技术领域Technical field
本发明涉及腹腔镜缝合器技术领域，特别涉及一种曲针可便捷拆装式连续往复运动腹腔镜缝合器。The invention relates to the technical field of laparoscopic suturing devices, and in particular to a laparoscopic suturing device with a curved needle that can be easily disassembled and reciprocated.
背景技术Background technique
腹腔镜手术是一门新发展起来的微创方法，其主要用于腹腔内检查和治疗。手术中对术后人体组织进行缝合时，医生通过缝合器，持续拉动、松开钢丝绳，驱动前端摆头带动缝合针连续作回转运动，刺破人体组织并进行缝合。在腹腔镜手术中，缝合器的缝合针通常采用弧形结构，通过缝合器的激发，实现缝合针的转动，带动缝线进行缝合。在进行腹腔镜手术缝合时，包括缝合针等的执行器械因为频繁动作和受力容易被磨损或疲劳破坏，因此设计一种执行器械能够便捷拆卸更换的缝合器，有利于提升缝合针更换效率，提升器械的安全性和可靠性，降低缝合整体成本。另外现有技术中缝合针通常是360度周回旋转的，这种方式主要的不足之处在于360度旋转时缝合针朝一个方向连续旋转，容易卡住人体组织部分，导致缝合针卡死无法继续缝合。Laparoscopic surgery is a newly developed minimally invasive method, which is mainly used for intra-abdominal examination and treatment. When suturing the postoperative human tissue during the operation, the doctor uses the suturing device to continuously pull and loosen the wire rope, and drives the front-end swing head to drive the suture needle to continuously rotate, puncture the human tissue and suture. In laparoscopic surgery, the suturing needle of the suturing device usually adopts an arc-shaped structure. Through the stimulation of the suturing device, the suturing needle rotates and drives the suture for suturing. During laparoscopic surgical suturing, execution instruments including suture needles are easily worn or damaged by fatigue due to frequent movements and stress. Therefore, designing a suturing device with execution instruments that can be easily disassembled and replaced will help improve the efficiency of suture needle replacement. Improve the safety and reliability of the instrument and reduce the overall cost of suturing. In addition, the suture needle in the prior art usually rotates 360 degrees. The main disadvantage of this method is that the suture needle continuously rotates in one direction during the 360-degree rotation, which can easily get stuck in human tissue, causing the suture needle to become stuck and unable to continue. Stitch.
发明内容Contents of the invention
本发明的目的是：针对上述背景技术中存在的问题，提供一种曲针模块能够便捷、快拆更换的缝合器，以提升曲针（缝合针）更换效率，从而提升器械的安全性和可靠性，降低缝合整体成本。The purpose of the present invention is to provide a suturing device with a curved needle module that can be conveniently and quickly removed and replaced in order to improve the efficiency of curved needle (suture needle) replacement, thereby improving the safety and reliability of the instrument. properties and reduce the overall cost of suturing.
为了达到上述目的，本发明提供了一种曲针可便捷拆装式连续往复运动腹腔镜缝合器，包括控制主体、曲针模块和曲针模块支撑体；In order to achieve the above object, the present invention provides a conveniently removable curved needle continuous reciprocating motion laparoscopic suture device, which includes a control body, a curved needle module and a curved needle module support body;
所述曲针模块包括曲针安装块，所述曲针安装块的第一端活动设置有曲针，所述曲针安装块的第二端与所述曲针模块支撑体的第一端可拆卸连接，所述曲针模块支撑体的第二端与所述控制主体传动连接；The curved needle module includes a curved needle mounting block, a first end of the curved needle mounting block is movably provided with a curved needle, and a second end of the curved needle mounting block can be connected to the first end of the curved needle module support body. Disassembly and connection, the second end of the crank module support body is drivingly connected to the control body;
所述曲针安装块、所述曲针模块支撑体上均设置有定位组件以及锁紧组件；所述定位组件包括设置在所述曲针安装块上的导向定位槽、以及设置在所述曲针模块支撑体上的导向定位凸台，所述导向定位凸台与所述导向定位槽相配合；所述锁紧组件包括设置在所述曲针安装块上的锁紧销钉孔、以及设置在所述曲针模块支撑体上的锁紧销钉，所述锁紧销钉与所述锁紧销钉孔相配合。The curved needle mounting block and the curved needle module support body are each provided with a positioning component and a locking component; the positioning component includes a guide positioning groove provided on the curved needle mounting block, and a guide positioning groove provided on the curved needle mounting block. A guide positioning boss on the needle module support body, the guide positioning boss cooperates with the guide positioning groove; the locking assembly includes a locking pin hole provided on the crank needle mounting block, and a locking pin hole provided on the crank needle mounting block; The locking pin on the crank module support body matches the locking pin hole.
进一步地，所述曲针模块支撑体的第一端设置有卡槽，所述曲针安装块的第二端插设于所述卡槽内，所述导向定位凸台、所述锁紧销钉均位于所述卡槽内。Further, the first end of the crank module support body is provided with a slot, the second end of the crank mounting block is inserted into the slot, the guide positioning boss and the locking pin are located in the card slot.
