and the like.
In order to realize the bending of the front end of the flexible advancing and retreating built-in end and facilitate the front end to advance along the bend of the trachea, the flexible advancing and retreating built-in end is of a flexible structure, for example, the flexible structure can be realized, and the flexible advancing and retreating built-in end can also be realized through a link type structural design.
According to an embodiment of the present invention, as shown in fig. 2a, two sides of the flexible advancing/retreating end 10 are a bending side surface 104 and an extending side surface 105, the bending side surface 104 and the extending side surface 105 of the flexible advancing/retreating end 10 are respectively provided with a flexible wire 106, each flexible wire is connected to the bending/extending control motor 20 at the rear end of the flexible advancing/retreating end, and the other end of each flexible wire is fixed to the front end of the flexible advancing/retreating end, so that when the rear end of each flexible wire is tensioned, the front end is correspondingly driven to move, and bending deformation is generated. According to the stress condition of the flexible wires at two sides, the front ends of the bendable and extensible insertion ends can generate different corresponding deformations.
Of course, the terms "flexion" and "extension" are used herein in a relative sense, and each side may be curved, and the terms "flexion" and "extension" are used for the sake of name differentiation.
It should be noted that, in the drawings, only one of the structural diagrams is shown to show that the retractable insertion end can be bent, and that the retractable insertion end can be actually changed in any shape as needed.
In order to further make the front end of the retractable entry and exit end easier to deform, according to an embodiment of the present invention, the front end of the retractable entry and exit end is provided with a section of flexible region 102, when the flexible filament on the flexible side of the retractable entry end is pulled backward by the flexing control motor, the front end of the retractable entry and exit end bends correspondingly, so that the front end of the retractable entry and exit end is in a forward bending state, and similarly, the front end of the retractable entry and exit end can be extended backward by pulling the flexible filament on the flexible side by the flexing control motor. The flexible region may be formed of a flexible material such as rubber, may be formed of a linked structure or a plurality of connected elastic ring structures, or may be formed of a material that is more flexible at the front end.
Fig. 2b shows a state of forced deformation of the flexible filament at the rear end of the retractable insertion end, and fig. 2c shows a state of forced deformation of the flexible filament at the front end of the retractable insertion end.
When the flexible wire on the side bending surface of the retractable advancing and retreating end is pulled backwards by the bending and stretching control motor, the front end of the retractable advancing and retreating end is correspondingly bent, so that the front end of the retractable advancing and retreating end is in a forward bending state.
According to an embodiment of the present invention, the front end of the flexible advancing/retreating end is provided with a flexible region 102, the flexible region is more flexible than other portions and is more easily bent than other portions, when the flexible filament on the flexible side surface of the flexible advancing/retreating end is pulled backward, the flexible region is bent toward one side correspondingly, so that the front end of the flexible advancing/retreating end is in a forward bending state, and when the flexible filament on the flexible side surface is pulled backward, the flexible region is bent toward the other side correspondingly, so that the front end of the flexible advancing/retreating end is in a backward bending state.
The bending and stretching control motor 20 is connected with the bending and stretching advancing and retreating end and controls the bending and stretching of the bending and stretching advancing and retreating end 10. More specifically, the front part of the retractable advancing/retreating end can be driven by the flexing control motor 20 to perform forward flexing and backward flexing actions under the control of the equipment end host.
It should be noted that "forward flexion" and "backward extension" are relative terms and both mean bending toward the corresponding side.
The flexible filaments of the present invention may be any filament or cord that can be stretched, such as a metal filament, nylon cord, or the like.
The advancing/retreating control motor 30 is connected to the retractable advancing/retreating end 10 and controls the advancing/retreating of the retractable advancing/retreating end 10. More specifically, the retractable insertion end 10 can be driven by the retractable control motor 30 to move forward and backward under the control of the device host.
