CN113413215B

CN113413215B - Automatic conveying operation device of fiber bronchus endoscope

Info

Publication number: CN113413215B
Application number: CN202110734309.3A
Authority: CN
Inventors: 郑晓春; 邓震; 何炳蔚; 张胜战; 林龙盛; 陈晓辉; 郑艇; 高飞; 于布为; 袁红斌
Original assignee: FUJIAN PROVINCIAL HOSPITAL
Current assignee: FUJIAN PROVINCIAL HOSPITAL
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-06-28
Anticipated expiration: 2041-06-30
Also published as: CN113413215A

Abstract

The invention provides an automatic conveying operation device of a fiber bronchial endoscope, which comprises the fiber bronchial endoscope and a base, wherein first bearing seats are arranged at the left end and the right end of the base, a second bearing seat is arranged in the middle of the upper surface of the base, a first support is connected to the right side surface of the first bearing seat at the left end and the left side surface of the second bearing seat through first bearings, a first polish rod and a first lead screw are erected between the first supports at the left end and the right end at the front end and the rear end respectively, a first sliding block is sleeved on the first polish rod and the first lead screw, the fiber bronchial endoscope is arranged on the first sliding block, and a first driving mechanism for driving the first sliding block to move left and right is arranged on the first support at the right end; an air pipe limiting mechanism used for limiting air pipes with different sizes is arranged on the right side face of the right first bearing seat; the transnasal conscious tracheal intubation operation instrument is simple in structure and convenient and fast to operate, and can assist medical workers in conveying tracheas and complete transnasal conscious tracheal intubation operations.

Description

Automatic conveying operation device of fiber bronchus endoscope

Technical Field

The invention relates to the technical field of medical operation robots, in particular to an automatic conveying operation device of a fiber bronchus endoscope.

Background

In recent years, robotics has also been popularized and applied in medical systems. Currently, the research on the application of robotics in the medical community focuses mainly on surgical robots, rehabilitation robots, nursing robots and service robots. The surgical robot overcomes the problems of poor precision, long operation time, fatigue of doctors, lack of three-dimensional precision vision and the like of the traditional surgical operation, brings better clinical outcome to patients, and greatly shortens the learning curve of the doctors to the complex operation.

The tracheal intubation technology becomes an important measure in the rescue process of cardiopulmonary resuscitation and critically ill patients accompanied with respiratory dysfunction, is one of the most widely applied, most effective and most rapid means in respiratory tract management, and plays a vital role in rescuing the lives of the patients and reducing the fatality rate. The tracheal cannula can timely suck out tracheal incretion or foreign matters, prevent the foreign matters from entering the respiratory tract, keep the respiratory tract smooth, carry out effective manual or mechanical ventilation, and prevent patients from anoxia and carbon dioxide retention.

In the prior art, a medical worker is difficult to carry out tracheal intubation operation by holding a fiber bronchial endoscope, the tracheal intubation operation requires that the medical worker needs to operate softly, and teeth can fall off or mucous membranes of a nasal cavity or a throat are damaged to cause bleeding if the medical worker applies too hard force or acts violently during intubation, and mandibular joint dislocation can also be caused. In the process of trachea intubation, medical staff must complete operation within a certain time, and if the intubation process is too long, suffocation death of a patient is easily caused. In addition, too deep insertion of the trachea may cause oxygen deficiency or atelectasis of one side of the lung. The trachea is inserted too shallowly and is easy to be accidentally dropped out due to the change of the body position of the patient.

Disclosure of Invention

In view of the above, the present invention aims to provide an automatic transport operation device for a fiberoptic bronchoscope, which can assist medical care personnel in transporting the trachea and complete the transnasal sober endotracheal intubation operation.

