CN117504081A - Flexible robot for nasal tracheal intubation - Google Patents

Flexible robot for nasal tracheal intubation Download PDF

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Publication number
CN117504081A
CN117504081A CN202311336434.4A CN202311336434A CN117504081A CN 117504081 A CN117504081 A CN 117504081A CN 202311336434 A CN202311336434 A CN 202311336434A CN 117504081 A CN117504081 A CN 117504081A
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CN
China
Prior art keywords
driving
conduit
flexible robot
catheter
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311336434.4A
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Chinese (zh)
Inventor
刘市祺
谢晓亮
刘赫
周小虎
侯增广
袁永一
崔勇
赵星
戴朴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institute of Automation of Chinese Academy of Science
6th Medical Center of PLA General Hospital
Original Assignee
Institute of Automation of Chinese Academy of Science
6th Medical Center of PLA General Hospital
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Application filed by Institute of Automation of Chinese Academy of Science, 6th Medical Center of PLA General Hospital filed Critical Institute of Automation of Chinese Academy of Science
Priority to CN202311336434.4A priority Critical patent/CN117504081A/en
Publication of CN117504081A publication Critical patent/CN117504081A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M16/00—Devices for influencing the respiratory system of patients by gas treatment, e.g. mouth-to-mouth respiration; Tracheal tubes
    • A61M16/04—Tracheal tubes
    • A61M16/0461—Nasoendotracheal tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • 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
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pulmonology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Molecular Biology (AREA)
  • Emergency Medicine (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of surgical robots, and provides a flexible robot for nasal tracheal intubation, which comprises the following components: the device comprises a linear pushing mechanism, a driving mechanism, a connecting mechanism, a catheter mechanism and an air pipe intubation; the driving mechanism is connected with the linear pushing mechanism, and the linear pushing mechanism is used for driving the driving mechanism to move linearly; the connecting mechanism is detachably connected with the driving mechanism, and the driving mechanism is used for driving the connecting mechanism to rotate; the catheter mechanism is detachably connected with the connecting mechanism, and the connecting mechanism is used for driving the catheter mechanism to rotate or bend; the trachea cannula is detachably connected with the catheter mechanism. The flexible robot for the nasal tracheal intubation realizes pushing, bending and rotating movement of the tracheal intubation, can guide the nasal tracheal intubation to reach the glottis to reach the trachea, and has the controllable tail end shape of the tracheal intubation, so that the difficulty of the tracheal intubation is reduced, and the nasal tracheal intubation can be finished by common people under the assistance of the flexible robot.

Description

Flexible robot for nasal tracheal intubation
Technical Field
The invention relates to the technical field of surgical robots, in particular to a flexible robot for nasal tracheal intubation.
Background
Trachea cannula is a common rescue technology in emergency work, and is inserted into a trachea through an oral cavity or a nasal cavity so as to ensure the smoothness of a respiratory tract, provide artificial ventilation support for a patient and avoid death of the patient due to hypoxia of tissues and organs. The on-site tracheal intubation is used for emergency tracheal intubation of patients at the site outside the hospital. Related researches show that the on-site trachea cannula can improve ventilation and prevent aspiration, and for patients with serious brain injury, the on-site trachea cannula can remarkably improve survival rate of the patients. The on-site trachea cannula is usually an oral trachea cannula, if the operation is improper, the respiratory tract of a patient can be damaged or the trachea cannula is inserted into the esophagus by mistake, so that serious consequences are caused, in addition, the on-site trachea cannula needs to be carried out outdoors, the environment is changeable, and the difficulty of trachea cannula is increased because the patient is aware of the environment.
Compared with the transoral tracheal cannula, the transnasal tracheal cannula is suitable for patients with poor openings, and the tracheal cannula cannot shift due to movement of the patients. However, the nasal tracheal cannula is not visual due to the bending of the cavity, and the operation difficulty is higher. Therefore, the operation difficulty and risk of performing emergency transnasal tracheal intubation outdoors are very high, and medical staff with high experience is needed for the operation. But in emergency situations, the shortage of medical staff can delay the first aid of patients, and based on this, it is urgent to provide a flexible robot for nasal tracheal intubation.