In order to make the front of the camera head face a specific direction, the axial rotation motor 40 is connected to the retractable advancing/retreating end 10, and controls the axial rotation of the retractable advancing/retreating end 10, so as to rotate the front end of the retractable advancing/retreating end to a proper direction. For example, when the rotary motor is rotated by 90 ° from the neutral position, the forward and backward bending and stretching operation of the retractable end is actually changed to a left-right direction. Therefore, the retractable end can point to any direction and further move forward in any direction.
The catheter grasping and pushing device 50 is sleeved outside the retractable advancing/retreating end 10, and clamps and pushes an inner insertion tube, such as a tracheal catheter 70, sleeved outside the front end of the retractable advancing/retreating end. The catheter grasping and pushing device 50 is movably sleeved outside the retractable end. The catheter grasping and pushing device 50 may be driven by its own drive motor.
According to one embodiment of the present invention, as shown in fig. 3a, the catheter grasping and pushing device 50 may comprise a pushing motor 501 and a grasping unit 502, wherein the catheter grasping and pushing device is advanced or retracted along the retractable insertion end by a pushing driving motor, and the grasping unit is provided with a grasping head, which may be realized by various ways, such as clamping a grasping hand (similar to a mechanical hand) or a clasping mechanism (similar to a brake structure). The wall of the tracheal tube can be clamped internally and externally or only clamped on the outer wall.
According to an embodiment of the present invention, as shown in fig. 3b, which shows only one half of the structural schematic of the axial symmetry center, the gripping head 5021 may be a cylindrical splint, which includes two bilaterally symmetric halves, and is disposed on the outer wall of the endotracheal tube 70, the cylindrical splint on each side is driven by a driving element 5024, such as a motor or a cylinder, to clamp and release the endotracheal tube, and the cylindrical splint exerts a clamping force on the outer wall of the endotracheal tube 70, thereby performing the action of gripping and releasing the endotracheal tube. In this embodiment, the driving element 5024 drives one end of the lever arm 5023 to move along the axial direction of the driving element, the pivot joint end of the lever arm 5023 and the clamping arm 5022 drives the clamping arm 5022 to swing around the rotation point of the crank structure, as shown in the figure, when the driving element 5024 drives one end of the lever arm 5023 to move rightwards, the clamping arm 5022 drives the grasping head 5021 fixedly connected with the clamping arm 5022 to move upwards, so as to release the tracheal catheter 70, and when the driving element 5024 drives one end of the lever arm 5023 to move leftwards, the clamping arm 5022 drives the grasping head 5021 fixedly connected with the clamping arm 5022 to move downwards, so as to clamp the tracheal catheter 70. The cross-sectional configuration of the gripping device 502 when gripping the outer wall of the endotracheal tube 70 is schematically illustrated in figure 3 c. In this embodiment, the driving element 5024 can be placed on two sides of the endotracheal tube, and the two parts are linked to be driven simultaneously. Alternatively, only one drive element may be provided, and the lever arms 5023 on both sides may be connected such that the lever arms 5023 on each side move simultaneously, and the lever arms 5023 on each side drive the clamping arm 5022 and the gripping head 5021 on the opposite side to perform a clamping or releasing action.
The driving end of the pushing motor 501 is connected to a gripping device so that it can push the endotracheal tube 70 to move in the axial direction of the endotracheal tube 70 when gripping the endotracheal tube 70.
The push motor 501 may be fixed to a nearby platform or to another support.
The fixing and translation control module 60 supports the retractable insertion end and moves it laterally and/or longitudinally. The fixing and translation control module can be fixed on the ground or a bed surface. The fixing and translation control module can be connected with the retractable advancing and retreating end, the catheter grasping and pushing device, the retractable control motor, the advancing and retreating control motor and the like through a mechanical arm.
According to an embodiment of the present invention, the fixing and translating module 60 comprises a lateral moving device and a longitudinal moving device.
As shown in fig. 1, the lateral moving device includes a lateral motor 601 and a lateral robot 602, and the lateral motor drives the lateral robot to move; the longitudinal moving device comprises a longitudinal motor 603 and a longitudinal mechanical arm 604, and the longitudinal motor drives the longitudinal mechanical arm to move.
