CN111419405B - Magnetic guiding type respiratory tract trachea cannula robot system and use method thereof - Google Patents
Magnetic guiding type respiratory tract trachea cannula robot system and use method thereof Download PDFInfo
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- CN111419405B CN111419405B CN202010341354.8A CN202010341354A CN111419405B CN 111419405 B CN111419405 B CN 111419405B CN 202010341354 A CN202010341354 A CN 202010341354A CN 111419405 B CN111419405 B CN 111419405B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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. ventilators; Tracheal tubes
- A61M16/04—Tracheal tubes
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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. ventilators; Tracheal tubes
- A61M16/04—Tracheal tubes
- A61M16/0488—Mouthpieces; Means for guiding, securing or introducing the tubes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention relates to a magnetic guiding type respiratory tract trachea cannula robot system and a using method thereof. The robot system comprises a shell, wherein a guide bar roller and an air tube intubation roller are arranged on the shell, the air tube intubation roller is arranged below the guide bar roller, the guide bar roller and the air tube intubation roller are respectively connected with a driving device, and the driving devices are arranged in the shell. The invention avoids the defects of poor visual field, tissue injury, larynx edema, hemorrhage and other complications caused by the blind intubation of the traditional trachea cannula, reduces the probability of misplug into esophagus, is suitable for trachea cannula operation of respiratory tract spray infectious disease patients, and reduces doctor-patient cross infection.
Description
Technical Field
The invention belongs to the field of respiratory tract assisted respiration and nursing, and relates to a robot system for automatic guidance and intubation of respiratory tract air pipes and a using method thereof.
Background
Tracheal intubation is the first step in first aid and general anesthesia surgery, which is of great significance in modern medicine. The average of 5000 or more medical operations in China is provided with 7 or more anesthesiologists to complete excessive intubation tasks every year, and the embarrassment of the deficiency of the anesthesiologists in China is more and more remarkable along with the annual increase of the medical service demands and the operation amount of people. Meanwhile, the tracheal cannula data show: even in a conventional non-emergency operation state, the anesthetic often intubates, the first tracheal intubation success rate is 70%, the second intubation success rate is 89%, and the assistant is required to assist continuously. Under some emergency and special environments, the tracheal intubation operation also has the conditions of cross infection, high exposure risk and the like, for example, when the intubation operation is carried out on patients with infectious respiratory diseases such as novel coronavirus pneumonia, SARS and the like, the patient irritation choking cough reaction can cause splash of spray containing viruses, and the risk of infection of medical staff is sharply increased. In summary, anesthesiologists and cannula care procedures not only take on heavy medical work, but also present a greater risk of cross-infection to the doctor. Accordingly, there is a need to develop a robotic system that can perform a respiratory tracheal intubation procedure in place of an anesthesiologist or other medical personnel.
The study of simulating human trachea cannula experiments by using the da vinci robot is carried out abroad, but the da vinci robot trachea cannula is theoretically feasible, but is limited to the trachea cannula in an anesthesia state in an operating room due to the limitations of huge equipment, high price and inconvenience in carrying, and cannot be widely popularized and applied outside a hospital. In addition, scientific researchers at university of Canada's Mejill have studied the intubate operation robot through remote control, but the robot that they designed only replaces the staff with the arm and carries out intubate operation, still need the continuous assistance of assistant in the operation process, and need to judge in real time by operating personnel according to laryngoscope feedback situation, the innovation is not high. Against the background, there is an urgent need to invent a magneto-optical guided, convenient and portable tracheal intubation robot device capable of being independently implemented, which is used for various applications in urgent need of rescuing or disaster sites such as hospital, pre-hospital, battlefield, offshore, space, earthquake and the like, so as to reduce the working intensity of medical staff and solve the problem of low rescuing success rate caused by lack of professional medical staff.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention aims to provide a magnetic guide type respiratory tract trachea cannula robot system and a use method thereof, which avoid the defects of poor visual field, tissue damage, larynx edema, bleeding and other complications caused by blind cannula in the traditional trachea cannula, reduce the probability of being mistakenly inserted into esophagus, are suitable for trachea cannula operation of respiratory tract droplet infectious patients, and reduce doctor-patient cross infection.
