CN114588457A

CN114588457A - Trachea cannula mechanism and trachea cannula robot

Info

Publication number: CN114588457A
Application number: CN202210252246.2A
Authority: CN
Inventors: 胡晓旻; 赵建厂; 王佳童
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-03-15
Filing date: 2022-03-15
Publication date: 2022-06-07

Abstract

The invention relates to the technical field of medical instruments and discloses a trachea cannula mechanism and a trachea cannula robot. The trachea cannula mechanism comprises a first driving unit, a second driving unit and a mounting assembly. The first drive unit includes a first output member movable in a first direction; the second driving unit is connected to the first output piece and comprises a second output piece, a rotating assembly and a mirror bracket, the second output piece can move along a second direction relative to the first output piece, the second direction is parallel to the first direction, the rotating assembly is connected to the second output piece, and the mirror bracket is connected to the rotating assembly; the mounting assembly comprises a mounting rack connecting rod and a mounting rack, the mounting rack connecting rod extends along the second direction, one end of the mounting rack connecting rod is connected to one end of the second driving unit along the second direction, and the mounting rack is perpendicularly connected to the other end of the mounting rack connecting rod. The invention realizes the trachea cannula, does not need the contact between medical care personnel and patients, reduces the risk of cross infection and ensures the safety of the medical care personnel.

Description

Trachea cannula mechanism and trachea cannula robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a trachea cannula mechanism and a trachea cannula robot.

Background

The trachea cannula is an important medical technology needed in the process of treating a patient, and the trachea cannula means a treatment operation of manually inserting a catheter through the oral cavity or the nasal cavity to replace the patient to breathe. At present, no special intubation equipment is available, and a doctor is required to manually complete trachea insertion with the assistance of a bronchoscope. The intubate cover is established on the distal end of bronchoscope, and the doctor needs handheld bronchoscope's handle portion in one hand, makes the distal end of bronchoscope advance or rotate, and another hand advances forward simultaneously or rotatory intubate for the intubate inserts the bronchoscope along the pipe, and the intubate reaches the desired position. During intubation, doctors and patients need to be in close contact with the patients, cross infection between the doctors and the patients is easily caused during opening of the air passages of the patients, and optimal rescue time is easily missed when the patients wear the three-level protection and then are intubated with the trachea according to requirements.

Based on this, there is a need for an endotracheal intubation mechanism and an endotracheal intubation robot to solve the above problems.

Disclosure of Invention

The invention aims to provide a trachea cannula mechanism and a trachea cannula robot, so as to realize trachea cannula, avoid the contact between medical staff and a patient, rescue the patient in time, reduce the risk of cross infection, ensure the safety of the medical staff, enlarge the advancing direction range of a bronchoscope and ensure the treatment effect and the cannula effect.

In order to achieve the purpose, the invention adopts the following technical scheme:

an endotracheal intubation mechanism comprising:

a first drive unit including a first output member movable in a first direction;

a second driving unit connected to the first output member, the second driving unit including a second output member, a rotation assembly and a mirror holder, the second output member being movable relative to the first output member in a second direction, the second direction being parallel to the first direction, the rotation assembly being connected to the second output member, the mirror holder being connected to the rotation assembly, the rotation assembly being capable of driving the mirror holder to rotate about an axis of the handle portion when the handle portion of the bronchoscope is configured to be mounted on the mirror holder;

the mounting assembly comprises a mounting frame connecting rod and a mounting frame, the mounting frame connecting rod extends in the second direction, one end of the mounting frame connecting rod is connected to one end of the second driving unit in the second direction, the mounting frame is perpendicularly connected to the other end of the mounting frame connecting rod, and the insertion tube mounted on the mounting frame and the handle portion are coaxially arranged.

As an optional technical scheme of an endotracheal intubation mechanism, the rotating assembly includes a rotating frame, a rotating piece and a connecting frame, the rotating frame is connected to the second output piece, the rotating piece rotates to be connected to the rotating frame, the rotating piece with the mirror holder respectively with the connecting frame is connected, the handle portion is configured to be installed when on the mirror holder, the axis of rotation of the rotating piece with handle portion self axis collineation.

As an optional technical scheme of trachea cannula mechanism, rotating assembly still includes driven gear, stopper and connecting axle, it sets up to the gear to rotate the piece, rotate the piece with driven gear meshing, the connecting axle rotate connect in the rotating turret and with driven gear coaxial coupling, the stopper set up in on the rotating turret, the stopper can brake the connecting axle.

As an optional technical solution of the tracheal intubation mechanism, the spectacle frame is detachably connected with the rotating assembly.

As an optional technical scheme of the trachea cannula mechanism, the connecting frame is provided with a connecting seat, the connecting seat is elastically connected with a disassembling button, the mirror bracket is provided with a through hole, and the disassembling button can stretch into or break away from the through hole.

As an optional technical scheme of the trachea cannula mechanism, the trachea cannula mechanism further comprises a toggle assembly, the toggle assembly is connected to the rotating assembly, the toggle assembly comprises a toggle piece which is rotatably arranged, the rotating axis of the toggle piece is perpendicular to the axis of the handle portion, and the handle portion is configured to be installed on the mirror frame, and the toggle piece can toggle the steering control handle of the bronchoscope.

