CN114224269A - Automatically controlled drive integration electron soft mirror device of trachea cannula robot - Google Patents
Automatically controlled drive integration electron soft mirror device of trachea cannula robot Download PDFInfo
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- CN114224269A CN114224269A CN202111521913.4A CN202111521913A CN114224269A CN 114224269 A CN114224269 A CN 114224269A CN 202111521913 A CN202111521913 A CN 202111521913A CN 114224269 A CN114224269 A CN 114224269A
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/01—Guiding arrangements therefore
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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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- 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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- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
The invention relates to an electronic control driving integrated electronic soft lens device of a trachea cannula robot, which comprises a first fixing plate, a second fixing plate and a plurality of driving units, wherein each driving unit comprises a stepping motor fixedly arranged on the outer end face of the first fixing plate, a linear slide rail and a ball screw which are fixed between the first fixing plate and the second fixing plate, and a traction slide block which is sleeved on the ball screw and slides along the linear slide rail, the traction slide block is connected with a steel wire rope extending out of the near end of an electronic soft lens, and the orientation of a snake bone tube at the tail end of the electronic soft lens is adjusted by driving the steel wire rope to stretch out and draw back through sliding on the linear slide rail. Compared with the prior art, the invention has the advantages of visualization, electric control driving, high flexibility and accuracy, suitability for difficult air passages, integrated control, multi-mode perception, lightness, portability and the like.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an electronic control driving integrated electronic soft lens device of a trachea cannula robot.
Background
The trachea intubation is a method of placing a special endotracheal tube into a trachea or a bronchus through an oral cavity or a nasal cavity and a glottis, provides optimal conditions for unobstructed respiratory tract, ventilation and oxygen supply, respiratory tract suction and the like, and is an important measure for rescuing patients with respiratory dysfunction.
Medical endoscopes are a common medical device that has been developed for over 200 years, from hard endoscopes, semi-flexible endoscopes, fiberscopes to electronic endoscopes. In clinic, the endoscope can be used for assisting in treating different diseases, the tail end of the endoscope is provided with a light source and a miniature lens, the endoscope can enter a human body through a small hole of the human body, and a doctor obtains an image of a human tissue or an organ through an external imaging system to perform an operation. According to the conduction principle, the medical endoscope is divided into an optical lens and an electronic lens, the internal structure of the optical lens is a physical optical system, the whole optical lens conducts light, the internal structure of the electronic lens is a circuit system, the whole electronic lens conducts electric signals, the optical lens is divided into a hard tube lens, a semi-hard lens and a soft lens, the electronic lens can also be divided into a hard lens and a soft lens, the common endoscope comprises a laparoscope, a laryngoscope, an arthroscope, a cystoscope and a ureteroscope, and the hose type endoscope is the electronic soft lens.
For intubated patients, an electronic soft lens is commonly used as a probe for finding the position of a glottis to assist trachea intubation, and the electronic soft lens generally comprises a display, a control handle, an insertion tube and a bending tube. The control handle drives the bending motion of the bending tube through the steel wire rope, the bending tube is used as a probe to transmit image information in front to the display through the insertion tube, and a doctor further operates the control handle through the information on the display to find glottis to complete intubation.
Although most hospitals in China still manually complete tracheal intubation by experienced medical staff at present, the tracheal intubation has higher requirements on proficiency and is inconvenient to realize under certain special conditions. For example, when a doctor is out of the scene for the first time in a remote emergency rescue or a patient needing intubation has certain infectivity, the doctor is obviously unsafe in the environment exposed for a long time, and if the doctor wears thick chemical protective clothing, the operation is obviously not facilitated, the new coronary pneumonia epidemic situation under the current situation is just one of the situations, so the importance of developing a practical trachea intubation robot is self-evident, and the invention is just the core component of the automatic intubation equipment.
In the prior art, although the mechanical arm of the da vinci surgical robot system can successfully place the fiberbronchoscope into the trachea of a dummy, and theoretically, the robot can complete automatic trachea cannula operation, the system is large in equipment, expensive and difficult to popularize. At present, most hospitals in China use handheld endoscope auxiliary tracheal intubation, doctors need to lift an electronic soft lens by one hand to avoid bending of the external insertion tube part, meanwhile, the bending and rotation of the soft lens need to be controlled, and the other hand is used for adjusting the mouth of a patient and propelling the insertion tube.