The technical scheme of the invention is as follows: the invention relates to a magnetic guiding type respiratory tract trachea cannula robot system, which is characterized in that: the robot system comprises a shell, wherein a guide bar roller and an air tube intubation roller are arranged on the shell, the air tube intubation roller is arranged below the guide bar roller, the guide bar roller and the air tube intubation roller are respectively connected with a driving device, and the driving devices are arranged in the shell.
Preferably, the driving device comprises a motor, a coupler, a bevel gear, a bearing seat and a spur gear, wherein the motor is connected with the idler wheels sequentially through the coupler, the bevel gear, the bearing seat and the spur gear, the bearing seat, the spur gear and the idler wheels are two, the two spur gears are meshed with each other, the two idler wheels are driven to rotate in opposite directions, and the idler wheels are guide strip idler wheels or trachea cannula idler wheels.
Preferably, the driving device further comprises an encoder connected with the bevel gear.
Preferably, the guide strip roller and the air pipe insertion roller are respectively two groups and are arranged on a vertical line in a central symmetry manner.
Preferably, the robot system further comprises a magnetic guiding unit, wherein the magnetic guiding unit comprises a magnetic guiding mechanical arm and a permanent magnet, one end of the magnetic guiding mechanical arm is connected with the shell, and the other end of the magnetic guiding mechanical arm is connected with the permanent magnet.
Preferably, the robot system further comprises a controller, wherein the controller comprises an industrial personal computer, and the motor, the encoder and the magnetic guiding mechanical arm are respectively connected with the industrial personal computer.
Preferably, the robot system further comprises an electromagnetic induction device and a light spot analysis device, and the electromagnetic induction device and the light spot analysis device are respectively connected with the industrial personal computer.
Preferably, the robot system further comprises a magnetic trachea cannula, the magnetic trachea cannula comprises a guide bar and a trachea cannula, the guide bar is arranged in the trachea cannula and consists of an aluminum alloy rod and a PVC outer film, the head end of the guide bar consists of a neodymium iron boron magnet and a latex tube, and the magnetic trachea cannula comprises a high-brightness cold light source.
Preferably, the magnetic trachea cannula further comprises an inflation valve, a spherical air bag is arranged on the outer side wall of the end portion of the trachea cannula, and the inflation valve is communicated with the spherical air bag through a pipeline.
The application method of the magnetic guide type respiratory tract trachea cannula robot system is characterized by comprising the following steps of: the method comprises the following steps:
1) The guide strip is arranged in the trachea cannula, the upper end of the guide strip extends out of the trachea cannula, and the guide strip and the trachea cannula are inserted through the oropharynx of a patient;
2) The magnetic guiding mechanical arm is driven by the industrial personal computer, the permanent magnet at the tail end of the magnetic guiding mechanical arm is arranged near annular cartilage in front of the neck of a patient, and the magnetic force of the magnetic guiding mechanical arm interacts with the neodymium-iron-boron magnet at the head end of the guiding strip to drive the guiding strip to point to the glottic direction;
3) The guide bar is arranged between guide bar rollers, the trachea cannula is arranged between the trachea cannula rollers, the cold light source at the head end of the guide bar is transmitted to the neck light spot analysis device through the electromagnetic induction device, and after the guide bar is determined to be correctly pointed, the industrial personal computer drives the guide bar rollers to slowly feed the guide bar into the glottis;
4) Judging that the guide bar is pushed to 2cm inside the main air pipe according to the pushing length of the guide bar and the neodymium-iron-boron magnet part at the head end of the guide bar sensed by the electromagnetic sensing device, stopping pushing the guide bar, and fixing the guide bar roller;
5) The industrial personal computer starts the trachea cannula roller, pushes the trachea cannula to be sent to the position of the head end of the guide bar along the guide bar, starts the guide bar roller to rotate reversely, and starts the inflation valve to inflate the spherical air bag after the guide bar is withdrawn outside the trachea cannula, so that the trachea cannula is fixed in the air passage;
6) Connecting the trachea cannula to a breathing machine, starting a working instruction of the breathing machine, auscultating double-lung breathing sounds by the stethoscope, and judging and determining that the trachea cannula is successfully implemented.