As an optional technical scheme of the tracheal intubation mechanism, the stirring piece is detachably connected with the rotating assembly.

As an optional technical scheme of the trachea cannula mechanism, the poking piece is provided with a containing groove, and the steering control handle can be arranged in the containing groove.

As an optional technical scheme of the tracheal intubation mechanism, a slot is formed in the mounting frame, and when the intubation tube is mounted on the mounting frame, the protruding annular edge on the intubation tube is inserted into the slot.

An endotracheal intubation robot comprises a mechanical arm and an endotracheal intubation mechanism, wherein the mechanical arm is connected to a first driving unit.

The invention has the beneficial effects that:

the embodiment provides an endotracheal intubation mechanism, which comprises a first driving unit, a second driving unit and a mounting assembly. The first driving unit can drive the second driving unit to move along a first direction, the second driving unit comprises a second output piece which can move along a second direction relative to the first output piece, a mirror frame and a rotating assembly are connected to the second output piece, the mirror frame is used for installing a bronchoscope, and the rotating assembly is used for rotating the bronchoscope around the axis of the handle portion. The mounting assembly is connected to the second drive unit and is used for mounting one end of the cannula. When carrying out trachea cannula, first drive unit drives bronchoscope earlier and is close to the patient with the intubate simultaneously, the relative intubate of second output drive bronchoscope advances, stretch into inside the patient oral cavity, make intubate and bronchoscope advance simultaneously through first drive unit at last, realize trachea cannula, the practicality of trachea cannula mechanism has been improved, and avoided taking place because of the condition that changes the protective clothing and lead to missing the rescue opportunity, the chance that medical personnel and patient contacted has also been reduced, cross infection's risk has also been reduced, medical personnel's safety has been guaranteed. And when the bronchoscope front end was crooked, the runner assembly can also rotate the bronchoscope to realize the effect of the direction of advance of adjustment bronchoscope, guaranteed that the bronchoscope can stretch into target position, thereby can insert suitable position along the bronchoscope for having guaranteed the intubate, guaranteed intubate effect and treatment, avoided causing the secondary injury to the patient, also avoided medical personnel to adjust the position of bronchoscope once more, further reduced the infection risk.

The embodiment provides an endotracheal intubation robot which comprises the endotracheal intubation mechanism. Realize trachea cannula, guaranteed intubate effect and treatment, improved trachea cannula mechanism's practicality, need not medical personnel and patient's contact moreover, reduced cross infection's risk, guaranteed medical personnel's safety.

Drawings

FIG. 1 is a schematic structural diagram of an endotracheal intubation mechanism provided by an embodiment of the present invention;

fig. 2 is a sectional view of a first driving unit provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a first driving unit according to an embodiment of the present invention;

FIG. 4 is a sectional view of a portion of the endotracheal intubation mechanism provided by the embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

fig. 6 is a cross-sectional view of a frame provided by an embodiment of the present invention;

FIG. 7 is an exploded view of a portion of the endotracheal intubation mechanism provided by the embodiments of the present invention;

fig. 8 is a schematic structural diagram of an endotracheal intubation robot provided in an embodiment of the present invention.

In the figure:

100. a bronchoscope; 101. a handle portion; 102. a steering handle; 200. inserting a tube; 201. a pipe joint; 202. a tube body; 203. a raised annular edge;

10. a mechanical arm; 20. a mobile vehicle; 30. a moving wheel;

1. a first drive unit; 11. a first output member; 12. a first frame body; 131. a first lead screw; 132. a first guide rail; 133. a first motor; 134. a first stopper; 135. a first brake shaft; 136. a first coupling; 14. an L plate; 15. a mechanical arm connecting piece;

2. a second driving unit; 21. a second output member; 22. a rotating assembly; 221. a rotating frame; 222. a rotating member; 223. a connecting frame; 224. a driven gear; 225. a brake; 226. rotating the motor; 23. a frame; 231. a connecting seat; 2311. blind holes; 232. disassembling the button; 233. a through hole; 234. an L frame; 24. a second frame body; 251. a second lead screw; 252. a second guide rail; 253. a second motor; 254. a second stopper;

3. mounting the component; 31. mounting frame connecting rods; 32. a mounting frame; 321. a slot;

5. the component is stirred; 51. a toggle piece; 52. a motor is shifted; 53. a removable cover; 54. a lower case; 55. a drive bevel gear; 561. a switching part; 57. a driven bevel gear.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