The prior handheld soft-lens auxiliary intubation technology is inconvenient to operate and complex in process. And the operation process requires that the doctor quickly and accurately control different images on the display by hands, so that the method has high skill requirement.
Chinese patent CN107997825A) discloses a portable teleoperation trachea cannula robot, including pipe gesture adjustment mechanism, pipe feed mechanism and tongue depressor, its pipe gesture adjustment mechanism changes the direction of adjusting a section of thick bamboo through the deformation of copper sheet, and then the control adjusts the terminal direction of trachea in the section of thick bamboo, and the tongue depressor replaces the laryngoscope to pick up the epiglottis, exposes the glottis, and pipe feed mechanism will adjust the direction sends 1 ~ 2cm department before the bronchus to through the glottis.
However, the patent only simply adjusts the direction of the catheter in one step in one direction, the process is complicated, the control is not flexible and accurate enough, and meanwhile, tissue damage, bleeding and the like are easily caused when the air inlet pipe is pushed due to inaccurate direction adjustment; this mechanism does not involve a difficult airway, in which case the glottis cannot be effectively exposed by the tongue depressor alone, and the utility and range of applications are limited.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an electronic soft lens device integrating electric control and driving of an endotracheal intubation robot.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an automatically controlled drive integration electronic soft mirror device of trachea cannula robot, the device includes first fixed plate, second fixed plate and a plurality of drive unit, every drive unit all includes step motor of fixed mounting on the outer terminal surface of first fixed plate, fixes linear slide rail and ball between first fixed plate and second fixed plate and cover and establish on ball and along the gliding slider that pulls of linear slide rail, pull the slider and be connected with the wire rope that the electronic soft mirror near-end stretches out, through slide at linear slide rail and drive wire rope flexible and then adjust the orientation of the terminal snake bone pipe of electronic soft mirror.
The ball screw is connected with the stepping motor in a transmission way through the coupler and the speed reducer in sequence.
The driving units are 4, every two driving units are arranged in a group in a mutually perpendicular arrangement mode, and the 4 traction sliding blocks are correspondingly connected with 4 steel wire ropes extending out of the tail of the electronic soft lens respectively.
The center of the second fixing plate is provided with a threaded hole for penetrating through the electronic soft lens, and the second fixing plate is provided with a guide unit.
The guide unit is used for guiding 4 steel wire ropes respectively, and comprises a guide pulley fixed on the outer end face of the second fixing plate and a wire hole formed in the second fixing plate along the circumferential direction and used for allowing the steel wire ropes to pass through.
Each traction sliding block is provided with a fine hole and a gasket for fixing a traction steel wire rope and a force sensor for detecting the tensile force of the steel wire rope.
The device also comprises a soft lens guiding unit, wherein the soft lens guiding unit comprises a linear guide rail and a soft lens guiding structure, and the soft lens guiding structure is used for limiting and propelling the electronic soft lens.
The soft lens guide structure comprises a first fixed support, a plurality of second fixed supports and a third fixed support which are sequentially arranged and connected through a cord, the bottom of the first fixed support is connected with the linear guide in a sliding mode, the top of the first fixed support is fixedly connected with a second fixed plate, the bottom of each second fixed support is connected with the linear guide in a sliding mode, a limiting buckle with a buckle switch is installed at the top of the first fixed support, the bottom of the third fixed support is fixed on a mounting support of the linear guide, and a limiting buckle with a buckle switch is installed at the top of the third fixed support.
The tail end snake bone pipe of the electronic soft lens is used as a driving object, 4 thin spring pipes are arranged in the tail end snake bone pipe, one end of each steel wire rope is embedded into the thin spring pipe and fixed at the bent tail end through a steel wire rope hole, and the other end of each steel wire rope is connected with the traction sliding block.
When the device is used in an operating room, the device is arranged on a delivery mechanical arm, and the trachea cannula robot comprises a first controller for controlling a stepping motor, a second controller for controlling the delivery mechanical arm and an upper computer which is respectively communicated and managed with the first controller and the second controller.