The invention adopts the magnetic navigation principle, and under the guidance of the external magnetic guiding unit, the special magnetic trachea cannula guiding strip and the trachea cannula are inserted into the respiratory tract in a roller driving mode. The defects of tissue injury, larynx edema, hemorrhage and other complications caused by the blind intubation due to poor vision of the traditional trachea cannula are avoided through guidance of the magnetic guide unit and confirmation of the light source at the head end of the guide strip, and the probability of misinsertion into the esophagus is reduced. The device can smoothly complete the trachea cannula, is particularly suitable for the trachea cannula operation of patients with respiratory tract droplet infection, and reduces the cross infection of doctors and patients. Therefore, compared with the prior art, the invention has the following beneficial technical effects:
1. The success rate of intubation is improved; according to the invention, the guide bar roller and the trachea cannula roller which are arranged on the shell and positioned on the same vertical line are used for conveying the guide bar and the trachea cannula, so that the guide bar and the trachea cannula can be accurately conveyed into the oropharynx of a patient, the speed of insertion can be controlled, and the success rate of cannula is greatly improved.
2. The cannula position is accurate; according to the invention, the insertion position of the guide strip is observed through the light spot analysis device, the swing of the magnetic guide mechanical arm is controlled, the magnetic head end of the guide strip is guided by the permanent magnet at the tail end of the magnetic guide mechanical arm, the insertion depth of the guide strip is controlled by the guide strip roller, the magnetic head end is accurately sent to the glottic position, and the whole process is completed by a robot to replace the traditional manual operation, so that accurate intubation is realized.
3. The volume is small, and the carrying is convenient; the invention has small volume and convenient carrying, is equivalent to the size of a common first-aid kit, can be applied to various urgent need of treatment or disaster sites such as hospital, pre-hospital, battlefield, offshore, space, earthquake and the like, greatly lightens the working intensity of medical staff and solves the problem of low treatment success rate caused by lack of professional medical staff.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the driving apparatus of the present invention;
FIG. 3 is a schematic view of the magnetic tracheal cannula of the present invention;
FIG. 4 is a schematic block diagram of a control circuit of the present invention;
Fig. 5 is a schematic view of the surgical condition of the present invention.
The reference numerals are as follows:
1. a guide bar roller; 2. trachea cannula idler wheels; 3. a housing; 4. a tracheal cannula; 5. a guide bar; 6. a magnetic guiding mechanical arm; 7. a permanent magnet; 8. a motor; 9. a coupling; 10. bevel gears; 11. a bearing seat; 12. spur gears; 13. an encoder; 14. a roller; 15. an inflation valve; 16. a pipe; 17. a spherical air bag; 18. a leader end; 19. an electromagnetic induction device; 20. a flare analyzing device; 21. and the industrial personal computer.
Detailed Description
Referring to fig. 1, the structure of the embodiment of the invention comprises a shell 3, a guide bar roller 1 and an air tube intubation roller 2 are arranged on the shell 3, the air tube intubation roller 2 is arranged below the guide bar roller 1, the guide bar roller 1 and the air tube intubation roller 2 are respectively connected with a driving device, the driving devices are arranged in the shell 3, in the embodiment, the guide bar roller 1 and the air tube intubation roller 2 are respectively two groups, each group is two, and the two groups are arranged in a vertical line in a central symmetry manner. The invention also comprises a magnetic guiding unit, wherein the magnetic guiding unit comprises a magnetic guiding mechanical arm 6 and a permanent magnet 7, one end of the magnetic guiding mechanical arm 6 is connected with the shell 3, and the other end is connected with the permanent magnet 7.