The present embodiments provide an endotracheal intubation mechanism. As shown in fig. 1-8, the endotracheal intubation mechanism includes a first drive unit 1, a second drive unit 2, and a mounting assembly 3. The first drive unit 1 comprises a first output 11 movable in a first direction; the second driving unit 2 is connected to the first output element 11, the second driving unit 2 includes a second output element 21, a rotation assembly 22 and a mirror bracket 23, the second output element 21 can move relative to the first output element 11 along a second direction, the second direction is parallel to the first direction, the rotation assembly 22 is connected to the second output element 21, the mirror bracket 23 is connected to the rotation assembly 22, and when the handle part 101 of the bronchoscope 100 is configured to be mounted on the mirror bracket 23, the rotation assembly 22 can drive the mirror bracket 23 to rotate around the axis of the handle part 101; the mounting assembly 3 includes a mounting bracket connecting rod 31 and a mounting bracket 32, the mounting bracket connecting rod 31 extends along the second direction, one end of the mounting bracket connecting rod 31 is connected to one end of the second driving unit 2 along the second direction, the mounting bracket 32 is vertically connected to the other end of the mounting bracket connecting rod 31, and the insertion tube 200 mounted on the mounting bracket 32 is coaxially arranged with the handle part 101. In the prior art, bronchoscope 100 has functions of taking a picture, sucking sputum, spraying a medicine, and the like.

The present embodiment provides an endotracheal intubation mechanism, comprising a first drive unit 1, a second drive unit 2 and a mounting assembly 3. The first driving unit 1 can drive the second driving unit 2 to move along a first direction, the second driving unit 2 comprises a second output member 21 capable of moving along a second direction relative to the first output member 11, a mirror frame 23 and a rotating assembly 22 are connected to the second output member 21, the mirror frame 23 is used for installing the bronchoscope 100, and the rotating assembly 22 is used for rotating the bronchoscope 100 around the axis of the handle part 101. The mounting assembly 3 is connected to the second drive unit 2 and is used to mount one end of the cannula 200. When carrying out trachea cannula, first drive unit 1 moves bronchoscope 100 and intubate 200 and is close to the patient simultaneously, second output 21 drives bronchoscope 100 and advances relatively intubate 200, stretch into inside the patient oral cavity, make intubate 200 and bronchoscope 100 advance simultaneously through first drive unit 1 at last, realize trachea cannula, trachea cannula mechanism's practicality has been improved, and avoided leading to missing the condition emergence of rescue opportunity because of changing the protective clothing, the chance that medical personnel and patient contacted has also been reduced, cross infection's risk has also been reduced, medical personnel's safety has been guaranteed. And when bronchoscope 100 front end was crooked, rotating assembly 22 can also rotate bronchoscope 100 to realize the effect of the direction of advance of adjustment bronchoscope 100, guaranteed that bronchoscope 100 can stretch into the target location, thereby guaranteed that intubate 200 can insert suitable position along bronchoscope 100, guaranteed intubate effect and treatment, avoided causing the secondary damage to the patient, also avoided medical personnel to adjust bronchoscope 100's position once more, further reduced the infection risk.

In this embodiment, the first direction is located in a first plane vertically disposed, and the first direction may be disposed horizontally or obliquely to the horizontal direction. The second direction is parallel to the first direction, the first direction and the second direction are both located in a second plane, and the first plane and the second plane are perpendicular to each other. And when handle portion 101 of bronchoscope 100 is configured to be mounted to frame 23, the axis of handle portion 101 is parallel to the second direction.

Specifically, the first driving unit 1 includes a first driving assembly, and the first output member 11 is connected to the first driving assembly, and the first driving assembly is configured to drive the first output member 11 to move along a first direction. Specifically, the first driving assembly includes a first lead screw 131, a first guide rail 132 and a first motor 133, the first lead screw 131 extends along a first direction, the first guide rail 132 is located at the bottom of the first lead screw 131 and is arranged in parallel with the first lead screw 131, a first nut is screwed on the first lead screw 131, a first mounting hole is formed in the middle of the first output member 11, and the first nut is fixedly arranged in the first mounting hole. The first guide rail 132 is slidably provided with a first slider, and the bottom of the first output member 11 is connected with the first slider. An output shaft of the first motor 133 is coaxially connected with the first lead screw 131, and is used for driving the first lead screw 131 to rotate. When the first lead screw 131 rotates, the first output member 11 can move linearly in the first direction.

In other embodiments, the first driving assembly may also be configured as a linear motor, and the linear motor is connected to the first output member 11 to realize the linear movement of the first output member 11 along the first direction, which is not limited herein.

Preferably, the first driving unit 1 further includes a first frame 12. The first lead screw 131 and the first guide rail 132 of the first driving assembly are disposed inside the first frame 12, the first motor 133 is fixed at one end of the first frame 12 along the first direction, and one end of the first lead screw 131 penetrates through a corresponding side wall of the first frame 12 and is connected with the first motor 133. The other end of the first lead screw 131 is rotatably connected to the side wall of the other end of the first frame 12 in the first direction. Set up first support body 12, improved the modularization degree of first drive unit 1 structure, be convenient for installation and transport have also improved aesthetic measure. In this embodiment, the first frame 12 is a rectangular parallelepiped shell with a hollow interior. Under the state that first direction set up along the level, seted up waist shape through-hole on the roof of first support body 12, the major axis of waist shape through-hole extends along first direction, and waist shape through-hole is located first lead screw 131 directly over for first output piece 11 can stretch out and be connected with second drive unit 2 through waist shape through-hole.