进一步地，所述曲针模块支撑体设置有缝合主驱动轮，所述曲针安装块设置有缝合从驱动轮，所述缝合从驱动轮设置有传动槽，所述缝合主驱动轮设置有传动块，所述传动块与所述传动槽相配合，以使所述缝合从驱动轮随所述缝合主驱动轮同步旋转。Further, the curved needle module support body is provided with a suturing main drive wheel, the curved needle mounting block is provided with a suture slave drive wheel, the suture slave drive wheel is provided with a transmission groove, and the suture main drive wheel is provided with a transmission The transmission block cooperates with the transmission groove so that the suturing slave driving wheel rotates synchronously with the suturing main driving wheel.
进一步地，所述曲针安装块上开设有与所述缝合从驱动轮对应的驱动轮开口，所述驱动轮开口与所述导向定位槽连通，所述曲针安装块安装时所述缝合主驱动轮的传动块先沿所述导向定位槽移动，再进入所述缝合从驱动轮的传动槽中。Further, the curved needle mounting block is provided with a driving wheel opening corresponding to the suturing slave driving wheel, and the driving wheel opening is connected with the guide positioning groove. When the curved needle mounting block is installed, the suturing master The transmission block of the driving wheel first moves along the guide positioning groove, and then enters the transmission groove of the sewing slave driving wheel.
进一步地，所述曲针模块支撑体与所述控制主体之间设置有控制连接杆，所述控制连接杆内穿设有多个控制钢丝，所述控制钢丝用于连接所述控制主体与所述曲针模块支撑体，以通过所述控制主体进行控制。Further, a control connecting rod is provided between the crank module support body and the control body, and a plurality of control steel wires are passed through the control connecting rod, and the control steel wires are used to connect the control body and the control body. The curved needle module support body is controlled by the control body.
进一步地，所述曲针安装块的第一端设置有曲针槽，所述曲针槽内活动设置有曲针，所述曲针沿所述曲针槽进行曲线运动，所述缝合从驱动轮与所述曲针之间设置有曲针传动组件，所述缝合从驱动轮通过所述曲针传动组件带动所述曲针往复运动。Further, the first end of the curved needle mounting block is provided with a curved needle groove, and a curved needle is movable in the curved needle groove. The curved needle moves in a curve along the curved needle groove, and the suture is driven from the A curved needle transmission component is provided between the wheel and the curved needle, and the suture drive wheel drives the curved needle to reciprocate through the curved needle transmission component.
进一步地，所述曲针传动组件包括曲针传动连杆和导向连杆，所述曲针传动连杆的第一端与所述曲针铰接，所述曲针传动连杆的第二端与所述缝合从驱动轮的非旋转中心位置铰接，所述导向连杆的第一端与所述曲针传动连杆铰接，所述导向连杆的第二端与所述曲针安装块铰接，所述曲针传动连杆与所述缝合从驱动轮的铰接点到所述缝合从驱动轮的旋转中心的连线与所述导向连杆始终平行，所述导向连杆与所述曲针安装块的铰接点到所述缝合从驱动轮的旋转中心的连线与所述曲针传动连杆始终平行，形成双平行四边形传动。Further, the crank transmission assembly includes a crank transmission connecting rod and a guide connecting rod. The first end of the crank transmission connecting rod is hinged with the crank pin, and the second end of the crank transmission connecting rod is hinged with the crank pin. The suture is hinged from the non-rotating center position of the driving wheel, the first end of the guide link is hinged to the crank drive link, and the second end of the guide link is hinged to the crank mounting block, The connecting line between the crank drive connecting rod and the suture driving wheel's hinge point to the rotation center of the sewing driving wheel is always parallel to the guide connecting rod, and the guide connecting rod is installed with the crank needle. The line connecting the hinge point of the block to the rotation center of the stitching slave drive wheel is always parallel to the crank drive connecting rod, forming a double parallelogram drive.
进一步地，所述曲针安装块的第一端设置有第一开口和第二开口，所述第一开口位于所述曲针槽的末端，所述第二开口设置有可拆卸的线导头，所述线导头用于连接缝合线的端部，所述第二开口设置有线导头往复脱离机构，所述线导头往复脱离机构用于固定所述线导头、或使所述线导头随所述曲针脱离。Further, the first end of the curved needle mounting block is provided with a first opening and a second opening, the first opening is located at the end of the curved needle slot, and the second opening is provided with a detachable wire guide. , the wire guide is used to connect the end of the suture, the second opening is provided with a wire guide reciprocating detachment mechanism, the wire guide reciprocating detachment mechanism is used to fix the wire guide, or make the wire The guide head is detached with the curved needle.
进一步地，所述线导头的第一端设置有锥形卡紧槽，所述锥形卡紧槽与所述曲针的穿刺尖端相对应。Further, the first end of the wire guide is provided with a tapered clamping groove, and the tapered clamping groove corresponds to the piercing tip of the curved needle.