Compared with the prior art, the invention has the following advantages:
firstly, the visual bending tail end and the electric control drive are combined, the flexibility and the accuracy of the automatic intubation robot intubation are improved, the labor intensity of an operator is reduced, the conditions of the oral cavity and the throat can be observed in real time, the automatic intubation robot can be applied to difficult airways, and tissue damage, bleeding and the like are effectively avoided.
Two, the device self is light and handy portable, can cooperate and deliver the arm, realizes integrated control, and the soft mirror part of structure adopts the terminal perception device of multimode, has combined miniature camera module, and little sidestream detection module, miniature acoustic transducer and image processing technique can use most of difficult air flues, and this trachea cannula robot also can be used to outdoor rescue, and after the preparation before the intubate was accomplished to a ray of auxiliary personnel, by the expert remote control intubate that has skilled intubate experience.
Drawings
FIG. 1 is a schematic structural diagram of the apparatus of the present invention.
Fig. 2 is a schematic structural view of a driving portion.
Fig. 3 is a schematic structural view of the guide portion.
Fig. 4 is a schematic structural diagram of the electronic soft lens.
Fig. 5 is a schematic structural view of a soft lens guide portion.
Fig. 6 is a schematic view of an application scenario.
The notation in the figure is:
1. the device comprises a first fixing plate, a second fixing plate, a screw, a guide pulley, a traction sliding block, a speed reducer, a ball screw, 8, a linear sliding rail, 9, a coupler, 10, a stepping motor, 11, a force sensor, 12, a nut seat, 13, a wire hole, 14, an electronic soft mirror, 15, a thin steel wire rope, 16, a snake bone pipe, 17, a fixed supporting piece, 18, a buckle switch, 19, a breathing machine, 20, an operating table, 21, an operating trolley, 22 and a control trolley.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
The invention provides an electronic control driving integrated electronic soft lens device of a trachea cannula robot, which is arranged at the tail end of the trachea cannula robot and comprises a driving part, a guiding part, an electronic soft lens and a soft lens guiding part, wherein the driving part comprises a stepping motor 10, a speed reducer 6, a coupler 9, a ball screw 7, a linear slide rail 8, a traction slide block 5 and the like, a linear module formed by the driving part is used for driving a steel wire rope to drive the electronic soft lens 14 to bend, and the guiding part comprises a second fixing plate 2 and 4 miniature guide pulleys 4 and is used for guiding the steel wire rope to enter the driving part; a plurality of information detection modules including sound, gas and image are arranged in the tail end of the electronic soft lens 14.
Examples
As shown in fig. 1-5, the integrated electronic soft lens of the present invention is fixed to a base or a delivery robot arm, etc.
The outer end of the first fixing plate 1 is connected with 4 stepping motors 10 equipped with speed reducers 6 for driving, preferably, for portability, the stepping motors 10 are miniature stepping motors, the occupied space position is small, the required force is not large, and the pulling force capable of driving the electronic soft lens 14 can be obtained after the torque is amplified by the speed reducers 6.
The first fixing plate 1 and the second fixing plate 2 play a role in fixing and supporting, a coupler 9, a ball screw 7, a nut seat 12, a traction sliding block 5 and a linear sliding rail 8 which are matched with a stepping motor 10 are arranged between the two fixing plates, and the parts form a linear module. Specifically, step motor 10 passes through shaft coupling 9 and drives ball 7 and rotate, can provide power and accurate control, and have certain cushioning effect to operations such as sharp-turn scram, then through drawing slider 5 and linear slide rail 8 with spacing and improvement drive stationarity, linear slide rail 8 passes through the projecting shaft rigid coupling at both ends between two fixed plates, nut seat 12 can drive and draw slider 5 along the motion of linear slide rail 8, draw and be provided with the pore on the slider 5, gasket and force transducer 11, be used for drawing wire rope and measuring pulling force size.