Further, a first braking part 134 is fixed on the end face of one end of the first frame body 12, which is far away from the first motor 133, the first braking part 134 is used for braking the first lead screw 131, when the first motor 133 stops rotating, the first lead screw 131 can be further prevented from rotating, the precision of the driving stroke of the first driving unit 1 is ensured, the intubation tube 200 and the bronchoscope 100 can be accurately inserted into the preset position, and the practicability of the trachea intubation mechanism is improved.

In this embodiment, the first braking member 134 is an electromagnetic band-type brake. One end of the first lead screw 131 far away from the first motor 133 is connected with a first brake shaft 135 through a first coupler 136, the first brake shaft 135 and the first lead screw 131 are coaxially arranged, the first brake shaft 135 rotates to penetrate through a corresponding side wall of the first frame body 12, the first brake shaft 135 penetrates through the side wall and then penetrates through a first brake piece 134, and the first brake piece 134 can brake the first brake shaft 135, so that the first lead screw 131 is braked. Because the electromagnetism band-type brake realizes the braking through hugging closely first braking axle 135, set up first braking axle 135, can avoid first braking piece 135 direct extrusion first lead screw 131, when first braking axle 135 appears warping, only need change first braking axle 135 can, first lead screw 131 need not to change, has reduced the maintenance cost.

Specifically, bearings are arranged between one end of the first lead screw 131 far away from the first braking piece 134 and the side wall of the first frame body 12 and between the first braking shaft 135 and the side wall of the first frame body 12, so that the friction force between the first lead screw 131 and the first frame body 12 is reduced, the energy loss is reduced, the precision of the driving stroke of the first driving unit 1 is further ensured, the accurate insertion of the intubation tube 200 and the bronchoscope 100 into the preset position is facilitated, the intubation tube effect and the treatment effect are ensured, and the practicability of the trachea intubation mechanism is improved.

In the present embodiment, the first driving unit 1 further includes an L plate 14, and the L plate 14 includes a transverse plate and a longitudinal plate vertically connected, and the transverse plate is vertically connected to the top of the longitudinal plate. The transverse plate extends to the upper part of the kidney-shaped through hole and is connected with the first output piece 11, the longitudinal plate is vertically arranged and is positioned between the first driving unit 1 and the second driving unit 2 and is connected with the second driving unit 2, and the first output piece 11 drives the second driving unit 2 to move.

Specifically, the second driving unit 2 includes a second driving assembly, and the second output member 21 is connected to the second driving assembly, and the second driving assembly is configured to drive the second output member 21 to move along the second direction. Specifically, the second driving assembly includes a second lead screw 251, a second guide rail 252 and a second motor 253, the second lead screw 251 extends along a second direction, the second guide rail 252 is located at the bottom of the second lead screw 251 and is arranged in parallel with the second lead screw 251, a second nut is screwed on the second lead screw 251, a second mounting hole is formed in the middle of the second output member 21, and the second nut is fixedly arranged in the second mounting hole. A second slide block is slidably disposed on the second guide rail 252, and the bottom of the second output member 21 is connected to the second slide block. An output shaft of the second motor 253 is coaxially connected with the second screw rod 251 and is used for driving the second screw rod 251 to rotate. When the second lead screw 251 rotates, the second output member 21 can be linearly moved in the second direction.

In other embodiments, the second driving assembly may also be configured as a linear motor, and the linear motor is connected to the second output member 21 to realize the linear movement of the second output member 21 along the second direction, which is not limited herein.

Preferably, the second driving unit 2 further includes a second frame body 24. The second lead screw 251 and the second guide rail 252 of the second driving assembly are disposed inside the second frame body 24, the second motor 253 is fixed at one end of the second frame body 24 along the second direction, and one end of the second lead screw 251 penetrates through a corresponding side wall of the second frame body 24 and is connected with the second motor 253. The other end of the second lead screw 251 is rotatably connected to the side wall of the other end of the second frame body 24 in the second direction. Set up second support body 24, improved the modularization degree of second drive unit 2 structure, be convenient for installation and transport have also improved aesthetic measure. In this embodiment, the second frame 24 has a rectangular parallelepiped shell shape and is hollow. Under the state that the second direction is horizontally arranged, a waist-shaped through hole is formed in the top wall of the second frame body 24, the long axis of the waist-shaped through hole extends along the second direction, and the waist-shaped through hole is located right above the second screw rod 251, so that the second output member 21 can extend out through the waist-shaped through hole and is connected with the second driving unit 2.

Further, a second brake member 254 is fixed on an end face of one end of the second frame 24, which is far away from the second motor 253, the second brake member 254 is used for braking the second lead screw 251, when the second motor 253 stops rotating, the second lead screw 251 can be further prevented from rotating, the precision of the driving stroke of the second driving unit 2 is ensured, the accurate insertion of the intubation tube 200 and the bronchoscope 100 into the preset position is facilitated, and the practicability of the tracheal intubation mechanism is improved.