The invention is realized by adopting the following method: the utility model provides an automatic operation device that carries of fibre bronchus scope, includes fibre bronchus scope, its characterized in that: the fiber gas tube endoscope is characterized by further comprising a base, wherein first bearing seats are arranged at the left end and the right end of the base respectively, a second bearing seat is arranged in the middle of the upper surface of the base, a first support is connected with the right side surface of the first bearing seat at the left end and the left side surface of the second bearing seat through a first bearing, a first polish rod and a first lead screw are erected at the front end and the rear end between the first supports at the left end and the right end respectively, a first slide block is sleeved on the first polish rod and the first lead screw, the fiber gas tube endoscope is arranged on the first slide block, and a first driving mechanism for driving the first slide block to move left and right is arranged on the first support at the right end; a second bracket is arranged on the right side surface of the second bearing block and the left side surface of the right first bearing block through the second bearing, a second polished rod and a second lead screw are erected at the front end and the rear end between the second brackets at the left end and the right end respectively, a second sliding block is sleeved on the second polished rod and the second lead screw, a supporting block for fixedly supporting an air pipe is arranged in the middle of the right side surface of the second sliding block, a first hole for fixing the air pipe is formed in the supporting block, and a second driving mechanism for driving the second sliding block to move left and right is arranged on the second bracket at the right end; the structure of the first driving mechanism is the same as that of the second driving mechanism, the first driving mechanism comprises a frame, the left side surface of the frame is provided with a first motor, the frame is arranged on the left side surface of the first bracket, the tail end of an output shaft of the first motor penetrates through the frame and extends into the frame, the tail end of the output shaft of the first motor is provided with a first belt pulley, a second belt pulley is arranged on the first lead screw, and the first belt pulley is connected with the second belt pulley through a first synchronous belt; the air pipe limiting mechanism comprises a supporting frame, a third bearing is arranged on the right side surface of the first bearing seat at the right end, the right side surface of the third bearing is provided with the supporting frame, the front end of the inner bottom surface of the supporting frame is provided with a second motor, a driving wheel bracket is arranged on the inner left side surface of the supporting frame, the driving wheel bracket is provided with a driving wheel driven by the second motor, the output shaft of the second motor is connected with the driving wheel, the rear end of the inner bottom surface of the supporting frame is provided with a slide rail, a third sliding block is sleeved on the sliding rail, an auxiliary wheel bracket is arranged on the third sliding block, an auxiliary wheel for limiting the size is arranged in the auxiliary wheel bracket, a third motor is arranged on the rear surface of the supporting frame, a third screw rod for driving the auxiliary wheel bracket to move back and forth is arranged at the output end of the third motor, and a third bearing is arranged between the driving wheel and the auxiliary wheel; the lower surface of the base is provided with a connecting plate used for being connected with a manipulator; the fiber bronchial endoscope comprises a fiber bronchial endoscope body and a clamp base, wherein a motor support is arranged on the clamp base, a fourth motor used for driving the fiber bronchial endoscope body is arranged on the motor support, the tail end of the fiber bronchial endoscope body penetrates through the clamp base and extends out of the clamp base, a clamp pressing plate used for pressing and fixing the fiber bronchial endoscope body is arranged on the clamp base, and the lower surface of the clamp base is connected with the upper surface of the first sliding block; the lower extreme of second bearing frame right flank is provided with the fifth motor, the output shaft end of fifth motor passes the second bearing frame extends to the second bearing frame left, the output shaft end of fifth motor is provided with the third band pulley, first bearing and the second bearing on the second bearing frame are connected and are set up, the cover is equipped with the fourth band pulley on the first bearing of second bearing frame, the third band pulley with the fourth band pulley is through the connection of second hold-in range.

The invention has the beneficial effects that: the first driving mechanism and the second driving mechanism are added in the device, so that the feeding motion of the fiberbronchial endoscope and the trachea can be realized; the connecting plate is added in the device, so that the device can be connected with different types of mechanical arms; the device is added with the driving wheel and the auxiliary wheel, the driving wheel drives the auxiliary wheel to adapt to the air pipe limiting mechanisms with different sizes, the driving wheel can provide the feeding force of the air pipe through friction, and the adjustment of the distance between the auxiliary wheel and the driving wheel is realized through the slide rail and the slide block, so that the air pipe conveying adapting to different sizes is realized; the pneumatic conveying device is simple in structure and convenient and fast to operate, and can effectively solve the feeding and autorotation problems of the size air pipe in the conveying process.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a rear view of the present invention.