The transverse moving device and the longitudinal moving device are arranged in a superposition way as shown in fig. 4a and 4b, wherein the lower one moves to drive the upper one to move along with the lower one.
According to an embodiment of the present invention, as shown in fig. 5a to 5b, the advance/retreat control motor 30 (the vertical robot 604 in the present embodiment) is provided on the robot arm disposed above one of the lateral moving device and the vertical moving device. In particular, the robotic arm may transmit motion by way of tooth engagement.
The driving end of the forward/backward movement control motor 30 is connected to the flexion/extension control motor 20, the driving end of the flexion/extension control motor 20 is connected to the retractable forward/backward movement end 10, and the fixing portion of the flexion/extension control motor 20 is connected to the fixing portion of the axial rotation motor 40. That is, during the forward and backward movement or the translational movement, the rotation motor and the retractable end are relatively fixed, but both can advance and retreat or translate along with the support below.
The driving module moving transversely and longitudinally is not limited to a placing position, any one of the driving module can be placed above or below, and the module can realize the in-plane movement of the device, and the driving module can move independently or simultaneously.
As shown in fig. 1, the fixing and translating module 60 may further include a fixing guide tube 80 at the end of the robot arm for assisting in fixing the retractable end 10.
The equipment end host machine is provided with a data analysis control system, receives the information transmitted by the camera and controls one or more of the flexion and extension control motor, the advance and retreat control motor, the axial rotation motor, the catheter grasping and pushing device and the fixing and translation module to complete respective corresponding operations through the data analysis control system.
According to an embodiment of the present invention, the data analysis control system includes an AI pattern recognition module, which determines and analyzes a position of the front end of the retractable entry/exit end according to information transmitted from the camera, so as to give an operation instruction.
According to one embodiment of the invention, the equipment side host is further provided with a recording storage module and a training evolution module, and the recording storage module records and stores real-time images and data information of specific operations and is used for later training and self-evolution.
According to an embodiment of the present invention, the data analysis control system on the device side host includes an AI pattern recognition module, a machine learning module, an analysis and judgment module, a control module, and the like, and obtains pattern recognition capability through previous machine learning, and can judge the position information of the front end of the retractable entry end represented by the image information, and can give an operation instruction.
According to one embodiment of the invention, the apparatus further comprises a remote data analysis server, and the device side host transmits the stored data to the remote data analysis server and receives a system upgrade and/or operation instruction provided by the remote data analysis server.
According to one embodiment of the present invention, the remote data analysis server includes an AI pattern recognition module, a machine learning module, an analysis and judgment module, and a control module, and obtains pattern recognition capability through early machine learning, and can judge position information of the front end of the bendable and extendable entry and exit end represented by image information through continuous image recognition, and can give an operation instruction; the remote data analysis server is also provided with a receiving module and a sending module, receives data information provided by the equipment end host, further strengthens training through the machine learning module, perfects the system and can upgrade the equipment end host.
According to an embodiment of the present invention, the apparatus further includes a controllable display device, the controllable display device includes an operation handle and a display, the operation handle can perform bending, extending, advancing, retreating and rotation instruction commands, and the controllable display device receives and displays real-time image information transmitted by the device-side host computer and can send an operation instruction to the device-side host computer.
According to an embodiment of the present invention, the device host may receive and analyze an image captured by the front camera of the retractable entry end in real time, the device host may determine and analyze a correct position of the front end of the retractable entry end through a data analysis system based on AI pattern recognition technology built in the system, and give an operation instruction, so as to control the retractable entry end, the fixing and translating module, and the catheter grasping and pushing device to complete corresponding actions, the device host may transmit an image to the controllable display device in real time, and may receive the control of the controllable display device on the device host, the device host may record and store a real-time image and data information of specific operations for later training and self-evolution at the same time, the device host may periodically transmit stored data to the data analysis server, and accepting system upgrades provided from the data analysis server.