In this embodiment, the second brake 254 is an electromagnetic band brake. One end of the second lead screw 251, which is far away from the second motor 253, is connected with a second brake shaft through a second coupler, the second brake shaft and the second lead screw 251 are coaxially arranged, the second brake shaft is rotatably arranged on a corresponding side wall of the second frame body 24 in a penetrating manner, the second brake shaft penetrates through the side wall and then penetrates through the second brake 254, and the second brake 254 can brake the second brake shaft, so that the second lead screw 251 is braked. Because the electromagnetism band-type brake realizes the braking through holding tightly the second brake axle, sets up the second brake axle, can avoid the second braking piece directly to extrude second lead screw 251, when the second brake axle appears out of shape, only need change the second brake axle can, second lead screw 251 need not to change, has reduced the maintenance cost.

Specifically, bearings are arranged between one end of the second lead screw 251, which is far away from the second braking part 254, and the side wall of the second frame body 24 and between the second braking shaft and the side wall of the second frame body 24, so that the friction force between the second lead screw 251 and the second frame body 24 is reduced, the energy loss is reduced, the precision of the driving stroke of the second driving unit 2 is further ensured, the bronchoscope 100 can be accurately inserted into a preset position, the treatment effect is ensured, and the practicability of the trachea cannula mechanism is improved.

Specifically, the mount connecting rod 31 of the mounting assembly 3 is connected to the second frame 24, and the second stopper 254 is connected to the same side of the second frame 24 as the mount connecting rod 31. In this embodiment, the mount connecting rod 31 is located on the patient-facing side of the endotracheal intubation mechanism.

Preferably, the mounting bracket 32 is provided with a slot 321, and the protruding ring 203 of the insertion tube 200 is inserted into the slot 321 when the insertion tube 200 is mounted on the mounting bracket 32. In the intubate in-process, when first drive unit 1 drive second drive unit 2 bodily movement, the setting up of slot 321 has realized the chucking between protrusion ring limit 203 and the mounting bracket 32, is favorable to the mounting bracket 32 to drive the intubate 200 in step and removes, has guaranteed the precision of first drive unit 1 drive intubate 200 travel, does benefit to and inserts predetermined position with intubate 200 accurately, has improved trachea cannula mechanism's practicality.

Generally, the cannula 200 further includes a tube fitting 201 and a tube main body 202, and the tube fitting 201 and the tube main body 202 are respectively connected to both ends of the protruding annular rim 203 in the axial direction. Preferably, the mounting frames 32 located at two sides of the slot 321 are respectively provided with a placing arc groove for placing the pipe joint 201 and the pipe main body 202, so that the insertion pipe 200 can be prevented from moving along the radial direction relative to the mounting frames 32, the insertion pipe 200 can be further ensured to be accurately inserted into the preset position, and the practicability of the tracheal intubation mechanism is improved.

Further, the rotating assembly 22 of the second driving unit 2 includes a rotating frame 221, a rotating member 222 and a connecting frame 223, the rotating frame 221 is connected to the second output member 21, the rotating member 222 is rotatably connected to the rotating frame 221, the rotating member 222 and the lens frame 23 are respectively connected to the connecting frame 223, and the handle portion 101 is configured such that when mounted on the lens frame 23, the rotating axis of the rotating member 222 is collinear with the axis of the handle portion 101 itself. The structure arrangement improves the modularization degree of the structure of the second driving unit 2, and is convenient to carry and install. Specifically, the rotating frame 221 is disposed above the kidney-shaped through hole of the second frame body 24, and the bottom of the rotating frame 221 is connected to the second output member 21.

Specifically, the connecting frame 223 includes a first plate portion connected to the rotation piece 222 and a second plate portion extending in the axial direction of the handle portion 101 of the bronchoscope 100 when the handle portion 101 is configured to be mounted on the frame 23. One end of the second plate portion is vertically connected to the first plate portion, and the other end is connected to the mirror holder 23. The second plate portion and the rotating frame 221 are located on both sides of the first plate portion.

In this embodiment, the rotating assembly 22 further includes a rotating motor 226, the rotating member 222 is configured as a gear, the rotating motor 226 is fixedly connected to the rotating frame 221, and an output shaft of the rotating motor 226 is coaxially connected to the rotating member 222 and can drive the rotating member 222 to rotate.

Preferably, the rotating assembly 22 further includes a driven gear 224, a brake 225, and a connecting shaft, the rotating member 222 is engaged with the driven gear 224, the connecting shaft is rotatably connected to the rotating frame 221 and coaxially connected with the driven gear 224, the brake 225 is disposed on the rotating frame 221, and the brake 225 can brake the connecting shaft. When the rotating motor 226 stops rotating, the brake 225 can further prevent the rotating member 222 from rotating, so as to ensure the precision of the rotating angle of the driving bronchoscope 100 of the rotating assembly 22, facilitate the bronchoscope 100 to accurately extend into the target bronchus, and ensure the therapeutic effect and the intubation effect. Meanwhile, the driven gear 224 can shorten the length of the rotating assembly 22 along the axial direction of the rotating member 222, thereby improving the compactness and reducing the occupied space. In this embodiment, the brake 225 is an electromagnetic band brake and is fixed to the rotating frame 221.