As shown in fig. 3 and 4, the second fixing plate 2 is provided with a threaded hole for connecting the electronic soft lens 14 and a wire hole 13 of a wire rope, four small-sized guide pulleys 4 are fixed on the second fixing plate, and the wire rope at the proximal end of the electronic soft lens 14 passes through the wire hole of the second fixing plate 2 and is driven to extend and retract by the traction sliding block 5 after being guided by the guide pulleys 4.
The tail end snake bone pipe 16 of the electronic soft lens 14 is a driving object of the invention, the electronic soft lens comprises a micro multi-mode sensor, 4 thin spring pipes are arranged in the middle soft pipe connected with the snake bone pipe 16, 4 steel wire ropes 15 are embedded in the spring pipes, one end of each steel wire rope 15 is fixed at the bent tail end through a steel wire rope hole of the tail end snake bone pipe 16, the other end of each steel wire rope 15 is guided to the traction sliding block 5 through the guide pulley 4 to realize driving, and the multi-mode sensor is installed at the bent tail end.
The invention can be matched with a soft lens guide part shown in figure 5 to realize integrated control, the soft lens guide part comprises a plurality of soft lens guide structures, the soft lens guide structures are fixed on a linear guide rail through a guide rail sliding block, each soft lens guide structure is provided with a fixed supporting piece 17, the soft lens guide structures are connected through a cord to realize uniform guide, the top of each soft lens guide structure is provided with a limit buckle and a buckle switch 18 to play the roles of limiting and guiding propulsion during working, and a torsion spring is arranged on each soft lens guide structure, the buckle switch 18 is clamped on the fixed supporting piece 17 to form fixation under the action of the spring in a natural state, and when the switch is controlled, the upper side of the buckle switch is pressed, so that the buckle can be opened quickly and the soft lens can be taken down.
As shown in fig. 6, which is a schematic diagram of an application environment of the embodiment in an operating room, a doctor remotely controls the propulsion of the electronic soft lens through a joystick on a control trolley 22 and obtains feedback information on a display, a ventilator 19 ventilates a patient on an operating table 20, and an intubation robot is carried on an operating trolley 21 through a mechanical arm and is an execution mechanism of the whole system.
In particular, the present invention can be used both in the operating room and for outdoor rescue due to its portability. Preferably, when the robot is used indoors, the robot can be arranged on the delivery mechanical arm, and the automatic control integration is realized by combining a soft lens guiding part. The 4 stepping motors 10 of the invention are controlled by a first controller through a stepping motor driver, and a second controller of the delivery mechanical arm can be in data communication with the first controller and is simultaneously managed by an upper computer. When the device is used outdoors, a front-line assistant personnel completes preparation before intubation, and an expert can remotely control intubation.
Claims (10)
1. The utility model provides an automatically controlled drive integration electronic soft mirror device of trachea cannula robot, a serial communication port, the device includes first fixed plate (1), second fixed plate (2) and a plurality of drive unit, every drive unit all includes step motor (10) of fixed mounting on first fixed plate (1) outer terminal surface, fix linear slide rail (8) and ball (7) between first fixed plate (1) and second fixed plate (2) and overlap and establish on ball (7) and follow gliding traction slide block (5) of linear slide rail (8), traction slide block (5) be connected with the wire rope that electronic soft mirror (14) near-end stretches out, through slide at linear slide rail (8) and drive wire rope flexible and then adjust the orientation of the terminal snake bone pipe of electronic soft mirror (14).
2. The electronic control driving integrated electronic soft lens device of the trachea cannula robot as claimed in claim 1, wherein the ball screw (7) is in transmission connection with the stepping motor (10) sequentially through the coupler (9) and the reducer (6).
3. The electronic control driving integrated electronic soft lens device of the tracheal intubation robot according to claim 2, wherein the number of the driving units is 4, the driving units are arranged in groups of two by two in a mutually perpendicular arrangement mode, and the 4 traction sliding blocks (5) are respectively and correspondingly connected with 4 steel wire ropes extending out of the tail of the electronic soft lens (14).
4. The electronic control driving integrated electronic soft lens device of the trachea cannula robot as claimed in claim 3, wherein a threaded hole for passing through the electronic soft lens (14) is formed in the center of the second fixing plate (2), and a guiding unit is arranged on the second fixing plate (2).