Disclosure of Invention
The invention provides a flexible robot for nasal tracheal intubation, which is used for solving the defects of the prior art that the nasal tracheal intubation is difficult to operate and high in risk when the nasal tracheal intubation is used for emergency treatment outdoors and has high requirements on the operation experience of medical staff.
The invention provides a flexible robot for nasal tracheal intubation, which comprises the following components: a linear pushing mechanism; the driving mechanism is connected with the linear pushing mechanism and is used for driving the driving mechanism to move linearly; the connecting mechanism is detachably connected with the driving mechanism and is used for driving the connecting mechanism to rotate; the catheter mechanism is detachably connected with the connecting mechanism and is used for driving the catheter mechanism to rotate or bend; and the trachea cannula is detachably connected with the catheter mechanism.
According to the invention, the driving mechanism comprises: the fixed part is connected with the linear pushing mechanism; the rotating part is sleeved in the fixing part and is rotationally connected with the fixing part, the rotating part is connected with the connecting mechanism, and the rotating part is used for driving the connecting mechanism to rotate.
According to the flexible robot for nasal tracheal intubation provided by the invention, the fixing part comprises: the first shell is connected with the linear pushing mechanism, and a bearing and a first gear are arranged on the inner wall of the first shell; the rotating part includes: the second shell is sleeved in the first shell and is rotationally connected with the first shell through the bearing; a driver disposed within the first housing; the first motor and the second motor are arranged in the second shell, the driver is used for driving the first motor and the second motor to rotate, the first motor is used for driving the conduit mechanism to bend through the connecting mechanism, and the second motor is used for driving the conduit mechanism to rotate through the connecting mechanism; and the second gear is connected with the second motor and meshed with the first gear.
According to the flexible robot for nasal tracheal intubation provided by the invention, the rotating part further comprises: the connecting plate is connected with the transmission shaft of the second gear and is connected with the connecting mechanism; the first coupling is arranged on the connecting plate, the first coupling is connected with the first motor, and the first coupling is used for being detachably connected with the connecting mechanism.
According to the invention, the flexible robot for nasal tracheal intubation provided by the invention, the connecting mechanism comprises: the driving rotating part is connected with the driving mechanism, and when the driving mechanism rotates clockwise, the driving rotating part moves along a first direction so as to drive the catheter mechanism to bend along a second direction; and the passive rotating part is in transmission connection with the active rotating part, and when the driving mechanism rotates anticlockwise, the passive rotating part moves along the first direction and drives the conduit mechanism to bend along the opposite direction of the second direction, wherein the first direction and the second direction are arranged at an angle.
According to the flexible robot for nasal tracheal intubation provided by the invention, the active rotating part comprises: the first screw rod is connected with the driving mechanism; the third gear is sleeved on the first screw rod; the first sliding block is sleeved on the first screw rod and connected with the conduit mechanism, and when the first sliding block moves along the first direction, the conduit mechanism can be driven to bend along the second direction.
According to the flexible robot for nasal tracheal intubation provided by the invention, the passive rotating part comprises: a second screw rod; the fourth gear is sleeved on the second screw rod and meshed with the third gear; the second slider is sleeved on the second screw rod and connected with the conduit mechanism, and when the second slider moves along the first direction, the second slider can drive the conduit mechanism to bend along the opposite direction of the second direction.
According to the invention, the flexible robot for nasal tracheal intubation provided by the invention, the catheter mechanism comprises: the first guide pipe is provided with a plurality of through holes, and the first end of the first guide pipe is connected with the connecting mechanism; a second conduit connected to the first conduit; the first end of the first driving rope is connected with the second guide pipe, and the second end of the first driving rope penetrates through the second guide pipe and one through hole and then is connected with the first sliding block, so that the first driving rope is driven to stretch when the first sliding block moves along the first direction, and the second guide pipe is further bent along the second direction; the first end of the second driving rope is connected with the second guide pipe, and the second end of the second driving rope penetrates through the second guide pipe and one through hole and then is connected with the second sliding block, so that the second sliding block is driven to stretch when moving along the first direction, and the second guide pipe is further bent along the opposite direction of the second direction.
According to the flexible robot for nasal tracheal intubation provided by the invention, the catheter mechanism further comprises: an endoscope provided on an end surface of the second catheter, the endoscope being connected to the driving mechanism; and the light source is arranged on the end face of the second conduit.
