CN111419405A - Magnetic guide type respiratory tract trachea cannula robot system and using method thereof - Google Patents

Magnetic guide type respiratory tract trachea cannula robot system and using method thereof Download PDF

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Publication number
CN111419405A
CN111419405A CN202010341354.8A CN202010341354A CN111419405A CN 111419405 A CN111419405 A CN 111419405A CN 202010341354 A CN202010341354 A CN 202010341354A CN 111419405 A CN111419405 A CN 111419405A
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guide strip
roller
trachea cannula
guide
cannula
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Inventor
吕毅
耿涛
赵鸽
关正
王浩华
朱皓阳
刘畅
汤博
王荣峰
张倩云
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First Affiliated Hospital of Medical College of Xian Jiaotong University
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First Affiliated Hospital of Medical College of Xian Jiaotong University
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Priority to CN202010341354.8A priority Critical patent/CN111419405A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A61M16/0488—Mouthpieces; Means for guiding, securing or introducing the tubes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Pulmonology (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Emergency Medicine (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
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  • Otolaryngology (AREA)
  • Power Engineering (AREA)
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Abstract

The invention relates to a magnetic guide type respiratory tract trachea cannula robot system and a using method thereof. The robot system comprises a shell, wherein a guide strip roller and a trachea cannula roller are arranged on the shell, the trachea cannula roller is arranged below the guide strip roller, the guide strip roller and the trachea cannula roller are respectively connected with a driving device, and the driving device is arranged in the shell. The invention avoids the defects of poor visual field of the traditional trachea cannula and more complications such as tissue damage, larynx edema, hemorrhage and the like caused by blind intubation, reduces the probability of mistaken inserting into the esophagus, is suitable for the trachea intubation operation of respiratory tract droplet infectious disease patients, and reduces doctor-patient cross infection.

Description

Magnetic guide type respiratory tract trachea cannula robot system and using method thereof
Technical Field
The invention belongs to the field of respiratory tract assisted respiration and nursing, and relates to a robot system for respiratory tract trachea automatic guiding and intubation and a using method thereof.
Background
Tracheal intubation is the first step of emergency treatment and general anesthesia surgery, and has great significance in modern medicine. In China, more than 5000 million medical operations are required to be performed every year, more than 7 million anesthetists are required to complete excessive intubation tasks, and along with the annual increase of the demand of the public on medical services and the operation amount, the embarrassment of the shortage of anesthetists in China becomes more and more prominent. Meanwhile, the data of the trachea cannula is displayed: even in the conventional non-emergency operation state, an anaesthetist who frequently intubates the trachea to intubate, the first trachea intubation success rate is 70%, the second intubation success rate is 89%, and continuous assistance of an assistant is needed. In some emergency and special environments, the trachea cannula operation has the situations of cross infection, large exposure risk and the like, for example, when the cannula operation is carried out on patients with novel coronavirus pneumonia, SARS and other infectious respiratory diseases, the irritant cough reaction of the patients can cause splash containing virus, and the infection risk of medical staff is increased sharply. In conclusion, the anesthesiologist and intubation nursing operation not only undertakes heavy medical work, but also has a larger risk of cross infection between doctors and patients. Therefore, there is a need to develop a robot system that can replace an anesthesiologist or other medical personnel to perform an airway intubation operation.
The research of applying the DaVinci robot to perform the simulation human trachea cannula experiment is carried out abroad, the DaVinci robot trachea cannula is theoretically feasible, but the device is only limited to the trachea cannula in an anesthesia state in an operating room due to the limitations of large size, high price and inconvenience in carrying, and cannot be widely popularized and applied outside the hospital. In addition, scientific research personnel at the university of mcgill, canada research intubation surgical robots operated by remote control, but the robots designed by the researchers only use mechanical arms to replace hands to perform intubation operation, still need continuous assistance of assistants in the operation process, need to perform real-time judgment by operators according to the feedback condition of a laryngoscope, and are not high in innovation. Against the background, the invention is urgently needed to provide a trachea cannula robot device which can be implemented autonomously, has magneto-optical guidance and is convenient and portable, and is used for various applications in hospitals, pre-hospitals, battlefields, seas, spaces, earthquakes and the like which need to be cured or disaster sites, so as to reduce the working strength of medical staff and solve the problem of low curing success rate caused by lack of professional medical staff.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention aims to provide a magnetic guide type respiratory tract trachea cannula robot system and a using method thereof, which avoid the defects of poor visual field of the traditional trachea cannula and more complications such as tissue damage, larynx edema, hemorrhage and the like caused by blind intubation, reduce the probability of mistaken insertion into an esophagus, are suitable for trachea cannula operation of respiratory tract droplet infectious disease patients and reduce cross infection of doctors and patients.