According to an embodiment of the present invention, the controllable display device may receive and display real-time image information transmitted by the device host, the controllable display device may interrupt an autonomous operation instruction of the device host at any time, and the controllable display device is manually operated to send an operation instruction to the device host, control the retractable end, the fixing and translating module, and the catheter grasping and pushing device to complete corresponding actions, and the controllable display device may be connected to the device host via a network to implement remote control.
Specifically, the operating handle can be of a keyboard type or an analog simulation type. The keyboard can be provided with 6 keys or knobs which respectively represent forward, backward, forward bending, backward extending, left rotating and right rotating for controlling corresponding actions.
The analog manipulation handle 90 is divided into a hand-held portion 901, an insertion portion 902, and a receiving portion 903, as shown in fig. 6. The handle 901 has a flexion/extension control knob 9011 for controlling the forward flexion and the backward extension. The hand-held part 901 is connected with the inserting part 902, the lower end of the inserting part 902 is positioned in the receiving part 903, and when the hand-held part 901 moves upwards or downwards, the inserting part 902 is driven to correspondingly move upwards and downwards in the receiving part 903, so that corresponding backward and forward signals are generated. When the hand-held portion 901 rotates left or right, the insertion portion 902 is driven to rotate in the receiving portion 903, and a corresponding left-handed or right-handed signal is generated.
The above-mentioned operating handle can be implemented by adopting existent technology, so that it has no need of detailed description of concrete structure.
According to one embodiment of the present invention, the controllable display device is connected to the device host in the field or remotely.
The method for the autonomous implementation of the endotracheal intubation according to the invention essentially comprises the following steps:
suspending the retractable advancing-retreating end above an intubation inlet of a patient to be intubated, sleeving an inner intubation tube outside the retractable advancing-retreating end and fixing the inner intubation tube on a catheter grasping and pushing device;
the device end host judges the position of the front end of the retractable built-in end through a preset data analysis system according to a real-time image shot by the front end of the retractable built-in end, and gives an indication;
the equipment end host controls one or more of a moving motor, a rotating motor and a bending and stretching driving motor to enable the front end of the bending and stretching advancing and retracting insertion end to be inserted into a part of a patient needing to be inserted;
the equipment end host controls the catheter to be grasped and the pusher to advance along the retractable and retractable placing end to push the tracheal catheter to enter the trachea of the patient, and when the in-place depth of the tracheal catheter meets the preset depth, the catheter is controlled to be grasped and the pusher is controlled to release the tracheal catheter;
the equipment end host machine controls the retractable and retractable placing end to retract so that the device can be moved out of the body of the patient to complete the intubation operation.
Through the technical scheme, the equipment end host judges the position of the front end of the flexible advancing and retreating embedded end through a preset data analysis system according to a real-time image shot by the front end of the flexible advancing and retreating embedded end, and controls one or more of a moving motor, a rotating motor and a flexible driving motor to enable the front end of the flexible advancing and retreating embedded end to be embedded into a part, needing to be intubated, of a patient; the equipment end host can control the catheter to be grasped and the pusher to advance along the retractable and retractable placing end, push the inner intubation tube to enter the trachea of the patient for a preset depth, and can carry out oxygen feeding or other operations through the hollow channel, so that the equipment end host is high in intelligence, advanced in technology and fine in operation action, can realize the autonomous intubation operation of the equipment, and does not need manual operation.
The invention can be used for treating most patients needing endotracheal intubation, has no special requirements on the opening degree and the cervical vertebra mobility of the patients in the intubation process, and can be applied to the patients with high glottis, short distance between the nail and the chin and above Malampati grade III, so the invention can be applied to intubation of difficult airways caused by various conditions besides the intubation of common airways, and has wide practicability. The invention can completely and independently realize the endotracheal intubation operation and can continuously and independently perfect the intubation device which evolves. The invention does not need manual operation, can ensure the accuracy and the advancement of the intubation operation, and has very beneficial significance for improving the normative and the standardization of the intubation operation.