The invention provides a flexible robot for nasal tracheal intubation, which further comprises: a connector disposed within the first housing; the integrated control assembly is arranged on the linear pushing mechanism, and is in communication connection with the driver through the connector and used for man-machine interaction.
According to the flexible robot for the nasal tracheal intubation, disclosed by the invention, the pushing, bending and rotating movement of the tracheal intubation are realized by arranging the linear pushing mechanism, the driving mechanism, the connecting mechanism and the catheter mechanism, the nasal tracheal intubation can be guided to reach the glottis to reach the trachea, the shape of the tail end of the tracheal intubation is controllable, the difficulty of the tracheal intubation is reduced, and a common person can finish the nasal tracheal intubation with the aid of the flexible robot; meanwhile, the part of the flexible robot inserted into the respiratory tract of the patient can be detached and used once, so that the tracheal intubation process is ensured to be in a sterile environment, and meanwhile, the main body part of the flexible robot can be reused, so that the cost is reduced.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a flexible robot for nasal tracheal intubation provided by the invention;
fig. 2 is a schematic structural view of a fixed portion of the driving mechanism shown in fig. 1;
fig. 3 is a schematic structural view of a rotating portion of the driving mechanism shown in fig. 1;
fig. 4 is a schematic structural view of the inside of the second housing shown in fig. 3;
FIG. 5 is a schematic view of the connection mechanism shown in FIG. 1;
FIG. 6 is a schematic view of the internal structure of the connection mechanism shown in FIG. 5;
FIG. 7 is a schematic view of the catheter mechanism shown in FIG. 1;
FIG. 8 is a schematic structural view of the integrated control assembly shown in FIG. 1;
reference numerals:
10: a linear pushing mechanism; 20: a driving mechanism; 21: a first housing; 22: a bump; 23: a bearing; 24: a first gear; 25: a driver; 26: a second housing; 27: a connector; 28: a first coupling; 29: a first endoscope connector; 30: a connecting mechanism; 31: a third housing; 32: a second coupling; 33: a second endoscope connector; 40: a catheter mechanism; 41: a first conduit; 42: a first drive string; 43: a second drive string; 44: an electric wire; 45: a second conduit; 46: an endoscope; 47: a light source; 50: a tracheal cannula; 60: an integrated control assembly; 61: a main control module; 62: a touch screen; 63: a power supply and a communication module; 70: a battery; 211: a connecting plate; 241: a second gear; 261: a first motor; 262: a second motor; 341: a second holder; 342: a second screw rod; 343: a fourth gear; 344: a second slider; 351: a first holder; 352: a first screw rod; 353: a third gear; 354: a first slider.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The features of the invention "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The flexible robot for nasal tracheal intubation of the present invention is described below with reference to fig. 1-8.
As shown in fig. 1, a flexible robot for nasal tracheal intubation according to an embodiment of the present invention includes: a linear pushing mechanism 10, a driving mechanism 20, a connecting mechanism 30, a catheter mechanism 40 and a tracheal cannula 50. The driving mechanism 20 is connected with the linear pushing mechanism 10, and the linear pushing mechanism 10 is used for driving the driving mechanism 20 to do linear motion. The connecting mechanism 30 is detachably connected with the driving mechanism 20, and the driving mechanism 20 is used for driving the connecting mechanism 30 to rotate. The catheter mechanism 40 is detachably connected with the connecting mechanism 30, and the connecting mechanism 30 is used for driving the catheter mechanism 40 to rotate or bend. The endotracheal tube 50 is detachably connected to the catheter mechanism 40.
Specifically, the linear pushing mechanism 10 drives the driving mechanism 20 to linearly reciprocate, so as to drive the connecting mechanism 30, the catheter mechanism 40 and the tracheal cannula 50 to linearly move together, thereby realizing the pushing or retreating of the tracheal cannula 50 in the nasal trachea. The driving mechanism 20 drives the connecting mechanism 30 to rotate, so that the catheter mechanism 40 bends or rotates, and the tracheal cannula 50 is driven to bend or rotate.