进一步地，所述曲针安装块的第二开口后方设置有脱离机构安装槽，所述线导头往复脱离机构包括旋转扣和旋转扣底座，所述旋转扣、所述旋转扣底座均设置在所述脱离机构安装槽内，所述旋转扣位于所述脱离机构安装槽的第一端，所述旋转扣底座位于所述脱离机构安装槽的第二端，所述旋转扣、所述旋转扣底座均设置有相互配合的楔形齿，所述旋转扣朝向所述旋转扣底座移动时沿所述楔形齿而旋转预设的角度，所述旋转扣底座与所述旋转扣之间还设置有复位弹簧，所述线导头的第二端设置有两面切割法兰，所述旋转扣设置有端孔，所述两面切割法兰相对于所述旋转扣处于第一角度位置时能够穿过所述旋转扣的端孔，所述两面切割法兰相对于所述旋转扣处于第二角度位置时无法从所述旋转扣脱出。Further, a detachment mechanism installation slot is provided behind the second opening of the crank mounting block. The wire guide reciprocating detachment mechanism includes a rotating buckle and a rotating buckle base. The rotating buckle and the rotating buckle base are both arranged on In the detachment mechanism installation groove, the rotary buckle is located at the first end of the detachment mechanism installation groove, the rotary buckle base is located at the second end of the detachment mechanism installation groove, the rotary buckle, the rotary buckle The bases are equipped with mutually matching wedge-shaped teeth. When the rotary buckle moves toward the rotary buckle base, it rotates along the wedge-shaped teeth at a preset angle. A reset is also provided between the rotary buckle base and the rotary buckle. Spring, the second end of the wire guide is provided with a two-sided cutting flange, the rotary buckle is provided with an end hole, and the two-sided cutting flange can pass through the said rotary buckle when it is in a first angular position relative to the rotary buckle. In the end hole of the rotary buckle, the two-sided cutting flange cannot come out of the rotary buckle when it is in the second angular position relative to the rotary buckle.
本发明的上述方案有如下的有益效果：The above solution of the present invention has the following beneficial effects:
本发明提供的连续往复运动腹腔镜缝合器，曲针模块作为耗材整体更换，曲针模块与曲针模块支撑体之间设置通过导向组件以及定位组件的设置，能够快速、方便、可靠地完成曲针模块的拆卸与换装，且能够保证曲针模块安装的到位以及连接的稳固性，确保缝合器使用过程中的稳定可靠；In the continuous reciprocating laparoscopic suture device provided by the present invention, the curved needle module is replaced as a whole as a consumable material. A guide assembly and a positioning assembly are provided between the curved needle module and the curved needle module support body, so that the curved needle module can be completed quickly, conveniently and reliably. The disassembly and replacement of the needle module can ensure the installation of the curved needle module and the stability of the connection, ensuring the stability and reliability of the suturer during use;
本发明中，曲针连续往复运动的缝合通过双平行四边形传动机构，使得曲针传动连杆平动，对曲针的驱动力始终保持延切线方向、即有效力最大方向，能够保证传动的合理可靠性，提升曲针运动的平稳性；In the present invention, the continuous reciprocating motion of the curved needle passes through the double parallelogram transmission mechanism, causing the curved needle transmission connecting rod to move in translation, and the driving force for the curved needle always maintains the tangential direction, that is, the direction of the maximum effective force, which can ensure reasonable transmission. Reliability, improving the stability of the curved needle movement;
本发明中，通过曲针模块上线导头往复脱离机构的设置，使得在手术缝合过程中线导头有序地随曲针移动穿越人体组织的穿刺孔，或者与曲针脱离，且自动地形成了隔次脱离，保证了缝合器进行手术缝合时缝合线走线的有序性，进一步提升了缝合的可靠性以及便捷性；In the present invention, through the setting of the reciprocating detachment mechanism of the thread guide on the curved needle module, during the surgical suturing process, the thread guide moves in an orderly manner with the curved needle through the puncture hole of the human tissue, or detaches from the curved needle, and automatically forms a The detachment at intervals ensures the orderly routing of sutures when the stapler performs surgical suturing, further improving the reliability and convenience of suturing;
本发明中，曲针采用连续往复的缝合运动方式，相比于360度周回旋转的运动方式缝合更加顺畅，更好地避免了曲针缝合过程中与人体组织的卡滞现象；In the present invention, the curved needle adopts a continuous reciprocating suturing motion, which is smoother than the 360-degree circular motion, and better avoids the phenomenon of the curved needle getting stuck with human tissue during the suturing process;
本发明的其它有益效果将在随后的具体实施方式部分予以详细说明。Other beneficial effects of the present invention will be described in detail in the subsequent detailed description.
附图说明Description of the drawings
图1为本发明的整体结构示意图；Figure 1 is a schematic diagram of the overall structure of the present invention;
图2为本发明的曲针安装块与曲针模块支撑体爆炸示意图；Figure 2 is an exploded schematic diagram of the curved needle mounting block and the curved needle module support body of the present invention;
图3为本发明的曲针安装块与曲针模块支撑体另一爆炸示意图；Figure 3 is another exploded schematic diagram of the curved needle mounting block and the curved needle module support body of the present invention;
图4为本发明的曲针模块支撑体与控制连接杆连接示意图；Figure 4 is a schematic diagram of the connection between the crank module support body and the control connecting rod of the present invention;
图5为本发明的控制主体结构示意图；Figure 5 is a schematic structural diagram of the control body of the present invention;
图6为本发明的曲针的双平行四边形传动机构示意图；Figure 6 is a schematic diagram of the double parallelogram transmission mechanism of the curved needle of the present invention;
图7为本发明的曲针安装块内部结构示意图；Figure 7 is a schematic diagram of the internal structure of the curved needle mounting block of the present invention;
图8为本发明的线导头及线导头往复脱离机构示意图；Figure 8 is a schematic diagram of the wire guide and the wire guide reciprocating and disengaging mechanism of the present invention;
图9为本发明的两面切割法兰与旋转扣配合示意图。Figure 9 is a schematic diagram of the cooperation between the double-sided cutting flange and the rotary buckle of the present invention.