Examples
As shown in fig. 1, the apparatus for performing endotracheal intubation according to the present embodiment includes a flexible insertion/retraction end 10, a flexible control motor 20, a flexible control motor 30, an axial rotation motor 40, a catheter grasping/pushing device 50, a fixing/translation module 60, an equipment end host, an operable display device, and a data analysis server.
The data analysis server is trained by a large amount of data, establishes a data analysis system and updates the data analysis system to the equipment end host. Therefore, the practical clinical application part of the present embodiment may only include the retractable advancing/retreating end 10, the retraction control motor 20, the advancing/retreating control motor 30, the axial rotation motor 40, the catheter grasping and pushing device 50, the fixing and translation device 60, the device end host, and the controllable display device.
When the invention is used, the fixing and translation module is placed to a stable position, the retractable advancing/retreating end 10 is suspended above the mouth of a patient to be intubated, the tracheal catheter 70 is sleeved outside the retractable advancing/retreating end 10 and fixed on the catheter grasping and pushing device 50, and an oxygen pipeline is connected to the rear end of the retractable advancing/retreating end 10, so that the front end of the retractable advancing/retreating end 10 has oxygen supply capacity.
When the trachea cannula starts, the device end host judges the position of the front end of the flexible retractable built-in end through a preset data analysis system according to a real-time image shot by the front end of the flexible retractable built-in end 10, and gives an instruction. The device end host controls the transverse motor 601 and the longitudinal motor 603 of the fixing and translating module to drive the mechanical arms 602 and 604, so that the front end of the retractable insertion end 10 is suspended right above the mouth of the patient, and the retractable insertion end 10 is driven to be inserted into the mouth of the patient by controlling the retractable control motor 30. The device host controls the fixing and translating module 60 to move horizontally into and out of the access terminal 10 to make the midpoint of the acquired image coincide with the predetermined direction of movement. The device-side mainframe controls the fixing and translating module 60 to rotate the retractable insertion end 10 appropriately so that the central axis of the acquired image is parallel to the sagittal plane of the patient. The device end host controls the advancing and retreating control motor, 30 drives the front end of the flexible advancing and retreating insertion end 10 to advance, and controls the bending and stretching control motor 20 to drive the front end of the flexible advancing and retreating insertion end 10 to properly bend and stretch, gradually pass over the uvula and the epiglottis of the patient and reach the front part of the glottis. The equipment end host machine controls the bending and stretching function of the bendable and stretchable advancing and retreating built-in end 10, and adjusts the front end of the bendable and stretchable advancing and retreating built-in end to be aligned with the center of the glottis. The equipment end host machine controls the forward end of the flexible input/output end 10 to pass through the glottis, and then controls the flexible function to enable the input end to be positioned in the center of the air passage. The device end host controls the front advancing end of the flexible advancing and retreating built-in end to reach the front of the carina of the patient. The device end host machine controls the catheter grasping and pushing device 50 to advance along the retractable and advancing insertion end to push the tracheal catheter 70 into the trachea of the patient, and when the catheter is in place to a preset depth, the catheter grasping and pushing device 50 releases the catheter and retracts to the original position. The device end host controls the retractable and retractable placing end 10 to retract and move out of the patient. And (5) finishing intubation.
In the whole operation process, the equipment end host transmits the image to the controllable display equipment in real time. The controllable display equipment is manually controlled and can be remotely monitored in different places. If the monitoring personnel consider that the operation of the invention is improper in the operation process, the autonomous operation of the invention can be interrupted at any time through the controllable display equipment, the operation of the invention can be finished by guiding the invention through the operation handle of the controllable display equipment, and the autonomous operation of the invention can be recovered after partial correction is carried out, so that the invention can continue to finish the subsequent intubation operation.