The technical solution of the invention is as follows: the invention relates to a magnetic guide type respiratory tract trachea cannula robot system, which is characterized in that: the robot system comprises a shell, wherein a guide strip roller and a trachea cannula roller are arranged on the shell, the trachea cannula roller is arranged below the guide strip roller, the guide strip roller and the trachea cannula roller are respectively connected with a driving device, and the driving device is arranged in the shell.
Preferably, the driving device comprises a motor, a coupler, bevel gears, a bearing seat and straight gears, the motor is connected with the rollers sequentially through the coupler, the bevel gears, the bearing seat and the straight gears, the bearing seat, the straight gears and the rollers are two, the two straight gears are meshed with each other to drive the two rollers to rotate in opposite directions, and the rollers are guide strip rollers or trachea cannula rollers.
Preferably, the driving device further comprises an encoder, and the encoder is connected with the bevel gear.
Preferably, the guide strip rollers and the trachea cannula rollers are respectively two groups and are arranged on a perpendicular line in a centrosymmetric manner.
Preferably, the robot system further comprises a magnetic guiding unit, the magnetic guiding unit comprises a magnetic guiding mechanical arm and a permanent magnet, one end of the magnetic guiding mechanical arm is connected with the shell, and the other end of the magnetic guiding mechanical arm is connected with the permanent magnet.
Preferably, the robot system further comprises a controller, the controller comprises an industrial personal computer, and the motor, the encoder and the magnetic guiding mechanical arm are respectively connected with the industrial personal computer.
Preferably, the robot system further comprises an electromagnetic induction device and a light spot analysis device, and the electromagnetic induction device and the light spot analysis device are respectively connected with the industrial personal computer.
Preferably, the robot system further comprises a magnetic trachea cannula, the magnetic trachea cannula comprises a guide strip and a trachea cannula, the guide strip is arranged in the trachea cannula and consists of an aluminum alloy rod and a PVC outer membrane, the head end of the guide strip consists of a neodymium iron boron magnet and a latex tube, and the head end of the guide strip contains a high-brightness cold light source.
Preferably, the magnetic trachea cannula further comprises an inflation valve, a spherical air bag is arranged on the outer side wall of the end portion of the trachea cannula, and the inflation valve is communicated with the spherical air bag through a pipeline.
A use method for realizing the magnetic guide type respiratory tract trachea cannula robot system is characterized in that: the method comprises the following steps:
1) the guide strip is arranged in the tracheal cannula, the upper end of the guide strip extends out of the tracheal cannula, and the guide strip and the tracheal cannula are inserted through the oropharynx part of the patient;
2) the magnetic guide mechanical arm is driven by an industrial personal computer, the permanent magnet at the tail end of the magnetic guide mechanical arm is arranged near the annular cartilage in front of the neck of the patient, and the magnetic force of the magnetic guide mechanical arm interacts with the neodymium iron boron magnet at the head end of the guide strip to drive the guide strip to point to the glottis direction;
3) the guide strip is arranged between the guide strip rollers, the trachea cannula is arranged between the trachea cannula rollers, the cold light source at the head end of the guide strip is transmitted to the neck facula analysis device through the electromagnetic induction device, and after the guide strip is determined to be correctly directed, the industrial personal computer drives the guide strip rollers to slowly send the guide strip into the glottis;
4) according to the pushing length of the guide strip and the neodymium iron boron magnet position at the head end of the guide strip, judging that the guide strip is pushed into the main air pipe for 2cm, stopping pushing the guide strip, and fixing a guide strip roller;
5) the industrial personal computer starts the tracheal intubation roller, pushes the tracheal intubation to be conveyed to the position where the head end of the guide strip is located along the guide strip, starts the guide strip roller to rotate reversely, starts the inflation valve after the guide strip is withdrawn to the outside of the tracheal intubation, inflates the spherical airbag, and fixes the tracheal intubation in the airway;
6) connecting the tracheal cannula to a breathing machine, starting a working instruction of the breathing machine, auscultating the respiratory sounds of the two lungs by a stethoscope, and judging and determining that the tracheal cannula is successfully implemented.