【附图标记说明】[Explanation of reference symbols]
100-控制主体；101-摆动驱动钢丝；102-缝合驱动钢丝；103-摆动驱动滚轮；104-缝合驱动滚轮；105-摆动旋钮；106-缝合驱动摇杆；107-钢丝导向滚轮组；200-曲针模块；201-曲针安装块；202-曲针；203-导向定位槽；204-锁紧销钉孔；205-缝合从驱动轮；206-传动槽；207-曲针槽；208-第一开口；209-第二开口；210-曲针传动连杆；211-导向连杆；300-曲针模块支撑体；301-卡槽；302-导向定位凸台；303-锁紧销钉；304-拆卸孔；305-缝合主驱动轮；306-传动块；307-铰接块；400-控制连接杆；401-铰接座；402-钢丝限位弹簧管；403-旋转旋钮；501-线导头；502-锥形卡紧槽；503-旋转扣；504-旋转扣底座；505-脱离机构安装槽；506-楔形齿；507-复位弹簧；508-两面切割法兰；509-限位台阶。100-control body; 101-swing drive wire; 102-sew drive wire; 103-swing drive roller; 104-sew drive roller; 105-swing knob; 106-sew drive rocker; 107-wire guide roller group; 200- Crank module; 201-crank mounting block; 202-crank; 203-guide positioning groove; 204-locking pin hole; 205-sewing driven wheel; 206-transmission groove; 207-crank groove; 208-No. One opening; 209-second opening; 210-crank drive connecting rod; 211-guide connecting rod; 300-crank module support; 301-clamping slot; 302-guide positioning boss; 303-locking pin; 304 -Disassembly hole; 305-Sewing main drive wheel; 306-Transmission block; 307-Hinged block; 400-Control connecting rod; 401-Hinged seat; 402-Wire limit spring tube; 403-Rotating knob; 501-Wire guide ; 502-tapered clamping groove; 503-rotating buckle; 504-rotating buckle base; 505-detachment mechanism mounting groove; 506-wedge teeth; 507-return spring; 508-double-sided cutting flange; 509-limit step.
具体实施方式Detailed ways
为使本发明要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limitations of the invention. Furthermore, the terms “first”, “second” and “third” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是锁定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a locking connection or a detachable connection. Connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
如图1-图3所示，本发明的实施例提供了一种曲针可便捷拆装式连续往复运动腹腔镜缝合器，缝合器整体上包括执行器主体和控制主体100，控制主体100用于控制执行器主体的动作。执行器主体包括曲针模块200以及曲针模块支撑体300，曲针模块200作为整体更换耗材，与曲针模块支撑体300是可拆卸连接的，因此在需要更换曲针模块200时直接将曲针模块200从曲针模块支撑体300上拆除，再替换新的曲针模块200进行下一次缝合，提升操作便捷性。As shown in Figures 1 to 3, embodiments of the present invention provide a curved needle removable and removable continuous reciprocating laparoscopic suture device. The suture device as a whole includes an actuator body and a control body 100. The control body 100 is To control the action of the actuator body. The actuator body includes a curved needle module 200 and a curved needle module support 300. The curved needle module 200 is a replacement consumable as a whole and is detachably connected to the curved needle module support 300. Therefore, when the curved needle module 200 needs to be replaced, the curved needle module 200 can be directly replaced. The needle module 200 is removed from the curved needle module support 300 and replaced with a new curved needle module 200 for the next suturing, thereby improving the convenience of operation.
其中，曲针模块200包括曲针安装块201，曲针202设置在曲针安装块201的第一端，且采用活动连接的方式，以在预设的轨迹进行弧形的、连续往复的运动，带动缝合线完成人体组织等的缝合。曲针安装块201的第二端设置有定位组件以及锁紧组件，曲针模块支撑体300上同样对应设置有定位组件以及锁紧组件，通过定位组件以及锁紧组件的设置，使得曲针模块200在安装时可以由定位组件快速地安装到位，再依靠锁紧组件锁紧固定，使曲针模块200与曲针模块支撑体300之间形成牢固可靠的连接。The curved needle module 200 includes a curved needle mounting block 201. The curved needle 202 is provided at the first end of the curved needle mounting block 201 and is movablely connected to perform arc-shaped, continuous reciprocating motion on a preset trajectory. , drives the suture thread to complete the suturing of human tissue, etc. The second end of the curved needle mounting block 201 is provided with a positioning component and a locking component. The curved needle module support 300 is also provided with a corresponding positioning component and a locking component. Through the arrangement of the positioning component and the locking component, the curved needle module 200 can be quickly installed in place by the positioning component during installation, and then locked and fixed by the locking component, so that a firm and reliable connection is formed between the curved needle module 200 and the curved needle module support 300 .
请再次参阅图2、图3，本实施例中曲针模块支撑体300的末端设置有卡槽301，曲针安装块201的第二端插设于卡槽301内，其尺寸是相匹配的，从而曲针安装块201在缝合过程中不会相对于曲针模块支撑体300晃动等。Please refer to Figure 2 and Figure 3 again. In this embodiment, the end of the curved needle module support 300 is provided with a card slot 301. The second end of the curved needle mounting block 201 is inserted into the card slot 301, and its size is matched. , so that the curved needle mounting block 201 will not shake relative to the curved needle module support 300 during the sewing process.