5. An electronic control driving integrated soft lens device of an endotracheal intubation robot according to claim 4, wherein the guiding unit is used to guide 4 steel wire ropes respectively, and the guiding unit comprises a guiding pulley (4) fixed on the outer end face of the second fixing plate (2) and a wire hole (13) opened on the second fixing plate (2) along the circumferential direction for passing through the steel wire rope.
6. An electronic control driving integrated soft lens device of an endotracheal intubation robot according to claim 1, characterized in that each traction slider (5) is provided with a fine hole and a gasket for fixing a traction steel wire rope and a force sensor (11) for detecting the tension of the steel wire rope.
7. The electronic control driving integrated soft electronic lens device of the tracheal intubation robot according to claim 1, further comprising a soft lens guiding unit, wherein the soft lens guiding unit comprises a linear guide rail and a soft lens guiding structure, and the soft lens guiding structure is used for realizing the limiting and propelling guiding of the electronic soft lens (14).
8. The electronic soft lens device with the integrated electronic control drive function for the endotracheal intubation robot according to claim 7, wherein the soft lens guide structure comprises a first fixed support, a plurality of second fixed supports and a third fixed support which are sequentially arranged and connected through a cord, the bottom of the first fixed support is slidably connected with the linear guide, the top of the first fixed support is fixedly connected with the second fixed plate (2), the bottom of each second fixed support is slidably connected with the linear guide, a limit buckle with a buckle switch (17) is installed at the top of the second fixed support, the bottom of the third fixed support is fixed on the mounting bracket of the linear guide, and a limit buckle with a buckle switch (17) is installed at the top of the third fixed support.
9. An electronic control driving integrated electronic soft lens device of an endotracheal intubation robot according to claim 1, characterized in that the distal snake bone tube of the electronic soft lens (14) is used as a driving object, 4 thin spring tubes are arranged in the distal snake bone tube, one end of each steel wire rope is embedded in the thin spring tube and fixed at the bent distal end through a steel wire rope hole, and the other end is connected with the traction sliding block (5).
10. An electrically controlled driving integrated electronic soft lens device of an endotracheal intubation robot according to claim 7, wherein the device is configured to be mounted on a delivery robot arm when used in an operating room, and the endotracheal intubation robot comprises a first controller for controlling the stepping motor (10), a second controller for controlling the delivery robot arm, and an upper computer in communication management with the first controller and the second controller, respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111521913.4A CN114224269A (en) | 2021-12-13 | 2021-12-13 | Automatically controlled drive integration electron soft mirror device of trachea cannula robot |
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| CN202111521913.4A CN114224269A (en) | 2021-12-13 | 2021-12-13 | Automatically controlled drive integration electron soft mirror device of trachea cannula robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116392256A (en) * | 2023-06-07 | 2023-07-07 | 中国科学院深圳先进技术研究院 | Rigidity-controllable sheath tube, regulating and controlling method thereof and surgical robot |
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| CN212213773U (en) * | 2020-03-13 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Robot for throat sampling |
| CN112450855A (en) * | 2020-11-24 | 2021-03-09 | 北京科迈启元科技有限公司 | Electronic ureter soft lens operation executor and operation robot system |
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| CN116392256A (en) * | 2023-06-07 | 2023-07-07 | 中国科学院深圳先进技术研究院 | Rigidity-controllable sheath tube, regulating and controlling method thereof and surgical robot |
| CN116392256B (en) * | 2023-06-07 | 2023-12-29 | 中国科学院深圳先进技术研究院 | Rigidity-controllable sheath tube, regulating and controlling method thereof and surgical robot |
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Inventor after: Wang Hongbo Inventor after: Li Wenxian Inventor after: Han Yuan Inventor after: Luo Jingjing Inventor after: Fei Kangkang Inventor after: Pan Qiqi Inventor after: Nian Fan Inventor after: Zhou Luyan Inventor after: Tang Xiuhong Inventor before: Wang Hongbo Inventor before: Fei Kangkang Inventor before: Luo Jingjing Inventor before: Pan Qiqi Inventor before: Nian Fan Inventor before: Zhou Luyan Inventor before: Tang Xiuhong |
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