The invention adopts the magnetic navigation principle, and inserts the special magnetic tracheal intubation guide strip and the tracheal intubation into the respiratory tract in a roller driving mode under the guidance of the external magnetic guide unit. Through the guidance of the magnetic guide unit and the light source confirmation of the head end of the guide strip, the defects of poor visual field of the traditional trachea cannula and more complications such as tissue damage, larynx edema, hemorrhage and the like caused by blind intubation are avoided, and the probability of mistakenly inserting the trachea cannula is reduced. The device can smoothly complete trachea intubation, is particularly suitable for trachea intubation operation of respiratory droplet infectious disease patients, and reduces cross infection of doctors and patients. Therefore, compared with the prior art, the invention has the following beneficial technical effects:
1. the success rate of intubation is improved; the invention conveys the guide strip and the tracheal cannula by the guide strip roller and the tracheal cannula roller which are arranged on the same vertical line on the shell, not only can realize the accurate conveying of the guide strip and the tracheal cannula into the oropharynx of a patient, but also can control the insertion speed, and greatly improves the success rate of the intubation.
2. The cannula is accurate in position; according to the invention, the insertion position of the guide strip is observed through the light spot analysis device, the magnetic head end of the guide strip is guided through the permanent magnet at the tail end of the magnetic guide mechanical arm by controlling the swinging of the magnetic guide mechanical arm, and the insertion depth of the guide strip is controlled through the guide strip roller, so that the magnetic head end is accurately sent to the glottis position.
3. The volume is small, and the carrying is convenient; the invention has small volume and convenient carrying, is equivalent to the size of a common first-aid kit, can be applied to various fields needing treatment or disasters such as hospitals, pre-hospitals, battlefields, seas, spaces, earthquakes and the like, greatly lightens the working strength of medical staff, and solves the problem of low treatment success rate caused by the lack of professional medical staff.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the driving device of the present invention;
FIG. 3 is a schematic structural view of a magnetic endotracheal tube of the present invention;
FIG. 4 is a functional block diagram of the control circuit of the present invention;
fig. 5 is a schematic view of the surgical situation of the present invention.
The reference numbers are as follows:
1. a guide strip roller; 2. a tracheal cannula roller; 3. a housing; 4. tracheal intubation; 5. a guide strip; 6. a magnetically guided robotic arm; 7. a permanent magnet; 8. a motor; 9. a coupling; 10. a bevel gear; 11. a bearing seat; 12. a spur gear; 13. an encoder; 14. a roller; 15. an inflation valve; 16. a pipeline; 17. a spherical air bag; 18. a guide strip head end; 19. an electromagnetic induction device; 20. a light spot analyzing device; 21. and an industrial personal computer.
Detailed Description
Referring to fig. 1, the structure of the embodiment of the present invention includes a housing 3, a guide strip roller 1 and a trachea cannula roller 2 are disposed on the housing 3, the trachea cannula roller 2 is disposed below the guide strip roller 1, the guide strip roller 1 and the trachea cannula roller 2 are respectively connected to a driving device, the driving device is disposed in the housing 3, in this embodiment, two groups of the guide strip roller 1 and the trachea cannula roller 2 are respectively provided, and each group of the two guide strip rollers and the trachea cannula roller 2 are centrally and symmetrically disposed on a vertical line. The invention also comprises a magnetic guiding unit, wherein the magnetic guiding unit comprises a magnetic guiding mechanical arm 6 and a permanent magnet 7, one end of the magnetic guiding mechanical arm 6 is connected with the shell 3, and the other end of the magnetic guiding mechanical arm is connected with the permanent magnet 7.