Preferably, the lens frame 23 is detachably connected with the rotating assembly 22, so that the lens frame 23 can be detached from the tracheal intubation mechanism, the sufficient disinfection of the tracheal intubation mechanism is facilitated, the incomplete disinfection caused by the overlarge structural volume is prevented, and the risk of cross infection is reduced.

Specifically, the connecting holder 223 is provided with a connecting seat 231, the connecting seat 231 is elastically connected with a detaching button 232, and the lens frame 23 is disposed above the connecting seat 231. The lens frame 23 is provided with a through hole 233, and the disassembly button 232 can extend into or separate from the through hole 233. Above-mentioned structure sets up for detachable construction is comparatively simple, and when dismantling button 232 and stretch into in the through-hole 233, connecting seat 231 and mirror holder 23 interconnect, when dismantling button 232 and break away from through-hole 233, mirror holder 23 can be followed the connecting seat 231 and pulled down.

Further, dismantle button 232 and be the U type, including first side arm, second side arm and connect the linking arm between first side arm and second side arm, seted up blind hole 2311 on the lateral wall of connecting seat 231, the axis perpendicular to second direction of blind hole 2311, first side arm is arranged in blind hole 2311 and can is followed blind hole 2311 and slide, and the linking arm upwards stretches out connecting seat 231. When the first side arm slides in the blind hole 2311, the second side arm can extend into or separate from the through hole 233, so that the lens frame 23 can be assembled and disassembled.

Still further, a spring is connected between the bottom surface of the blind hole 2311 and the first side arm, and when the spring is in a natural state, the first side arm extends out of the blind hole 2311 to facilitate pressing.

In this embodiment, the lens holder 23 is connected to the connecting frame 223 through the L frame 234, the L frame 234 includes a horizontal frame plate and a vertical frame plate which are vertically connected, the horizontal frame plate is connected to the bottom of the vertical frame plate, the vertical frame plate is connected to the connecting frame 223, and the horizontal frame plate is parallel to the second plate portion of the connecting frame 223 and extends in a direction away from the connecting frame 223. The coupling holder 231 is provided on the cross frame plate. The L-shaped frame 234, the connecting seat 231 and the connecting frame 223 are detachably connected, so that the height of the frame 23 relative to the rotating part 22 can be conveniently adjusted, the rotation axis of the rotating part 222 is ensured to be collinear with the axis of the handle part 101, and the accurate adjustment of the advancing direction of the bronchoscope 100 is facilitated.

Preferably, the endotracheal intubation mechanism further includes a toggle assembly 5, the toggle assembly 5 is connected to the rotation assembly 22, the toggle assembly 5 includes a toggle member 51 rotatably disposed, a rotation axis of the toggle member 51 is perpendicular to an axis of the handle portion 101, and the toggle member 51 is capable of toggling the steering handle 102 of the bronchoscope 100 when the handle portion 101 is mounted on the frame 23. The setting is stirred subassembly 5 for trachea cannula mechanism can adjust the crooked direction of bronchoscope 100 head end, does benefit to bronchoscope 100 and advances towards target trachea or bronchus, does benefit to the treatment that realizes the intubate or to lung, has further guaranteed treatment and intubate effect. Moreover, the toggle assembly 5 and the rotating assembly 22 are mutually matched, so that the bronchoscope 100 can move forward towards the bronchus in the up-and-down direction, for example, when the head end of the bronchoscope 100 bends leftwards, the rotating assembly 22 drives the bronchoscope 100 to rotate clockwise, so that the head end of the bronchoscope 100 bends upwards and can enter the upper bronchus; the rotating assembly 22 drives the bronchoscope 100 to rotate counterclockwise, so that the head end of the bronchoscope 100 bends downward and can enter the bronchus below, the direction in which the bronchoscope 100 can advance is increased, and the practicability of the tracheal intubation mechanism is further improved.

Preferably, the toggle member 51 is removably coupled to the rotating assembly 22. So that the stirring piece 51 can be detached from the tracheal intubation mechanism, the tracheal intubation mechanism can be sterilized sufficiently, and the incomplete sterilization caused by the overlarge structural volume is prevented, thereby reducing the risk of cross infection.

Specifically, the toggle assembly 5 further comprises a detachable cover 53 and a lower shell 54, the lower shell 54 is connected to the connecting frame 223, the detachable cover 53 is in a shell-shaped structure and opens towards one side of the lower shell 54, and the lower shell 54 is buckled and connected with the detachable cover 53. Inferior valve 54 is provided with towards one side of removable lid 53 and keeps off the ring, keeps off the ring and is located removable lid 53 inside, at this moment, has also seted up blind hole 2311 on the second board of link 223, and is provided with the first side arm of dismantling button 232 in blind hole 2311, and the linking arm of dismantling button 232 upwards extends to the gear in, and the second side arm of dismantling button 232 passes in proper order and keeps off the ring and the lateral wall of removable lid 53, realizes the dismantlement between removable lid 53 and the inferior valve 54 and is connected. In this embodiment, the lower case 54 is fixed to the connecting frame 223 between the frame 23 and the rotating member 222.