定位组件包括设置在曲针安装块201上的导向定位槽203、以及设置在曲针模块支撑体300的卡槽301内的导向定位凸台302。导向定位凸台302的宽度与导向定位槽203相匹配，因此在曲针模块200的安装过程中，将曲针安装块201向卡槽301内推送时可以让导向定位槽203与导向定位凸台302对准，此时曲针安装块201与卡槽301也形成初步对准，再向卡槽301推送使导向定位槽203逐渐卡合导向定位凸台302，而完成曲针安装块201与曲针模块支撑体300的组装。作为优选的实施方式，导向定位凸台302设置为L型，因此能够从两边对曲针安装块201进行定位，进一步提升曲针安装块201安装后与曲针模块支撑体300的贴合程度。The positioning assembly includes a guide positioning groove 203 provided on the crank mounting block 201 and a guide positioning boss 302 provided in the slot 301 of the crank module support 300 . The width of the guide positioning boss 302 matches the guide positioning groove 203. Therefore, during the installation process of the crank module 200, when the crank mounting block 201 is pushed into the slot 301, the guide positioning groove 203 can be aligned with the guide positioning boss. 302 is aligned. At this time, the curved needle mounting block 201 and the clamping slot 301 are also initially aligned. Then they are pushed toward the clamping slot 301 so that the guide positioning groove 203 gradually engages the guide positioning boss 302, and the curved needle mounting block 201 and the curved needle are completed. Assembly of needle module support 300. As a preferred embodiment, the guide positioning boss 302 is configured in an L shape, so the curved needle mounting block 201 can be positioned from both sides, further improving the degree of fit between the curved needle mounting block 201 and the curved needle module support 300 after installation.
锁紧组件包括设置在曲针安装块201上的锁紧销钉孔204以及设置在曲针模块支撑体300上的锁紧销钉303。其中，锁紧销钉303采用弹簧销的形式，且位于卡槽301内。当曲针安装块201安装到位后，锁紧销钉303与锁紧销钉孔204是对准的，锁紧销钉303在弹簧作用下插入锁紧销钉孔204内，使曲针安装块201相对于曲针模块支撑体300进一步锁紧，无法相对于曲针模块支撑体300移动、尤其是前后移动，保证了手术缝合过程中曲针模块200位置的准确性。The locking assembly includes a locking pin hole 204 provided on the crank mounting block 201 and a locking pin 303 provided on the crank module support body 300 . The locking pin 303 is in the form of a spring pin and is located in the slot 301 . When the crank mounting block 201 is installed in place, the locking pin 303 is aligned with the locking pin hole 204, and the locking pin 303 is inserted into the locking pin hole 204 under the action of the spring, so that the crank mounting block 201 is aligned with the crank pin hole 204. The needle module support 300 is further locked and cannot move relative to the curved needle module support 300, especially forward and backward, ensuring the accuracy of the position of the curved needle module 200 during surgical suturing.
当拆卸曲针模块200时，需要将锁紧销钉303从锁紧销钉孔204内顶出，再将曲针安装块201退出卡槽301。因此本实施例中曲针模块支撑体300还设置有拆卸孔304，其同样位于卡槽301内并连通至曲针模块支撑体300外部，且相对于锁紧销钉303分布于不同的两侧，具体位于曲针模块支撑体300的背面。拆卸时通过工具或手指直接插入拆卸孔304以及锁紧销钉孔204内将锁紧销钉303顶出，再取下曲针模块200即可，操作便捷。另外需要说明的是，在安装曲针模块200时，也需要先将锁紧销钉303顶压，使曲针安装块201能够顺利地插入卡槽301中，当曲针安装块201即将经过锁紧销钉303的位置时，可将工具或手指移开，锁紧销钉303先与曲针安装块201的表面接触，再插入锁紧销钉孔204内，表明此时曲针模块200已经安装到位。When disassembling the crank module 200, the locking pin 303 needs to be pushed out from the locking pin hole 204, and then the crank mounting block 201 needs to be withdrawn from the slot 301. Therefore, in this embodiment, the curved needle module support body 300 is also provided with a disassembly hole 304, which is also located in the slot 301 and connected to the outside of the curved needle module support body 300, and is distributed on different sides relative to the locking pin 303. Specifically, it is located on the back of the curved needle module support body 300 . When disassembling, directly insert a tool or finger into the disassembly hole 304 and the locking pin hole 204 to push out the locking pin 303, and then remove the crank module 200, which is easy to operate. In addition, it should be noted that when installing the crank module 200, it is also necessary to press the locking pin 303 first so that the crank mounting block 201 can be smoothly inserted into the slot 301. When the crank mounting block 201 is about to be locked, When the pin 303 is in position, you can remove the tool or your fingers, and the locking pin 303 first contacts the surface of the crank mounting block 201, and then is inserted into the locking pin hole 204, indicating that the crank module 200 has been installed in place.
作为优选的实施方式，本实施例中定位组件设置于曲针安装块201、曲针模块支撑体300的中部，锁紧组件设置两组且分别位于两侧，以使两侧的锁紧力均匀分布，且安装拆卸时也比较方便。As a preferred implementation, in this embodiment, the positioning component is disposed in the middle of the curved needle mounting block 201 and the curved needle module support 300, and two sets of locking components are provided and located on both sides respectively, so that the locking force on both sides is uniform. distribution, and it is also more convenient to install and disassemble.