Fig. 3 is a schematic structural view of the trachea limiting mechanism.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1 to 3, the present invention provides an embodiment: an automatic conveying operation device of a fiber bronchus endoscope comprises the fiber bronchus endoscope 1 and further comprises a base 2, first bearing seats 3 are arranged at the left end and the right end of the base 2, a second bearing seat 31 is arranged in the middle of the upper surface of the base 2, the right side surface of the first bearing seat 3 at the left end and the left side surface of the second bearing seat 31 are connected with a first support 33 through a first bearing 32, a first polish rod 34 and a first lead screw 35 are erected at the front end and the rear end between the first supports 33 at the left end and the right end respectively, a first slide block 36 is sleeved on the first polish rod 34 and the first lead screw 35, the fiber bronchus endoscope 1 is arranged on the first slide block 36, and a first driving mechanism 4 for driving the first slide block 36 to move left and right is arranged on the first support 33 at the right end; a second bracket 5 is arranged on the right side surface of the second bearing seat 31 and the left side surface of the right first bearing seat 3 through a second bearing 37, a second polish rod 51 and a second screw rod 52 are erected at the front end and the rear end between the second brackets 5 at the left end and the right end respectively, a second slider 53 is sleeved on the second polish rod 51 and the second screw rod 52, a supporting block 54 for fixedly supporting the air pipe 10 is arranged in the middle of the right side surface of the second slider 53, a first hole 55 for fixing the air pipe 10 is formed in the supporting block 54, and a second driving mechanism 56 for driving the second slider 53 to move left and right is arranged on the second bracket 5 at the right end; the right side surface of the right-end first bearing seat 3 is provided with an air pipe limiting mechanism 6 for limiting air pipes with different sizes. The trachea can be supported and fixed through the first hole 55, the first lead screw 35 can be driven to rotate by opening the first driving mechanism 4, the first lead screw 35 can be driven to rotate to drive the first slide block 36 to move left and right under the action of the first polish rod 34, so that the fiber bronchus endoscope 1 can be driven to move left and right, the fiber bronchus endoscope 1 can be conveniently embedded into the trachea, after the fiber bronchus endoscope 1 is embedded into the trachea 10, the second lead screw 52 can be driven to rotate by opening the second driving mechanism 56, and the second slide block 53 can be driven to move left and right under the action of the second polish rod 51 when the second lead screw 52 rotates, so that the transportation of the fiber bronchus endoscope 1 and the trachea 10 is realized, and the feeding motion of the tracheas 10 with different sizes can be adapted through the action of the trachea limiting mechanism 6; so that the fiberbronchial endoscope 1 can play a certain guiding role for the trachea 10.

Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the first driving mechanism 4 and the second driving mechanism 56 have the same structure, the first driving mechanism 4 includes a frame 40, a first motor 41 is disposed on a left side surface of the frame 40, the frame 40 is disposed on a left side surface of the first bracket 33, a tail end of an output shaft of the first motor 41 passes through the frame 40 and extends into the frame 40, a tail end of an output shaft of the first motor 41 is provided with a first pulley (not shown), the first lead screw 35 is provided with a second pulley (not shown), and the first pulley and the second pulley are connected by a first synchronous belt 42. So that the first motor 41 is started, the first motor 41 can drive the first belt wheel to rotate, and the first belt wheel can drive the second belt wheel to rotate through the synchronous belt 42, so as to realize the rotation of the first screw rod 35.