Referring to fig. 2, the driving device of the invention comprises a motor 8, a coupler 9, a bevel gear 10, a bearing seat 11 and a spur gear 12, wherein the motor 8 is connected with a roller 14 sequentially through the coupler 9, the bevel gear 10, the bearing seat 11 and the spur gear 12, the bearing seat 11, the spur gear 12 and the roller 14 are two, the two spur gears 12 are mutually meshed to drive the two rollers 14 to rotate oppositely, and the roller 14 is a guide strip roller 1 or a tracheal intubation roller 2. In this embodiment, the driving device is four sets, which are respectively connected to two sets of guide bar rollers 1 and two sets of or endotracheal intubation rollers 2, the driving device further includes an encoder 13, the encoder 13 is connected to the bevel gear 10, the rotation angle and direction of the rollers 14 are monitored by the encoder 13, and the length of the guide bar 5 and the length of the endotracheal intubation 4 can be obtained through the total rotation angle and the total rotation direction.
Referring to fig. 3, the magnetic trachea cannula of the invention comprises a guide strip 5 and a trachea cannula 4, wherein the guide strip 5 is arranged in the trachea cannula 4, the guide strip 5 consists of an aluminum alloy rod and a PVC outer membrane, the head end 18 of the guide strip consists of a neodymium iron boron magnet and an emulsion tube, and a high-brightness cold light source is contained in the guide strip. The magnetic trachea cannula further comprises an inflation valve 15, a spherical airbag 17 is arranged on the outer side wall of the end portion of the trachea cannula 4, and the inflation valve 15 is communicated with the spherical airbag 17 through a pipeline 16 and inflates the spherical airbag 17. The shape of the end part of the tracheal cannula 4 is designed into a spherical air bag 17, so that the guide strip 5 can enter the trachea and does not damage the oral cavity and the mucosal tissue of the trachea.
Referring to fig. 4, the controller of the present invention includes an industrial personal computer 21, and the motor 8, the encoder 13 and the magnetic guiding mechanical arm 6 are respectively connected to the industrial personal computer 21, in this embodiment, the motor 8 and the encoder 13 are 4 sets, corresponding to two sets of guide bar rollers 1 and trachea cannula rollers 2; the device also comprises an electromagnetic induction device 19 and a light spot analysis device 20, wherein the electromagnetic induction device 19 and the light spot analysis device 20 are respectively connected with an industrial personal computer 21. The electromagnetic induction device 19 judges the position of the magnet at the leading end 18 of the guide strip, the light spot analysis device 20 is used for assisting in judging the position of the leading end 18 of the guide strip, and the electromagnetic induction device 19 and the light spot analysis device 20 are arranged on the upper part of the trachea of the patient. The electromagnetic induction device 19 is composed of electromagnetic induction coils distributed in an array manner, and the position of the magnet at the leading end 18 of the guide bar can be determined according to the difference of the magnetic induction intensity of each coil in the array type distribution coils. The light spot analysis device 20 adopts an existing image analysis system, a camera shoots the light spot on the neck, and the image analysis system judges the visual field coordinate position and the light spot brightness of the light spot, so as to assist the magnetic induction device 19 in judging the position of the head end 18 of the guide strip. When the length sent by the guide strip 5, the electromagnetic induction device 19 and the light spot analysis device 20 judge that the head end 18 of the guide strip reaches the epiglottis part, position information is transmitted to the industrial personal computer 21, the industrial personal computer 21 sends out a control instruction to control the magnetic guide mechanical arm 6 to drive the permanent magnet 7 to the neck of the human body, the head end 18 of the guide strip faces the glottis part of the trachea, and meanwhile, the industrial personal computer 21 drives the guide strip roller 1 to send the head end 18 of the guide strip into the glottis position. The industrial personal computer 21 may adopt an existing control circuit.
