A tracheal intubation device for placing an endotracheal tube in the trachea of a patient includes a bar-shaped camera, a handle portion, a guiding portion, and a display device. The bar-shaped camera for capturing images is placed inside the endotracheal tube. The display device is electrically connected to the bar-shaped camera for displaying images captured by the bar-shaped camera. The guiding portion connected to the handle portion has a front end and a rear end. The rear end is connected to the handle portion, and the bar-shaped camera and the endotracheal tube are movably situated in the guiding portion.