In the prior art, the steering handle 102 of the bronchoscope 100 is generally in the form of a bar. Preferably, the toggle member 51 has a receiving groove formed therein, and the steering handle 102 can be disposed in the receiving groove. Set up the holding tank, be convenient for dial the installation between 51 and the steering handle 102, when dialling 51 axis clockwise pointer or anticlockwise rotation in the same direction as moreover for steering handle 102 can receive the backstop of two groove lateral walls of holding tank respectively, is convenient for realize the rotation of two directions of steering handle 102, does benefit to the structure of simplifying and stirring subassembly 5, has improved the practicality of stirring subassembly 5. Further, the top of dialling piece 51 is run through to the holding tank, and the installation of bronchoscope 100 from top to bottom of being convenient for has improved the convenience when assembling.

Specifically, the toggle assembly 5 further includes a toggle motor 52, a transfer shaft, a drive bevel gear 55 and a driven bevel gear 57. The output rotating shaft of the toggle motor 52 is parallel to the axis of the handle part 101, i.e. the output rotating shaft of the toggle motor 52 is parallel to the second plate part of the connecting frame 223, and the output rotating shaft of the toggle motor 52 is coaxially connected with the drive bevel gear 55. The adapter shaft passes through the second plate of the connecting frame 223 vertically and rotatably. The toggle motor 52 and the drive bevel gear 55 are located below the second plate portion, the bottom of the transfer shaft is coaxially connected with a driven bevel gear 57, and the drive bevel gear 55 and the driven bevel gear 57 are engaged with each other. Through setting up drive bevel gear 55 and driven bevel gear 57, reduced the size of stirring subassembly 5 along the direction of perpendicular to second board portion, improved compact structure degree, do benefit to and reduce occupation space. In this embodiment, the adapter shaft penetrates the lower case 54.

Specifically, the top end face protrusion of switching axle is provided with switching portion 561, and switching portion 561 is along radially extending, stirs the bottom of piece 51 and has seted up the bar recess, and the bar recess radially extends along the switching axle, and switching portion 561 arranges in the bar recess, realizes transmitting the power of stirring motor 52 to stirring piece 51. In the present embodiment, the adapter 561 is located inside the stop ring of the lower shell 54.

For easy understanding, the endotracheal intubation mechanism provided in this embodiment performs the following steps:

firstly, installing a bronchoscope 100 and a cannula 200, driving a second driving unit 2 by a first driving unit 1, and enabling the bronchoscope 100 and the cannula 200 to simultaneously approach a patient and extend into the oral cavity; secondly, the first driving unit 1 stops, the second output member 21 of the second driving unit 2 drives the bronchoscope 100 to advance and adjusts the advancing direction of the bronchoscope 100 through the rotating assembly 22 and the toggle assembly 5; then, the first drive unit 1 drives the bronchoscope 100 and the cannula 200 to advance again; finally, when the intubation tube 200 reaches the target position, the second output 21 of the second drive unit 2 drives the bronchoscope 100, out of the patient, completing the endotracheal intubation.

For easy understanding, the endotracheal intubation mechanism provided in the present embodiment performs the following operation steps for lung treatment:

firstly, installing a bronchoscope 100 and a cannula 200, driving a second driving unit 2 by a first driving unit 1, and enabling the bronchoscope 100 and the cannula 200 to simultaneously approach a patient and extend into the oral cavity; secondly, the first driving unit 1 stops, the second output member 21 of the second driving unit 2 drives the bronchoscope 100 to advance, and the advancing direction of the bronchoscope 100 is adjusted through the rotating assembly 22 and the toggle assembly 5; again, the first drive unit 1 drives the bronchoscope 100 and the cannula 200 again forward; finally, when the cannula 200 reaches the target position, the second output 21 of the second driving unit 2 drives the bronchoscope 100 to further extend into the bronchus, and the treatment of the inside of the lung is completed.

The embodiment also provides a trachea cannula robot. Specifically, the endotracheal intubation robot includes an endotracheal intubation mechanism. Trachea cannula robot can realize trachea cannula, need not medical personnel and patient contact, in time salvages the patient, reduces cross infection's risk, guarantees medical personnel's safety.

Preferably, the endotracheal intubation robot provided by the present embodiment further includes a robot arm 10. The mechanical arm 10 can be a six-degree-of-freedom mechanical arm, and the specific structure can be the prior art, which is not described in detail herein. The output end of the mechanical arm 10 is a horizontal rotating shaft, the horizontal rotating shaft is connected with the first frame body 12 of the first driving unit 1, and the horizontal rotating shaft is perpendicular to the first direction, and can drive the tracheal intubation mechanism to adjust the pitch angle, so as to adjust the angle of the bronchoscope 100 and the intubation tube 200 sent into the patient. The mechanical arm 10 is arranged, so that the pose of the trachea cannula robot is further convenient to adjust, and the practicability of the trachea cannula robot is improved.