In practice, the new connection mechanism 30 and the catheter mechanism 40 are connected to the drive mechanism 20 before the transnasal endotracheal tube is performed, and then the new endotracheal tube 50 is connected to the catheter mechanism 40. The linear pushing mechanism 10 drives the driving mechanism 20 to enable the connecting mechanism 30, the catheter mechanism 40 and the tracheal cannula 50 to pass through nostrils and glottis of a patient and then reach the trachea, and the tracheal cannula 50 is left in the respiratory tract of the patient, so that subsequent treatment work is facilitated, and the catheter mechanism 40 and the connecting mechanism 30 exit from the respiratory tract. After endotracheal intubation, to ensure sterile operation, the coupling mechanism 30, catheter mechanism 40 and endotracheal tube 50 are disposable, and the drive mechanism 20 and linear pushing mechanism 10 are reusable without entering the patient's respiratory tract.
According to the flexible robot for the nasal tracheal intubation, disclosed by the embodiment of the invention, the pushing, bending and rotating movement of the tracheal intubation are realized by arranging the linear pushing mechanism, the driving mechanism, the connecting mechanism and the catheter mechanism, the nasal tracheal intubation can be guided to reach the glottis to reach the trachea, the shape of the tail end of the tracheal intubation is controllable, the difficulty of the tracheal intubation is reduced, and a common person can finish the nasal tracheal intubation with the aid of the flexible robot; meanwhile, the part of the flexible robot inserted into the respiratory tract of the patient can be detached and used once, so that the tracheal intubation process is ensured to be in a sterile environment, and meanwhile, the main body part of the flexible robot can be reused, so that the cost is reduced.
As shown in fig. 2 and 3, in the embodiment of the present invention, the driving mechanism 20 includes: the fixed part is connected with the linear pushing mechanism 10, the rotating part is sleeved in the fixed part and is rotationally connected with the fixed part, the rotating part is connected with the connecting mechanism 30, and the rotating part is used for driving the connecting mechanism 30 to rotate.
Specifically, the linear pushing mechanism 10 drives the fixing portion to linearly move, and further drives the tracheal cannula 50 to linearly move. The rotating part can rotate relative to the fixed part, the connecting mechanism 30 can be driven to rotate when the rotating part rotates, and the tracheal cannula 50 can be driven to rotate or bend when the connecting mechanism 30 rotates.
Further, as shown in fig. 2 and 3, in the embodiment of the present invention, the fixing portion includes: a first housing 21. The rotating part includes: the second housing 26, the driver 25, the first motor 261, the second motor 262, and the second gear 241. The outer portion of the first housing 21 is connected with a lug 22, the lug 22 is connected with the linear pushing mechanism 10, and a bearing 23 and a first gear 24 are arranged in the first housing 21. The driver 25 is disposed in the first housing 21, the first motor 261 and the second motor 262 are disposed in the second housing 26, the driver 25 is used for driving the first motor 261 and the second motor 262 to rotate, the first motor 261 is used for driving the conduit mechanism 40 to bend through the connection mechanism 30, the second motor 262 is used for driving the conduit mechanism 40 to rotate through the connection mechanism 30, wherein the second motor 262 is connected with the second gear 241, and the second gear 241 is meshed with the first gear 24.
Specifically, when the driver 25 drives the second motor 262 to rotate, the second motor 262 drives the second gear 241 to rotate, and the second gear 241 is driven by the first gear 24, so that the second housing 26 rotates relative to the first housing 21, and the bearing 23 is disposed between the first housing 21 and the second housing 26 to reduce friction therebetween. When the driver 25 drives the first motor 261 to rotate, the connecting mechanism 30 can be driven to rotate.
Further, as shown in fig. 4, in the embodiment of the present invention, the rotating part further includes: a connection plate 211 and a first coupling 28. The connecting plate 211 is connected with a transmission shaft of the second gear 241, and when the second motor 262 rotates, the connecting plate 211 can be driven to rotate. The first coupling 28 is disposed on the connection plate 211, the first coupling 28 is connected to the first motor 261, and the first coupling 28 is detachably connected to the connection mechanism 30.
Specifically, the connecting plate 211 is disposed in the first housing 21 and located below the second housing 26, and when the driver 25 drives the second motor 262 to rotate, the second gear 241 drives the first gear 24, so as to drive the connecting plate 211 to rotate, and the connecting plate 211 drives the connecting mechanism 30 to rotate.