Referring to fig. 1 to 3, in an embodiment of the present invention, the trachea limiting mechanism 6 includes a supporting frame 61, a third bearing 62 is disposed on a right side surface of the right first bearing seat 3, the supporting frame 61 is disposed on a right side surface of the third bearing 62, a second motor 63 is disposed at a front end of an inner bottom surface of the supporting frame 61, a driving wheel support 64 is disposed on a left side surface of the supporting frame 61, the driving wheel support 64 is provided with a driving wheel 65 driven by the second motor 63, an output shaft of the second motor 63 is connected to the driving wheel 65, a sliding rail 66 is disposed at a rear end of the inner bottom surface of the supporting frame 61, a third sliding block 67 is sleeved on the sliding rail 66, an auxiliary wheel support 68 is disposed on the third sliding block 67, an auxiliary wheel 7 for limiting a size is disposed in the auxiliary wheel support 68, and a third motor 71 is disposed on a rear surface of the supporting frame 61, the output end of the third motor 71 is provided with a third screw 72 for driving the auxiliary wheel bracket 68 to move back and forth, and the third bearing 62 is arranged between the driving wheel 65 and the auxiliary wheel 7. By turning on the third motor 71, the third motor 71 can drive the third screw 72 to rotate, the third screw 72 can drive the auxiliary wheel bracket 68 to move back and forth, the auxiliary wheel 7 is driven to move back and forth to be matched with the driving wheel 65 to clamp the air pipe, and the change of the distance between the auxiliary wheel 7 and the driving wheel 65 is realized, so that the air pipe feeding device is suitable for the feeding motion of air pipes with different sizes; the second motor 63 is started, the second motor 63 drives the driving wheel 65 to rotate, and the driving wheel 65 rotates to assist the air pipe to perform feeding movement better.

Referring to fig. 1 and 2, in an embodiment of the present invention, a connecting plate 21 for connecting with a robot is disposed on a lower surface of the base 2. The base 2 can be connected with an external manipulator through the action of the connecting plate 21, so that the trachea operation is facilitated.

With reference to fig. 1 and fig. 2, in an embodiment of the present invention, the fiber bronchoscope 1 includes a fiber bronchoscope body 11 and a clamp base 12, a motor support 13 is disposed on the clamp base 12, a fourth motor 14 for driving the fiber bronchoscope body 11 is disposed on the motor support 13, the end of the fiber bronchoscope body 1 passes through the clamp base 12 and extends to the outside of the clamp base 12, a clamp pressing plate 15 for pressing and fixing the fiber bronchoscope body 1 is disposed on the clamp base 2, and the lower surface of the clamp base 12 is connected to the upper surface of the first sliding block 36. So that the first slide block 36 can move to drive the clamp base 12 to move.

As shown in fig. 2, in an embodiment of the present invention, a fifth motor 8 is disposed at a lower end of a right side surface of the second bearing seat 31, a tail end of an output shaft of the fifth motor 8 passes through the second bearing seat 31 and extends to the left of the second bearing seat 31, a third pulley (not shown) is disposed at a tail end of an output shaft of the fifth motor 8, the first bearing 32 and the second bearing 37 on the second bearing seat 31 are connected, the first bearing 32 of the second bearing seat 31 is sleeved with a fourth pulley (not shown), and the third pulley and the fourth pulley are connected through a second synchronous belt 81. The fifth motor 8 is started, the fifth motor 8 can drive the third belt pulley to rotate, the third belt pulley rotates and can drive the fourth belt pulley to rotate through the second synchronous belt 81, so that the trachea 10 can be driven to rotate, and the fiberbronchial endoscope 1 penetrates through the inner bearing of the first bearing 32, the inner bearing of the second bearing 37 and the first hole 55 to be embedded into the trachea 10.

The motor, the screw rod, the polished rod and the fiber bronchial endoscope adopted in the invention are all the prior art, and the motor model can be EC-max 16 (brushless), ECX SPEED 8M (brushless), EC10 (brushless), which is clearly understood by those skilled in the art and is not described in detail herein; the model of the fiber bronchial endoscope can be TIC-I4, but is not limited thereto.

The working principle of the invention is as follows: when in use, the air pipe is placed between the first hole and the second hole, the tail end of the air pipe passes through the third bearing and extends out of the support frame, the first motor is started and can drive the first belt wheel to rotate, the first belt wheel drives the second belt wheel to rotate through the synchronous belt, so as to drive the first screw rod to rotate, the first screw rod can drive the first slide block to move left and right, so as to drive the fiber bronchus endoscope to move left and right, the tail end of the fiber bronchus endoscope is embedded into the air pipe through the second hole, the fiber bronchus endoscope extends to the tail end of the air pipe, then the second driving mechanism is started and can drive the second slide block to move left and right, so as to realize the feeding of the air pipe by moving left and right, then the second motor is started to drive the driving wheel to rotate, so as to assist the left and right feeding of the air pipe, the third motor is started, so as to drive the auxiliary wheel bracket to move back and forth, the auxiliary wheel is matched with the driving wheel to change the distance between the auxiliary wheel and the driving wheel, so that the air pipe feeding device is suitable for feeding of air pipes with different sizes.