Specifically, second drive unit 2 still includes arm connecting piece 15, and arm connecting piece 15 is the L type, including perpendicular connection's horizontal part and vertical portion, the horizontal part is connected in first support body 12 bottom, and the horizontal part is connected in the top of vertical portion, and vertical portion is vertical to be set up and is connected with arm 10.

Preferably, the endotracheal intubation robot provided in the present embodiment further includes a moving cart 20. The locomotive 20 is connected with arm 10, and the roll is provided with in locomotive 20 bottom removes wheel 30, is convenient for drive arm 10 and trachea cannula mechanism and removes to suitable position, has further improved trachea cannula robot's practicality.

Preferably, the endotracheal intubation robot provided by the present embodiment further includes a controller and an operating handle. The controller is electrically connected with the first motor 133, the second motor 253, the toggle motor 52 and the rotating motor 226, the controller can control the motors to be started and closed, the operating handle is electrically connected with the controller, and the controller can control the trachea cannula mechanism to push the bronchoscope 100 and the cannula 200 to feed by controlling the motors to be opened and closed, so that the trachea cannula operation is realized. The control method between the operating handle and the controller and between the controller and each motor can adopt the prior art, and is not described herein again.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An endotracheal intubation mechanism, comprising:

a first drive unit (1) comprising a first output (11) movable in a first direction;

a second drive unit (2) connected to the first output (11), the second drive unit (2) comprising a second output (21), a rotation assembly (22) and a mirror holder (23), the second output (21) being movable relative to the first output (11) along a second direction, the second direction being parallel to the first direction, the rotation assembly (22) being connected to the second output (21), the mirror holder (23) being connected to the rotation assembly (22), the rotation assembly (22) being capable of driving the mirror holder (23) to rotate about an axis of the handle (101) when the handle (101) of the bronchoscope (100) is configured to be mounted on the mirror holder (23);

installation component (3), including mounting bracket connecting rod (31) and mounting bracket (32), mounting bracket connecting rod (31) are followed the second direction is extended, just the one end of mounting bracket connecting rod (31) connect in second drive unit (2) are followed the one end of second direction, mounting bracket (32) connect perpendicularly in the other end of mounting bracket connecting rod (31), install in intubate (200) on mounting bracket (32) with handle portion (101) coaxial setting.

2. The endotracheal intubation mechanism according to claim 1, characterized in that said rotating assembly (22) comprises a rotating frame (221), a rotating member (222) and a connecting frame (223), said rotating frame (221) being connected to said second output member (21), said rotating member (222) being rotatably connected to said rotating frame (221), said rotating member (222) and said frame (23) being respectively connected to said connecting frame (223), said handle portion (101) being configured such that, when mounted on said frame (23), the axis of rotation of said rotating member (222) is collinear with the axis of said handle portion (101) itself.

3. The endotracheal intubation mechanism according to claim 2, characterized in that said rotating assembly (22) further comprises a driven gear (224), a brake (225) and a connecting shaft, said rotating member (222) being provided as a gear, said rotating member (222) being engaged with said driven gear (224), said connecting shaft being rotatably connected to said turret (221) and coaxially connected with said driven gear (224), said brake (225) being provided on said turret (221), said brake (225) being capable of braking said connecting shaft.

4. An endotracheal intubation mechanism according to claim 1, characterized in that said frame (23) is removably connected to said rotation assembly (22).

5. The tracheal intubation mechanism according to claim 3, wherein the connecting frame (223) is provided with a connecting seat (231), the connecting seat (231) is elastically connected with a disassembly button (232), the spectacle frame (23) is provided with a through hole (233), and the disassembly button (232) can extend into or separate from the through hole (233).

6. An endotracheal intubation mechanism according to any one of claims 1 to 5, characterized in that it further comprises a toggle assembly (5), said toggle assembly (5) being connected to said rotating assembly (22), said toggle assembly (5) comprising a rotationally arranged toggle member (51), the axis of rotation of said toggle member (51) being perpendicular to the axis of said handle portion (101), said toggle member (51) being capable of toggling the steering handle (102) of said bronchoscope (100) when said handle portion (101) is configured to be mounted on said frame (23).

7. An endotracheal intubation mechanism according to claim 6, characterized in that said toggle member (51) is removably connected to said rotating assembly (22).

8. The endotracheal intubation mechanism according to claim 6, characterized in that said toggle member (51) has a housing groove in which said steering handle (102) can be placed.

9. An endotracheal intubation mechanism according to any one of claims 1 to 5, characterized in that a slot (321) is provided on the mounting frame (32), the intubation tube (200) being configured such that, when mounted on the mounting frame (32), a protruding annular rim (203) of the intubation tube (200) is inserted in the slot (321).

10. An endotracheal intubation robot, characterized in that it comprises a robotic arm (10) and an endotracheal intubation mechanism according to any one of claims 1 to 9, said robotic arm (10) being connected to said first drive unit (1).