前文已经提及，曲针202在进行缝合时需要进行连续往复运动，即沿预设的轨迹连续往复运动，因此需要通过控制主体100来驱动、控制曲针202往复运动。本实施例中在曲针模块支撑体300内设置有缝合主驱动轮305，在曲针安装块201内设置有缝合从驱动轮205，当曲针安装块201与曲针模块支撑体300安装到位后，缝合从驱动轮205与缝合主驱动轮305形成传动配合，基于缝合主驱动轮305受控制主体100控制而旋转，能够带动缝合从驱动轮205旋转，从而进一步带动曲针202运动。As mentioned above, the curved needle 202 needs to perform continuous reciprocating motion when suturing, that is, it needs to continuously reciprocate along a preset trajectory. Therefore, the control body 100 needs to be used to drive and control the reciprocating motion of the curved needle 202 . In this embodiment, a sewing main driving wheel 305 is provided in the curved needle module support body 300, and a sewing slave driving wheel 205 is provided in the curved needle mounting block 201. When the curved needle mounting block 201 and the curved needle module supporting body 300 are installed in place, Finally, the suture slave drive wheel 205 and the suture main drive wheel 305 form a transmission cooperation. Since the suture main drive wheel 305 rotates under the control of the control body 100, it can drive the suture slave drive wheel 205 to rotate, thereby further driving the curved needle 202 to move.
基于此，本实施例中缝合从驱动轮205的其中一面、具体为顶面是延伸出曲针安装块201的，且设置有传动槽206，缝合主驱动轮305的其中一面、具体为底面同样是延伸出曲针模块支撑体300且位于卡槽301内的，同时设置有传动块306，传动块306设置为长条形，且优选地沿缝合主驱动轮305直径分布，当曲针安装块201与曲针模块支撑体300安装到位后，传动块306插入传动槽206内，因此缝合从驱动轮205能够随缝合主驱动轮305同步旋转，以在控制主体100的控制下曲针202按预设的方式运动。Based on this, in this embodiment, one side of the sewing slave driving wheel 205, specifically the top surface, extends out of the crank mounting block 201 and is provided with a transmission groove 206. The same is true for sewing one side of the main driving wheel 305, specifically the bottom surface. It extends out of the crank module support body 300 and is located in the slot 301. At the same time, a transmission block 306 is provided. The transmission block 306 is arranged in a long strip shape and is preferably distributed along the diameter of the suture main driving wheel 305. When the crank needle is installed 201 and the curved needle module support 300 are installed in place, the transmission block 306 is inserted into the transmission groove 206, so the suturing slave driving wheel 205 can rotate synchronously with the sewing main driving wheel 305, so that the curved needle 202 presses the predetermined pressure under the control of the control body 100. Movement according to the design.
可以理解的是，曲针安装块201、曲针模块支撑体300的对应位置需要开设驱动轮开口，从而传动槽206、传动块306能够延伸至外部。另外，当曲针安装块201从曲针模块支撑体300取下时，显然传动块306、传动槽206朝向均是与曲针安装块201退出方向一致的，即与导向定位槽203、导向定位凸台302的方向一致，此时曲针202设定为处于初始位置，缝合从驱动轮205、缝合主驱动轮305同样处于初始位置。因此，当需要更换曲针安装块201时，可以通过控制主体100将缝合主驱动轮305调整至初始位置，当然也可以设置复位机构让缝合主驱动轮305在非操作状态下自动复位至初始位置，方便曲针模块200的取出。It can be understood that the corresponding positions of the crank mounting block 201 and the crank module support 300 need to have driving wheel openings so that the transmission slot 206 and the transmission block 306 can extend to the outside. In addition, when the crank mounting block 201 is removed from the crank module support 300, it is obvious that the transmission block 306 and the transmission groove 206 are oriented in the same direction as the exit direction of the crank mounting block 201, that is, in line with the guide positioning groove 203 and the guide positioning groove 203. The directions of the bosses 302 are consistent. At this time, the curved needle 202 is set to be in the initial position, and the sewing slave driving wheel 205 and the sewing main driving wheel 305 are also in the initial position. Therefore, when the curved needle mounting block 201 needs to be replaced, the suturing main driving wheel 305 can be adjusted to the initial position through the control body 100. Of course, a reset mechanism can also be provided to allow the suturing main driving wheel 305 to automatically reset to the initial position in a non-operating state. , to facilitate the removal of the curved needle module 200.
作为优选的实施方式，本实施例中曲针安装块201的驱动轮开口与导向定位槽203紧邻设置，且与导向定位槽203的第一端连通，因此在曲针安装块201的推送过程中，缝合主驱动轮305的传动块306能够先沿导向定位槽203移动，再进入缝合从驱动轮205的传动槽206中，能够保证推送时的顺畅性。当传动块306到位后，在锁紧销钉303的锁紧作用下，其不会重新进入导向定位槽203内，从而保持与缝合主驱动轮305的同步旋转。As a preferred implementation mode, in this embodiment, the driving wheel opening of the curved needle mounting block 201 is disposed immediately adjacent to the guide positioning groove 203 and is connected to the first end of the guide positioning groove 203. Therefore, during the pushing process of the curved needle mounting block 201 , the transmission block 306 of the suturing main driving wheel 305 can first move along the guide positioning groove 203, and then enter the transmission groove 206 of the sewing slave driving wheel 205, which can ensure smoothness during pushing. When the transmission block 306 is in place, it will not re-enter the guide positioning groove 203 under the locking effect of the locking pin 303, thereby maintaining synchronous rotation with the main suture driving wheel 305.