Referring to fig. 5, when using the present invention for intubation, the patient is in a flat position, the neck is raised, the head is tilted back, and the mouth is exposed. The magnetic guide type respiratory tract trachea cannula robot system is loaded to the left side of the head of a patient on an operating bed. The guide strip 5 is placed into the endotracheal tube 4 beyond the front end of the endotracheal tube 4. And the trachea cannula 4 is placed between the trachea cannula rollers 2 of the device, and at the same time, the guide strip 5 is also placed into the corresponding guide strip roller 1. The industrial computer 21 controls the guide strip roller 1, slowly conveys the guide strip 2 to the oropharynx of a patient, the length sent by the guide strip 5, when the electromagnetic induction device 19 and the light spot analysis device 20 judge that the guide strip head end 18 reaches the epiglottis part, position information is transmitted to the industrial computer 21, the industrial computer 21 sends a control instruction, the magnetic guide arm 6 is controlled to drive the permanent magnet 7 to the neck of the human body (near the annular cartilage in the front of the neck), the guide strip head end 18 of the guide strip 5 is attracted by the permanent magnet 7 and is guided to the glottis, the industrial computer 21 drives the guide strip roller 1, the guide strip 5 is continuously pushed by about 2cm, and the guide strip head end 18 is sent to the glottis position. And then the industrial personal computer 21 drives the trachea cannula roller 2 to insert the trachea cannula 4 into the trachea along the guide strip 5, and finally the guide strip 5 is withdrawn to finish the trachea cannula operation.
The using method of the invention is as follows:
1) the guide strip 5 is arranged in the tracheal cannula 4, the upper end of the guide strip 5 extends out of the tracheal cannula 4, and the guide strip 5 and the tracheal cannula 4 are inserted through the oropharynx part of the patient;
2) the magnetic guide mechanical arm 6 is driven by the industrial personal computer 21, the permanent magnet 7 at the tail end of the magnetic guide mechanical arm is arranged near the annular cartilage in front of the neck of the patient, and the magnetic force of the magnetic guide mechanical arm interacts with the neodymium iron boron magnet at the head end 18 of the guide strip to drive the guide strip 5 to point to the glottis direction;
3) the guide strip 5 is arranged between the guide strip rollers 1, the trachea cannula 4 is arranged between the trachea cannula rollers 2, the cold light source at the head end 18 of the guide strip is transmitted to the neck facula analysis device 20 through the electromagnetic induction device 19, and after the guide strip 5 is determined to be correctly directed, the industrial personal computer 21 drives the guide strip rollers 1 to slowly feed the guide strip 5 into the glottis;
4) according to the pushing length of the guide strip 5 and the induction of the neodymium iron boron magnet part at the head end 18 of the guide strip by the electromagnetic induction device 19, stopping pushing the guide strip 5 after judging that the guide strip 5 is pushed into the main air pipe by about 2cm, and fixing the guide strip roller 1;
5) the industrial personal computer 21 starts the tracheal intubation roller 2, pushes the tracheal intubation 4 to be conveyed to the position where the head end 18 of the guide strip is located along the guide strip 5, starts the guide strip roller 1 to rotate reversely, starts the inflation valve 15 to inflate the spherical airbag 17 after the guide strip 5 is withdrawn to the outside of the tracheal intubation 4, and fixes the tracheal intubation 4 in the airway;
6) connecting the tracheal cannula 4 to a breathing machine, starting a working instruction of the breathing machine, auscultating the respiratory sounds of the two lungs by a stethoscope, and judging and determining that the tracheal cannula is successfully implemented.
The above embodiments are only specific embodiments disclosed in the present invention, but the scope of the present invention is not limited thereto, and the scope of the present invention disclosed in the present invention should be subject to the scope of the claims.

Claims (10)

1. The utility model provides a magnetism guide respiratory track trachea cannula robot system which characterized in that: the robot system comprises a shell, wherein a guide strip roller and an endotracheal tube roller are arranged on the shell, the endotracheal tube roller is arranged below the guide strip roller, the guide strip roller and the endotracheal tube roller are respectively connected with a driving device, and the driving device is arranged in the shell.
2. The magnetically guided airway endotracheal intubation robotic system according to claim 1, wherein: drive arrangement includes motor, shaft coupling, bevel gear, bearing frame and straight-teeth gear, the motor loops through shaft coupling, bevel gear, bearing frame and straight-teeth gear and is connected with the gyro wheel, bearing frame, straight-teeth gear and gyro wheel are two, two straight-teeth gear intermeshing, two gyro wheels of drive are rotatory in opposite directions, the gyro wheel is guide strip gyro wheel or trachea cannula gyro wheel.
3. The magnetically guided airway endotracheal intubation robotic system according to claim 2, wherein: the driving device further comprises an encoder, and the encoder is connected with the bevel gear.