The device side host will maintain all image and operational information and can upload that information to the remote data analysis server. The remote data analysis server summarizes a large amount of data uploaded by the equipment end host computer, and continues to train the data analysis system, so that the data analysis system is further improved. And the data analysis server updates the updated training data analysis system to the equipment end host to realize self evolution.
This depiction is a simple mode of oral endotracheal intubation, and similarly, the present invention is equally applicable to nasal endotracheal intubation. Meanwhile, the invention can realize full-dimensional movement by comprehensively applying several actions of advancing, retreating, anteflexion, extension and rotation, thereby completing intubation under complex conditions. The invention can be used in combination with intubating laryngeal masks, intubating oropharyngeal ventilation or artificial assistance in lifting the mandible. The invention can complete or assist the intubation process to continuously supply oxygen, and can carry out the operations of feeding the drug through the front end of the flexible advancing and retreating built-in end, sucking through the front end of the flexible advancing and retreating built-in end, placing the biopsy forceps through the flexible advancing and retreating built-in end to take pathological tissues and the like.
It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiments are merely illustrative of the present invention, and various components and devices of the embodiments may be changed or eliminated as desired, not all components shown in the drawings are necessarily required, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, and all equivalent changes and modifications based on the technical solutions of the present invention should not be excluded from the scope of the present invention.
Claims (9)
1. A device capable of automatically performing tracheal intubation is characterized by comprising a retractable advancing and retreating end, a retractable control motor, an advancing and retreating control motor, an axial rotating motor, a catheter grasping and pushing device, a fixing and translating module and an equipment end host, wherein,
the flexible advancing and retreating built-in end is a flexible slender tubular structure and is internally provided with a hollow channel, and the front end of the flexible advancing and retreating built-in end is provided with a camera;
the bending and stretching control motor is connected with the bending and stretching advancing and retreating built-in end and controls the bending and stretching of the bending and stretching advancing and retreating built-in end;
the advancing and retreating control motor is connected with the flexible advancing and retreating end and controls the advancing and retreating of the flexible advancing and retreating end;
the axial rotating motor is connected with the flexible and extensible forward and backward placing end and controls the axial rotation of the flexible and extensible forward and backward placing end;
the catheter grasping and pushing device is sleeved outside the retractable advancing and retreating end and is used for clamping and pushing an inner inserting tube sleeved outside the front end of the retractable advancing and retreating end; the catheter grasping and pushing device comprises a pushing motor and a grasping device, and the catheter grasping and pushing device advances or retreats along the retractable advancing and retreating insertion end through the pushing motor; the grabbing device is provided with a grabbing head, the grabbing head is a cylindrical clamping plate and comprises two halves which are symmetrically sleeved on the outer wall of the inner inserting tube in a left-right mode, the cylindrical clamping plate on each side drives one end of a lever arm to move along the axial direction of a driving element through the driving element, the pivoting end of the lever arm and a clamping arm drives the clamping arm to swing around a rotating point of a crank structure, and when the driving element drives one end of the lever arm to move towards one side, the clamping arm drives the grabbing head fixedly connected with the clamping arm to move upwards so as to release the inner inserting tube; when the driving element drives one end of the lever arm to move towards the other side, the clamping arm drives the gripping head fixedly connected with the clamping arm to move downwards so as to clamp the inner intubation; the driving end of the pushing motor is connected with the gripping device, so that the gripping device can push the inner cannula to move along the axial direction of the inner cannula when the inner cannula is clamped;
the fixing and translation control module supports the retractable advancing and retreating end and moves the retractable advancing and retreating end transversely and/or longitudinally;
the equipment end host machine is provided with a data analysis control system, receives information transmitted by the camera and controls one or more of the flexion and extension control motor, the advance and retreat control motor, the axial rotation motor, the catheter grasping and pushing device and the fixing and translation module to complete respective corresponding operations through the data analysis control system; the equipment end host is also provided with a recording and storing module and a training and evolving module, and the recording and storing module records and stores real-time images and data information of specific operation and is used for later-stage training and self-evolution.