Referring to fig. 2, the driving device of the invention comprises a motor 8, a coupling 9, a bevel gear 10, a bearing seat 11 and a spur gear 12, wherein the motor 8 is connected with a roller 14 through the coupling 9, the bevel gear 10, the bearing seat 11 and the spur gear 12 in sequence, the bearing seat 11, the spur gear 12 and the roller 14 are two, the two spur gears 12 are meshed with each other, the two rollers 14 are driven to rotate in opposite directions, and the roller 14 is a guide bar roller 1 or an endotracheal intubation roller 2. In this embodiment, the driving device is four groups, and two groups of guide bar rollers 1 and two groups of or trachea cannula rollers 2 are respectively connected, the driving device may further include an encoder 13, the encoder 13 is connected with the bevel gear 10, the rotation angle and direction of the rollers 14 are monitored by the encoder 13, and the conveying length of the guide bar 5 and the trachea cannula 4 can be obtained through the total rotation angle and rotation direction.
Referring to fig. 3, the magnetic trachea cannula of the invention comprises a guide strip 5 and a trachea cannula 4, wherein the guide strip 5 is arranged in the trachea cannula 4, the guide strip 5 consists of an aluminum alloy rod and a PVC outer film, the head end 18 of the guide strip consists of a neodymium iron boron magnet and a latex tube, and a high-brightness cold light source is contained. The magnetic trachea cannula further comprises an inflation valve 15, a spherical air bag 17 is arranged on the outer side wall of the end portion of the trachea cannula 4, and the inflation valve 15 is communicated with the spherical air bag 17 through a pipeline 16 to inflate the spherical air bag 17. The shape of the end part of the trachea cannula 4 is designed into a spherical air bag 17, so that the guide strip 5 can enter the trachea without damaging the mucous membrane tissues of the oral cavity and the airway.
Referring to fig. 4, the controller of the present invention includes an industrial personal computer 21, a motor 8, an encoder 13 and a magnetic guiding mechanical arm 6 are respectively connected with the industrial personal computer 21, in this embodiment, the motor 8 and the encoder 13 are respectively 4 groups, corresponding to two groups of guiding strip rollers 1 and air pipe insertion rollers 2; the invention also comprises an electromagnetic induction device 19 and a light spot analysis device 20, wherein the electromagnetic induction device 19 and the light spot analysis device 20 are respectively connected with the industrial personal computer 21. The electromagnetic induction device 19 judges the position of the magnet at the head end 18 of the guide bar, the light spot analysis device 20 is used for assisting in judging the position of the head end 18 of the guide bar, and the electromagnetic induction device 19 and the light spot analysis device 20 are arranged at the upper part of the trachea of a patient together. The electromagnetic induction device 19 is composed of array distributed electromagnetic induction coils, and the position of the magnet at the leading end 18 can be determined according to the difference of the magnetic induction intensity of each coil in the array distributed coils. The spot analysis device 20 adopts the existing image analysis system, the camera shoots the neck spot, and the image analysis system judges the visual field coordinate position and the spot brightness of the spot, so that the auxiliary magnetic induction device 19 judges the position of the head end 18 of the guide bar. When the length fed by the guide bar 5, the electromagnetic induction device 19 and the light spot analysis device 20 judge that the guide bar head end 18 reaches the epiglottis position, the position information is transmitted to the industrial personal computer 21, the industrial personal computer 21 sends a control instruction to control the magnetic guide mechanical arm 6 to drive the permanent magnet 7 to the neck of the human body, the guide bar head end 18 faces the glottic position of the trachea, and meanwhile, the industrial personal computer 21 drives the guide bar roller 1 to feed the guide bar head end 18 into the glottic position. The industrial personal computer 21 may employ a conventional control circuit.