在本实施例中，曲针模块支撑体300与控制主体100之间设置有控制连接杆400，曲针模块支撑体300与控制连接杆400的第一端之间为铰接设置，以使曲针模块支撑体300以及曲针模块200能够相对于控制连接杆400摆动，具有一个摆动自由度，以方便调整曲针模块200的俯仰角进行缝合。In this embodiment, a control connecting rod 400 is provided between the crank module support body 300 and the control body 100, and the first end of the crank module support body 300 and the control connecting rod 400 is hingedly arranged, so that the crank needle The module support 300 and the curved needle module 200 can swing relative to the control connecting rod 400, and have a degree of swing freedom to facilitate adjustment of the pitch angle of the curved needle module 200 for suturing.
其中，曲针模块支撑体300的摆动通过摆动驱动钢丝101进行控制。具体如图4所示，曲针模块支撑体300的第二端设置有铰接块307，控制连接杆400的第一端设置有铰接座401，铰接块307与铰接座401之间通过铰接件形成铰接。摆动驱动钢丝101与铰接块307连接，摆动驱动钢丝101为循环输送的两根，两根摆动驱动钢丝101的第一端分别与铰接块307的两个位置固定连接（或摆动驱动钢丝101为闭合的单根，其第一端固定绕设在铰接块307上），当其中一根摆动驱动钢丝101向控制主体100收短，另一根摆动驱动钢丝101由控制主体100放长时，即可控制铰接块307绕铰接座401旋转，完成摆动的动作。Among them, the swing of the crank module support body 300 is controlled by the swing driving wire 101. As specifically shown in Figure 4, the second end of the crank module support body 300 is provided with a hinge block 307, and the first end of the control connecting rod 400 is provided with a hinge seat 401. The hinge block 307 and the hinge seat 401 are formed by a hinge. Articulated. The swing driving steel wires 101 are connected to the hinge block 307. The swing driving steel wires 101 are two that are cyclically transported. The first ends of the two swing driving steel wires 101 are respectively fixedly connected to the two positions of the hinge block 307 (or the swing driving steel wires 101 are closed (a single wire, the first end of which is fixedly wound on the hinge block 307), when one of the swing driving steel wires 101 is shortened toward the control body 100, and the other swing driving steel wire 101 is lengthened by the control body 100, then The hinge block 307 is controlled to rotate around the hinge base 401 to complete the swinging action.
类似地，缝合主驱动轮305通过缝合驱动钢丝102进行控制，且缝合驱动钢丝102为循环输送的两根，两根缝合驱动钢丝102的第一端分别与缝合主驱动轮305的两个位置固定连接（或者缝合驱动钢丝102为闭合的单根，其第一端固定绕设在缝合主驱动轮305上），当其中一根缝合驱动钢丝102向控制主体100收短，另一根缝合驱动钢丝102由控制主体100放长时，即可控制缝合主驱动轮305旋转，两根缝合驱动钢丝102循环往复地收放来控制缝合主驱动轮305往复旋转，带动曲针202往复运动进行缝合。Similarly, the suturing main driving wheel 305 is controlled by the suturing driving steel wire 102, and the suturing driving steel wires 102 are two that are cyclically transported. The first ends of the two suturing driving steel wires 102 are respectively fixed to the two positions of the suturing main driving wheel 305. connection (or the suturing driving steel wire 102 is a closed single piece, and its first end is fixedly wound on the suturing main driving wheel 305), when one of the suturing driving steel wires 102 is shortened toward the control body 100, the other suturing driving steel wire When 102 is lengthened by the control body 100, the main suture driving wheel 305 can be controlled to rotate. The two suture driving steel wires 102 are retracted and released cyclically to control the reciprocating rotation of the main suture driving wheel 305, driving the curved needle 202 to reciprocate for suturing.
显然，当曲针模块支撑体300摆动时，缝合主驱动轮305会随之摆动，常规连接下缝合驱动钢丝102会发生弯折等导致其长度发生变化，造成缝合主驱动轮305带动曲针202的非正常运动。因此，为保证摆动自由度与曲针202缝合运动的自由度是相互独立的，本实施例中在曲针模块支撑体300与控制连接杆400的第一端之间还设置有钢丝限位弹簧管402，缝合驱动钢丝102从控制连接杆400到曲针模块支撑体300的这一部分位于钢丝限位弹簧管402内，钢丝限位弹簧管402能够在曲针模块支撑体300相对于控制连接杆400摆动时其内部长度始终保持一致，因此位于内部的缝合驱动钢丝102的长度在摆动过程中也是始终保持恒定的，不会带动缝合主驱动轮305非正常旋转。依靠钢丝限位弹簧管402的设置，保证了曲针模块200摆动自由度与缝合自由度的解耦，进一步提升了操作的可靠性、安全性。Obviously, when the curved needle module support body 300 swings, the suture main driving wheel 305 will swing accordingly. Under normal connection, the suture driving steel wire 102 will bend, etc., causing its length to change, causing the suture main driving wheel 305 to drive the curved needle 202. abnormal movement. Therefore, in order to ensure that the degree of freedom of swinging and the degree of freedom of the sewing movement of the curved needle 202 are independent of each other, in this embodiment, a wire limit spring is also provided between the curved needle module support 300 and the first end of the control connecting rod 400 Tube 402, the portion of the suture driving wire 102 from the control connecting rod 400 to the crank module support 300 is located in the wire limit spring tube 402, and the wire limit spring tube 402 can be in the curved needle module support 300 relative to the control connecting rod. When the suture 400 swings, its internal length always remains consistent. Therefore, the length of the suture drive wire 102 located inside also remains constant during the swing process and will not drive the suture main drive wheel 305 to rotate abnormally. Relying on the setting of the steel wire limit spring tube 402, the decoupling of the swing freedom and the sewing freedom of the curved needle module 200 is ensured, further improving the reliability and safety of the operation.