The above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.

Claims

1. The utility model provides an automatic operation device that carries of fibre bronchus scope, includes fibre bronchus scope, its characterized in that: the fiber gas tube endoscope is characterized by further comprising a base, wherein first bearing seats are arranged at the left end and the right end of the base respectively, a second bearing seat is arranged in the middle of the upper surface of the base, a first support is connected with the right side surface of the first bearing seat at the left end and the left side surface of the second bearing seat through a first bearing, a first polish rod and a first lead screw are erected at the front end and the rear end between the first supports at the left end and the right end respectively, a first slide block is sleeved on the first polish rod and the first lead screw, the fiber gas tube endoscope is arranged on the first slide block, and a first driving mechanism for driving the first slide block to move left and right is arranged on the first support at the right end; a second bracket is arranged on the right side surface of the second bearing block and the left side surface of the right first bearing block through the second bearing, a second polished rod and a second lead screw are erected at the front end and the rear end between the second brackets at the left end and the right end respectively, a second sliding block is sleeved on the second polished rod and the second lead screw, a supporting block for fixedly supporting an air pipe is arranged in the middle of the right side surface of the second sliding block, a first hole for fixing the air pipe is formed in the supporting block, and a second driving mechanism for driving the second sliding block to move left and right is arranged on the second bracket at the right end; an air pipe limiting mechanism used for limiting air pipes with different sizes is arranged on the right side face of the right first bearing seat; the first driving mechanism and the second driving mechanism have the same structure, the first driving mechanism comprises a frame, a first motor is arranged on the left side surface of the frame, the frame is arranged on the left side surface of the first support, the tail end of an output shaft of the first motor penetrates through the frame and extends into the frame, a first belt wheel is arranged at the tail end of the output shaft of the first motor, a second belt wheel is arranged on the first screw rod, and the first belt wheel and the second belt wheel are connected through a first synchronous belt; the air pipe limiting mechanism comprises a supporting frame, a third bearing is arranged on the right side surface of the first bearing seat at the right end, the right side surface of the third bearing is provided with the supporting frame, the front end of the bottom surface in the supporting frame is provided with a second motor, a driving wheel bracket is arranged on the inner left side surface of the supporting frame, the driving wheel bracket is provided with a driving wheel driven by the second motor, the output shaft of the second motor is connected with the driving wheel, the rear end of the inner bottom surface of the supporting frame is provided with a slide rail, a third sliding block is sleeved on the sliding rail, an auxiliary wheel bracket is arranged on the third sliding block, an auxiliary wheel for limiting the size is arranged in the auxiliary wheel bracket, a third motor is arranged on the rear surface of the supporting frame, a third screw rod for driving the auxiliary wheel bracket to move back and forth is arranged at the output end of the third motor, and a third bearing is arranged between the driving wheel and the auxiliary wheel; the lower surface of the base is provided with a connecting plate used for being connected with a manipulator; the fiber bronchial endoscope comprises a fiber bronchial endoscope body and a clamp base, wherein a motor support is arranged on the clamp base, a fourth motor used for driving the fiber bronchial endoscope body is arranged on the motor support, the tail end of the fiber bronchial endoscope body penetrates through the clamp base and extends out of the clamp base, a clamp pressing plate used for pressing and fixing the fiber bronchial endoscope body is arranged on the clamp base, and the lower surface of the clamp base is connected with the upper surface of the first sliding block; the lower extreme of second bearing frame right flank is provided with the fifth motor, the output shaft end of fifth motor passes the second bearing frame extends to the second bearing frame left, the output shaft end of fifth motor is provided with the third band pulley, first bearing and the second bearing on the second bearing frame are connected and are set up, the cover is equipped with the fourth band pulley on the first bearing of second bearing frame, the third band pulley with the fourth band pulley is through the connection of second hold-in range.