Referring to fig. 5, when the present invention is used for intubation, the patient takes a recumbent position, the neck is raised, the head is reclined, and the oral cavity is exposed. The magnetic guiding type respiratory tract trachea cannula robot system is loaded to an operating table, and the left side of the head of a patient. The guide strip 5 is placed in the tracheal cannula 4 and extends beyond the front end of the tracheal cannula 4. And the trachea cannula 4 is placed between the trachea cannula rollers 2 of the device, and simultaneously, the guide strips 5 are also placed in the corresponding guide strip rollers 1. The industrial personal computer 21 controls the guide bar roller 1 to slowly convey the guide bar 2 to the oropharynx of a patient, when the length fed by the guide bar 5, the electromagnetic induction device 19 and the light spot analysis device 20 judge that the guide bar head end 18 reaches the epiglottis position, position information is transmitted to the industrial personal computer 21, the industrial personal computer 21 sends out a control instruction to control the magnetic guide mechanical arm 6 to drive the permanent magnet 7 to the neck (near the annular cartilage in front of the neck), when the guide bar head end 18 of the guide bar 5 is attracted by the permanent magnet 7 and is guided to the glottis, the industrial personal computer 21 drives the guide bar roller 1 to continuously push the guide bar 5 for about 2cm, and the guide bar head end 18 is conveyed to the glottis position. Then the industrial personal computer 21 drives the trachea cannula roller 2 to insert the trachea cannula 4 into the trachea along the guide strip 5, and finally the guide strip 5 is withdrawn to complete the trachea cannula operation.
The application method of the invention is as follows:
1) The guide strip 5 is arranged in the trachea cannula 4, the upper end of the guide strip 5 extends out of the trachea cannula 4, and the guide strip 5 and the trachea cannula 4 are inserted through the oropharynx of a patient;
2) The magnetic guiding mechanical arm 6 is driven by the industrial personal computer 21, the permanent magnet 7 at the tail end of the magnetic guiding mechanical arm is arranged near annular cartilage in front of the neck of a patient, and the magnetic force of the magnetic guiding mechanical arm interacts with the neodymium-iron-boron magnet at the head end 18 of the guiding strip to drive the guiding strip 5 to point to the glottic direction;
3) The guiding strip 5 is arranged between the guiding strip rollers 1, the trachea cannula 4 is arranged between the trachea cannula rollers 2, the cold light source at the head end 18 of the guiding strip is transmitted to the neck light spot analysis device 20 through the electromagnetic induction device 19, and after the guiding strip 5 is determined to be correctly pointed, the industrial personal computer 21 drives the guiding strip rollers 1 to slowly feed the guiding strip 5 into the glottis;
4) According to the pushing length of the guide bar 5 and the neodymium-iron-boron magnet part of the head end 18 of the guide bar sensed by the electromagnetic sensing device 19, stopping pushing the guide bar 5 after the guide bar 5 is pushed to about 2cm in the main air pipe, and fixing the guide bar roller 1;
5) The industrial personal computer 21 starts the trachea cannula roller 2, pushes the trachea cannula 4 to be fed to the position of the head end 18 of the guide bar along the guide bar 5, starts the guide bar roller 1 to rotate reversely, and starts the inflation valve 15 to inflate the spherical air bag 17 after the guide bar 5 is withdrawn outside the trachea cannula 4, so as to fix the trachea cannula 4 in the air passage;
6) Connecting the trachea cannula 4 to a breathing machine, starting a working instruction of the breathing machine, auscultating double-lung breathing sounds by the stethoscope, and judging and determining that the trachea cannula is successfully implemented.
The above is only a specific embodiment disclosed in the present invention, but the scope of the present invention is not limited thereto, and the scope of the present invention should be defined by the claims.