As shown in fig. 5, in the embodiment of the present invention, the connection mechanism 30 includes: the driving rotation part and the passive rotation part are connected with the driving mechanism 20, and when the driving mechanism 20 rotates clockwise, the driving rotation part moves along the first direction, so as to drive the catheter mechanism 40 to bend along the second direction. The passive rotating portion is in transmission connection with the active rotating portion, and when the driving mechanism 20 rotates anticlockwise, the passive rotating portion moves along a first direction, and further drives the catheter mechanism 40 to bend along a direction opposite to a second direction, wherein the first direction and the second direction are arranged at an angle.
Specifically, the connection mechanism 30 includes a third housing 31, and a second coupling 32 is provided on the top surface of the third housing 31, and the second coupling 32 is detachably connected to the first coupling 28. The top surface of the third housing 31 is further provided with a second endoscope connector 33, the connection plate 211 is further provided with a first endoscope connector 29, and the second endoscope connector 33 is detachably connected with the first endoscope connector 29. The second coupling 32 is connected to the active rotation part, and when the first motor 261 rotates clockwise, the first coupling 28 and the second coupling 32 can be driven to rotate, so that the active rotation part is driven to move upwards, and the conduit mechanism 40 is bent along the second direction. When the first motor 261 rotates counterclockwise, the passive rotation portion moves upward, thereby bending the catheter mechanism 40 in the opposite direction of the second direction.
Further, in the present embodiment, the first direction is the same as the movement direction of the driving mechanism 20, and the second direction has a certain angle with the first direction.
As shown in fig. 6, in the embodiment of the present invention, the active rotation part includes: a first holder 351, a first screw 352, a third gear 353, and a first slider 354. The first holder 351 is connected to an inner wall of the third housing 31, and the first screw 352 is detachably connected to the second coupling 32 through the first holder 351. The third gear 353 is sleeved on the first screw rod 352, the first slider 354 is connected with the catheter mechanism 40, and when the first slider 354 moves along the first direction, the catheter mechanism 40 can be driven to bend along the second direction.
The passive rotation part includes: a second holder 341, a second screw 342, a fourth gear 343, and a second slider 344. The second fixing device 341 is connected with the inner wall of the third casing 31, the second screw rod 342 is arranged in the second fixing device 341 in a penetrating way, the fourth gear 343 is sleeved on the second screw rod 342, the fourth gear 343 is meshed with the third gear 353, the second sliding block 344 is sleeved on the second screw rod 342, the second sliding block 344 is connected with the conduit mechanism 40, and when the second sliding block 344 moves along the first direction, the conduit mechanism 40 can be driven to bend along the opposite direction of the second direction.
Specifically, when the first motor 261 rotates clockwise, the first screw 352 is driven to rotate clockwise, and the first slider 354 is driven to move upwards, and the first slider 354 drives the catheter mechanism 40 to bend along the second direction. When the first motor 261 rotates clockwise, the third gear 353 rotates clockwise, driving the fourth gear 343 to rotate counterclockwise, the second screw 342 rotates counterclockwise, and the second slider 344 moves downward.
When the first motor 261 rotates anticlockwise, the first screw 352 is driven to rotate anticlockwise, and the first slider 354 is driven to move downwards. When the first motor 261 rotates anticlockwise, the third gear 353 rotates anticlockwise, the fourth gear 343 is driven to rotate clockwise, the second screw 342 rotates clockwise, and the second slider 344 moves upwards, so as to drive the catheter mechanism 40 to bend along the opposite direction of the second direction.
As shown in fig. 7, in the embodiment of the present invention, the catheter mechanism 40 includes: a first conduit 41, a second conduit 45, a first drive string 42 and a second drive string 43. The first conduit 41 is provided with a plurality of through holes, a first end of the first conduit 41 is connected to the connection mechanism 30, and the second conduit 45 is connected to the first conduit 41. The first end of the first driving rope 42 is connected with the second conduit 45, and the second end of the first driving rope 42 penetrates through the second conduit 45 and one through hole and then is connected with the first slider 354, so that when the first slider 354 moves along the first direction, the first driving rope 42 is driven to stretch, and the second conduit 45 is further bent along the first direction. The first end of the second driving rope 43 is connected to the second guide pipe 45, and the second end of the second driving rope 43 penetrates through the second guide pipe 45 and a through hole and then is connected to the second slider 344, so that the second guide pipe 45 is driven to bend in the opposite direction of the second direction when the second slider 344 moves in the first direction.