4. The magnetically guided airway endotracheal intubation robotic system according to claim 3, wherein: the guide strip roller and the trachea cannula roller are respectively divided into two groups, and are arranged on a perpendicular line in central symmetry.
5. The magnetically guided airway endotracheal intubation robotic system according to claim 4, wherein: the robot system further comprises a magnetic guiding unit, the magnetic guiding unit comprises a magnetic guiding mechanical arm and a permanent magnet, one end of the magnetic guiding mechanical arm is connected with the shell, and the other end of the magnetic guiding mechanical arm is connected with the permanent magnet.
6. The magnetically guided airway endotracheal intubation robotic system according to claim 5, wherein: the robot system further comprises a controller, the controller comprises an industrial personal computer, and the motor, the encoder and the magnetic guiding mechanical arm are respectively connected with the industrial personal computer.
7. The magnetically guided airway endotracheal intubation robotic system according to claim 6, wherein: the robot system further comprises an electromagnetic induction device and a light spot analysis device, and the electromagnetic induction device and the light spot analysis device are respectively connected with the industrial personal computer.
8. A magnetically guided airway endotracheal intubation robotic system according to any one of claims 1 to 7, characterized in that: the robot system still includes magnetism trachea cannula, magnetism trachea cannula includes guide strip and trachea cannula, in the trachea cannula was arranged in to the guide strip, the guide strip comprises aluminum alloy stick and PVC adventitia, and its head end comprises neodymium iron boron magnet and emulsion tube, contains the high brightness cold light source.
9. The magnetically guided airway endotracheal intubation robotic system according to claim 8, wherein: the magnetic trachea cannula further comprises an inflation valve, a spherical airbag is arranged on the outer side wall of the end portion of the trachea cannula, and the inflation valve is communicated with the spherical airbag through a pipeline.
10. A method of using the magnetically guided airway endotracheal intubation robotic system of claim 1, wherein: the method comprises the following steps:
1) the guide strip is arranged in the tracheal cannula, the upper end of the guide strip extends out of the tracheal cannula, and the guide strip and the tracheal cannula are inserted through the oropharynx part of the patient;
2) the magnetic guide mechanical arm is driven by an industrial personal computer, the permanent magnet at the tail end of the magnetic guide mechanical arm is arranged near the annular cartilage in front of the neck of the patient, and the magnetic force of the magnetic guide mechanical arm interacts with the neodymium iron boron magnet at the head end of the guide strip to drive the guide strip to point to the glottis direction;
3) the guide strip is arranged between the guide strip rollers, the trachea cannula is arranged between the trachea cannula rollers, the cold light source at the head end of the guide strip is transmitted to the neck facula analysis device through the electromagnetic induction device, and after the guide strip is determined to be correctly directed, the industrial personal computer drives the guide strip rollers to slowly send the guide strip into the glottis;
4) according to the pushing length of the guide strip and the neodymium iron boron magnet position at the head end of the guide strip, judging that the guide strip is pushed into the main air pipe for 2cm, stopping pushing the guide strip, and fixing a guide strip roller;
5) the industrial personal computer starts the tracheal intubation roller, pushes the tracheal intubation to be conveyed to the position where the head end of the guide strip is located along the guide strip, starts the guide strip roller to rotate reversely, starts the inflation valve after the guide strip is withdrawn to the outside of the tracheal intubation, inflates the spherical airbag, and fixes the tracheal intubation in the airway;
6) connecting the tracheal cannula to a breathing machine, starting a working instruction of the breathing machine, auscultating the respiratory sounds of the two lungs by a stethoscope, and judging and determining that the tracheal cannula is successfully implemented.
CN202010341354.8A 2020-04-27 2020-04-27 Magnetic guide type respiratory tract trachea cannula robot system and using method thereof Pending CN111419405A (en)

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Cited By (1)

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CN110432959A (en) * 2019-09-05 2019-11-12 西安交通大学医学院第一附属医院 A kind of uterus raising device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110432959A (en) * 2019-09-05 2019-11-12 西安交通大学医学院第一附属医院 A kind of uterus raising device
CN110432959B (en) * 2019-09-05 2024-03-08 西安交通大学医学院第一附属医院 Uterine lifting device

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