Claims (5)
1. A magnetic guiding type respiratory tract trachea cannula robot system, which is characterized in that: the robot system comprises a shell, guide bar rollers and trachea cannula rollers are arranged on the shell, the trachea cannula rollers are arranged below the guide bar rollers, the guide bar rollers and the trachea cannula rollers are respectively connected with a driving device, the driving devices are arranged in the shell and comprise a motor, a coupler, a bevel gear, a bearing seat and a spur gear, the motor is sequentially connected with the rollers through the coupler, the bevel gear, the bearing seat and the spur gear, the bearing seat, the spur gear and the rollers are two, the two spur gears are meshed with each other and are driven to rotate in opposite directions, the rollers are guide bar rollers or trachea cannula rollers, the robot system further comprises a magnetic guide unit, the magnetic guide unit comprises a magnetic guide mechanical arm and a permanent magnet, one end of the magnetic guide mechanical arm is connected with the shell, the other end of the magnetic guide mechanical arm is connected with the permanent magnet, the robot system further comprises a magnetic trachea cannula, the magnetic trachea cannula comprises a guide bar and a trachea cannula, the guide bar is arranged in the trachea cannula, the guide bar comprises an aluminum alloy bar and PVC tube, the head end of the guide bar comprises a neodymium magnet and a latex, the high-intensity induction light source is contained in the inside the body, and the electromagnetic tube is connected with an electromagnetic induction device and an electromagnetic light spot analysis device.
2. The magnetically guided respiratory tracheal intubation robot system of claim 1, wherein: the driving device further comprises an encoder, and the encoder is connected with the bevel gear.
3. The magnetically guided respiratory tract tracheal intubation robot system of claim 2, wherein: the guide strip roller and the air pipe insertion roller are respectively two groups and are arranged on a vertical line in a central symmetry manner.
4. A magnetically guided respiratory tracheal intubation robot system according to claim 3, wherein: the robot system further comprises a controller, wherein the controller comprises an industrial personal computer, and the motor, the encoder and the magnetic guiding mechanical arm are respectively connected with the industrial personal computer.
5. A magnetically guided respiratory tract tracheal intubation robot system according to any one of claims 1 to 4, wherein: the magnetic trachea cannula further comprises an inflation valve, a spherical air bag is arranged on the outer side wall of the end portion of the trachea cannula, and the inflation valve is communicated with the spherical air bag through a pipeline.
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| CN110432959B (en) * | 2019-09-05 | 2024-03-08 | 西安交通大学医学院第一附属医院 | Uterine lifting device |
| CN111821553A (en) * | 2020-08-20 | 2020-10-27 | 西安交通大学医学院第一附属医院 | A magnetron visualized tracheal intubation pre-guiding device |
| CN112245749B (en) * | 2020-09-18 | 2025-01-14 | 台州学院 | A fully automatic double-flexible arm intubation system |
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| CN212234676U (en) * | 2020-04-27 | 2020-12-29 | 西安交通大学医学院第一附属医院 | A magnetically guided airway and endotracheal intubation robot system |
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| US20090298004A1 (en) * | 1997-11-06 | 2009-12-03 | Rizoiu Ioana M | Tunnelling probe |
| JP3673157B2 (en) * | 2000-09-05 | 2005-07-20 | オリンパス株式会社 | Electric angle type electronic endoscope device |
| JP2003019200A (en) * | 2001-06-27 | 2003-01-21 | Seitsu Kagi Kofun Yugenkoshi | Oxygen supply tube device for insertion into air tube |
| US8046049B2 (en) * | 2004-02-23 | 2011-10-25 | Biosense Webster, Inc. | Robotically guided catheter |
| US8620473B2 (en) * | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
| IT1392730B1 (en) * | 2009-01-12 | 2012-03-16 | Domenico De | PERFECTED LARYNGOSCOPE THAT INCLUDES A SERIES OF MAGNETIC ELEMENTS SUCH AS TO ALLOW A GUIDE DURING A ENDOTRACHEAL INTUBATION PROCEDURE OF A PATIENT |
| CN105944198B (en) * | 2016-05-16 | 2017-12-12 | 西安交通大学第一附属医院 | A kind of lung ventilator with suction sputum robot |
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