2. The apparatus according to claim 1, wherein the flexible advancing/retracting end has a flexible side surface and a flexible side surface at two sides thereof, the flexible side surface and the flexible side surface are respectively provided with a flexible wire, one end of each flexible wire is connected to the flexible control motor at the rear end of the flexible advancing/retracting end, and the other end of each flexible wire is fixed to the front end of the flexible advancing/retracting end.
3. The apparatus according to claim 2, wherein the front end of the flexible advancing/retreating end is provided with a flexible region, the flexibility of the flexible region is greater than that of the other portions, when the flexible filament at the flexible side of the flexible advancing/retreating end is pulled backward, the flexible region is bent to one side correspondingly, so that the front end of the flexible advancing/retreating end is in a forward bending state, and when the flexible filament at the flexible side is pulled backward, the flexible region is bent to the other side correspondingly, so that the front end of the flexible advancing/retreating end is in a backward bending state.
4. The apparatus according to claim 1 or 2, wherein the data analysis control system comprises an AI pattern recognition control module, which judges and analyzes the position of the front end of the flexible insertion/retraction end according to the information transmitted from the camera, so as to give an operation instruction.
5. An apparatus for performing endotracheal intubation according to claim 1 or 2, characterized in that it further comprises a remote data analysis server to which said device side host computer transmits stored data and receives system upgrades and/or operation instructions provided from said remote data analysis server.
6. The apparatus according to claim 5, wherein the remote data analysis server comprises an AI pattern recognition module, a machine learning module, an analysis and judgment module and a control module, the AI pattern recognition module obtains pattern recognition capability through early machine learning, and can recognize and judge the position information of the front end of the flexible retractable built-in end represented by the image information through continuous pictures and can give operation instructions; the remote data analysis server is also provided with a receiving module and a sending module, receives data information provided by the equipment end host, further strengthens training through the machine learning module, perfects the system and can upgrade the equipment end host.
7. The apparatus according to claim 1, 2 or 6, further comprising a controllable display device, wherein the controllable display device comprises an operation handle and a display, the operation handle can perform bending, extending, advancing, retreating and rotating indication commands, and the controllable display device receives and displays real-time image information transmitted by the device-side host computer and can send operation instructions to the device-side host computer.
8. An apparatus for performing endotracheal intubation according to claim 7, wherein said manipulatable display device is connected to said device end host either in-situ or remotely.
9. An apparatus for autonomous implementation of an endotracheal intubation according to claim 1, 2, 6 or 8, characterized in that said fixing and translation module comprises a lateral movement device and a longitudinal movement device, wherein,
the transverse moving device comprises a transverse motor and a transverse mechanical arm, and the transverse motor drives the transverse mechanical arm to move;
the longitudinal moving device comprises a longitudinal motor and a longitudinal mechanical arm, and the longitudinal motor drives the longitudinal mechanical arm to move;
the transverse moving device and the longitudinal moving device are arranged in a superposed mode, wherein the lower moving device drives the upper moving device to move along with the lower moving device;
the mechanical arm arranged above the transverse moving device and the longitudinal moving device is provided with the advance and retreat control motor, the driving end of the advance and retreat control motor is connected with the flexion and extension control motor, the driving end of the flexion and extension control motor is connected with the flexion and extension advance and retreat placing end, and the fixing part of the flexion and extension control motor is connected with the fixing part of the axial rotating motor.
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| CN113520604A (en) * | 2021-06-17 | 2021-10-22 | 清华大学 | Trachea cannula robot of simulation doctor operation |
| CN114010894B (en) * | 2021-08-24 | 2023-09-01 | 上海交通大学医学院附属第九人民医院 | Multi-mode AI tracheal intubation navigation device for difficult airways |
| CN115024679A (en) * | 2022-04-14 | 2022-09-09 | 中山大学孙逸仙纪念医院 | Visual trachea cannula endoscope guide wire structure and management method of intelligent module thereof |
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