Specifically, one end of the first driving rope 42 is connected with the first slider 354, the other end is connected with the second conduit 45, the second conduit 45 is a flexible tube, and when the first driving rope 42 is stretched, the second conduit 45 can be driven to bend along the second direction; when the first drive cord 42 is released, the second conduit 45 is in a straight state. Correspondingly, when the second driving rope 43 is stretched, the second conduit 45 is driven to bend along the opposite direction of the second direction; when the second drive cord 43 is released, the second conduit 45 is in a straight state.
When the first motor 261 rotates clockwise, the first screw 352 is driven to rotate clockwise, and the first slider 354 is driven to move upwards, and the first slider 354 drives the first driving rope 42 to stretch, so that the second conduit 45 bends along the second direction. When the first motor 261 rotates clockwise, the third gear 353 rotates clockwise, driving the fourth gear 343 to rotate counterclockwise, the second screw 342 rotates counterclockwise, and the second slider 344 moves downward, thereby releasing the second driving rope 43.
When the first motor 261 rotates anticlockwise, the first screw rod 352 is driven to rotate anticlockwise, and then the first slider 354 is driven to move downwards, and the first driving rope 42 is released. When the first motor 261 rotates anticlockwise, the third gear 353 rotates anticlockwise, drives the fourth gear 343 to rotate clockwise, the second screw 342 rotates clockwise, the second slider 344 moves upwards, drives the second driving rope 43 to stretch, and further bends the second conduit 45 along the opposite direction of the second direction.
As shown in fig. 7, in the embodiment of the present invention, the catheter mechanism 40 further includes: an endoscope 46 and a light source 47. An endoscope 46 and a light source 47 are provided on an end surface of the second catheter 45, and the endoscope 46 is connected to the driving mechanism 20.
Specifically, in the embodiment, the first catheter 41 is provided with three through holes in total, and the three through holes are respectively used for penetrating the first driving rope 42, the second driving rope 43 and the electric wire 44, the endoscope 46 and the light source 47 are connected with the second endoscope connector 33 through the electric wire 44, the second endoscope connector 33 is connected with the first endoscope connector 29, the driver 25 is connected with the first endoscope connector 29 to supply power to the endoscope 46 and the light source 47, and simultaneously control the brightness of the light source 47, and decode signals of the endoscope 46.
As shown in fig. 8, in an embodiment of the present invention, the nasogastric tube flexible robot further includes: the connector 27 and the integrated control assembly 60, the connector 27 is arranged in the first shell 21, the integrated control assembly 60 is arranged in the linear pushing mechanism 10, the integrated control assembly 60 is in communication connection with the driver 25 through the connector 27, and the integrated control assembly 60 is used for man-machine interaction.
Specifically, the driver 25 decodes the video signal acquired by the endoscope 46 and communicates with the integrated control assembly 60 via the connector 27. The integrated control assembly includes: a main control module 61, a power supply and communication module 63 and a touch screen 62. The main control module 61 is connected with the power supply and communication module 63 and the touch screen 62, the power supply and communication module 63 is responsible for battery charge and discharge management, communication protocol conversion and the like, a user can monitor the state of the flexible robot and endoscope video information through the touch screen 62 and configure flexible robot parameters, and the user can access the main control module 61 by using a handle and control the flexible robot through the handle.
Further, the flexible robot for nasal tracheal intubation provided by the embodiment of the invention further comprises a battery 70, and the battery 70 supplies power for the flexible robot.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A flexible robot for nasal tracheal intubation, comprising:
a linear pushing mechanism;
the driving mechanism is connected with the linear pushing mechanism and is used for driving the driving mechanism to move linearly;
the connecting mechanism is detachably connected with the driving mechanism and is used for driving the connecting mechanism to rotate;
the catheter mechanism is detachably connected with the connecting mechanism and is used for driving the catheter mechanism to rotate or bend;
and the trachea cannula is detachably connected with the catheter mechanism.
2. The flexible robot of claim 1, wherein the drive mechanism comprises:
the fixed part is connected with the linear pushing mechanism;
the rotating part is sleeved in the fixing part and is rotationally connected with the fixing part, the rotating part is connected with the connecting mechanism, and the rotating part is used for driving the connecting mechanism to rotate.
3. The flexible robot of nasal tracheal intubation of claim 2, wherein the fixation portion comprises:
the first shell is connected with the linear pushing mechanism, and a bearing and a first gear are arranged on the inner wall of the first shell;
the rotating part includes:
the second shell is sleeved in the first shell and is rotationally connected with the first shell through the bearing;
a driver disposed within the first housing;
the first motor and the second motor are arranged in the second shell, the driver is used for driving the first motor and the second motor to rotate, the first motor is used for driving the conduit mechanism to bend through the connecting mechanism, and the second motor is used for driving the conduit mechanism to rotate through the connecting mechanism;
and the second gear is connected with the second motor and meshed with the first gear.
4. A nasal tracheal cannula flexible robot as in claim 3, wherein the rotating portion further comprises:
the connecting plate is connected with the transmission shaft of the second gear and is connected with the connecting mechanism;
the first coupling is arranged on the connecting plate, the first coupling is connected with the first motor, and the first coupling is used for being detachably connected with the connecting mechanism.
5. The flexible robot of claim 1, wherein the connection mechanism comprises:
the driving rotating part is connected with the driving mechanism, and when the driving mechanism rotates clockwise, the driving rotating part moves along a first direction so as to drive the catheter mechanism to bend along a second direction;
and the passive rotating part is in transmission connection with the active rotating part, and when the driving mechanism rotates anticlockwise, the passive rotating part moves along the first direction and drives the conduit mechanism to bend along the opposite direction of the second direction, wherein the first direction and the second direction are arranged at an angle.
6. The flexible robot for nasal tracheal intubation of claim 5, wherein the active rotation portion comprises:
the first screw rod is connected with the driving mechanism;
the third gear is sleeved on the first screw rod;
the first sliding block is sleeved on the first screw rod and connected with the conduit mechanism, and when the first sliding block moves along the first direction, the conduit mechanism can be driven to bend along the second direction.
7. The flexible robot of claim 6, wherein the passive rotating portion comprises:
a second screw rod;
the fourth gear is sleeved on the second screw rod and meshed with the third gear;
the second slider is sleeved on the second screw rod and connected with the conduit mechanism, and when the second slider moves along the first direction, the second slider can drive the conduit mechanism to bend along the opposite direction of the second direction.
8. The flexible robot of claim 7, wherein the catheter mechanism comprises:
the first guide pipe is provided with a plurality of through holes, and the first end of the first guide pipe is connected with the connecting mechanism;
a second conduit connected to the first conduit;
the first end of the first driving rope is connected with the second guide pipe, and the second end of the first driving rope penetrates through the second guide pipe and one through hole and then is connected with the first sliding block, so that the first driving rope is driven to stretch when the first sliding block moves along the first direction, and the second guide pipe is further bent along the second direction;
the first end of the second driving rope is connected with the second guide pipe, and the second end of the second driving rope penetrates through the second guide pipe and one through hole and then is connected with the second sliding block, so that the second sliding block is driven to stretch when moving along the first direction, and the second guide pipe is further bent along the opposite direction of the second direction.
9. The flexible robot of claim 8, wherein the catheter mechanism further comprises:
an endoscope provided on an end surface of the second catheter, the endoscope being connected to the driving mechanism;
and the light source is arranged on the end face of the second conduit.
10. A nasal tracheal cannula flexible robot as in claim 3, further comprising:
a connector disposed within the first housing;
the integrated control assembly is arranged on the linear pushing mechanism, and is in communication connection with the driver through the connector and used for man-machine interaction.
CN202311336434.4A 2023-10-16 2023-10-16 Flexible robot for nasal tracheal intubation Pending CN117504081A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311336434.4A CN117504081A (en) 2023-10-16 2023-10-16 Flexible robot for nasal tracheal intubation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311336434.4A CN117504081A (en) 2023-10-16 2023-10-16 Flexible robot for nasal tracheal intubation

Publications (1)

Publication Number Publication Date
CN117504081A true CN117504081A (en) 2024-02-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311336434.4A Pending CN117504081A (en) 2023-10-16 2023-10-16 Flexible robot for nasal tracheal intubation

Country Status (1)

Country Link
CN (1) CN117504081A (en)

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