同时如图5所示，在本实施例中，控制主体100设置为方便手持的形状，具有手柄。同时，控制主体100内设置有摆动驱动滚轮103以及缝合驱动滚轮104，其均与控制主体100转动连接。其中，两根摆动驱动钢丝101的第二端穿过控制连接杆400后进入控制主体100内，且分别与摆动驱动滚轮103的两个位置固定连接（或单根固定绕设），摆动驱动滚轮103通过连接轴与摆动旋钮105连接，且摆动旋钮105是设置在控制主体100外部的。因此，可以通过手指拨动的方式控制摆动旋钮105旋转，来精准控制摆动。At the same time, as shown in FIG. 5 , in this embodiment, the control body 100 is configured in a shape that is convenient for holding and has a handle. At the same time, the control body 100 is provided with a swing driving roller 103 and a suturing driving roller 104, both of which are rotationally connected to the control body 100. Among them, the second ends of the two swing driving steel wires 101 pass through the control connecting rod 400 and then enter the control body 100, and are fixedly connected to the two positions of the swing driving roller 103 (or a single wire is fixedly wound). 103 is connected to the swing knob 105 through a connecting shaft, and the swing knob 105 is arranged outside the control body 100 . Therefore, the rotation of the swing knob 105 can be controlled by finger toggle to accurately control the swing.
类似地，两根缝合驱动钢丝102的第二端穿过控制连接杆400后进入控制主体100内，且分别与缝合驱动滚轮104的两个位置固定连接（或单根固定绕设）。控制主体100还设置有缝合驱动摇杆106，其与控制主体100是铰接的，且缝合驱动摇杆106的第一端延伸至控制主体100内，并与两根缝合驱动钢丝102的靠近第二端位置连接。当缝合驱动摇杆106向手柄靠拢时，能够让其中一根缝合驱动钢丝102向缝合驱动滚轮104收短，另一根相对缝合驱动滚轮104拉长，从而让曲针202完成一次缝合动作，当缝合驱动摇杆106反向时则让曲针202完成一次复位动作。因此在实际操作过程中，手持控制主体100并将缝合驱动摇杆106与手柄夹紧时曲针202完成一次缝合动作，更加适合操作习惯。Similarly, the second ends of the two suture driving steel wires 102 pass through the control connecting rod 400 and then enter the control body 100, and are fixedly connected (or fixedly wound by a single wire) to two positions of the suture driving roller 104 respectively. The control body 100 is also provided with a suturing drive rocker 106, which is hinged with the control body 100, and the first end of the suture drive rocker 106 extends into the control body 100 and is close to the second end of the two suture drive wires 102. end position connection. When the suture drive rocker 106 moves closer to the handle, one of the suture drive steel wires 102 can be shortened toward the suture drive roller 104, and the other one can be lengthened relative to the suture drive roller 104, thereby allowing the curved needle 202 to complete a suture action. When the suture driving rocker 106 is reversed, the curved needle 202 completes a reset action. Therefore, during actual operation, when the control body 100 is held in hand and the suture driving rocker 106 is clamped to the handle, the curved needle 202 completes one suturing action, which is more suitable for operating habits.
可以理解的是，基于缝合驱动摇杆106反向转动的操作不便性，可以在缝合驱动摇杆106的铰接轴设置复位扭簧，依靠复位扭簧使缝合驱动摇杆106自动复位，即当松开缝合驱动摇杆106后曲针202自动完成一次复位动作，保证了缝合作业连续操作时术者只需要按压即可，便于缝合作业时的节奏控制。It can be understood that due to the inconvenience of operating the reverse rotation of the suture drive rocker 106, a return torsion spring can be provided on the hinged axis of the suture drive rocker 106, and the return torsion spring can be used to automatically reset the suture drive rocker 106, that is, when the suture drive rocker 106 is released. After the suturing drive rocker 106 is opened, the curved needle 202 automatically completes a reset action, ensuring that the operator only needs to press it during continuous suturing operations, which facilitates rhythm control during suturing operations.
另外，控制主体100内还设置有钢丝导向滚轮组107，从控制连接杆400进入控制主体100的摆动驱动钢丝101、缝合驱动钢丝102先绕过钢丝导向滚轮组107对应的导向滚轮后在分别与摆动驱动滚轮103、缝合驱动滚轮104连接，以使控制钢丝在控制主体100内的分布更加有序，不会相互干涉等。In addition, the control body 100 is also provided with a wire guide roller set 107. The swing driving wire 101 and the suture driving wire 102 entering the control body 100 from the control connecting rod 400 first bypass the corresponding guide rollers of the wire guide roller set 107 and then connect with the control body 100 respectively. The swing driving roller 103 and the sewing driving roller 104 are connected to make the distribution of the control wires in the control body 100 more orderly without interfering with each other.
作为进一步改进，本实施例中控制连接杆400与控制主体100也是转动连接的，以调整整个执行器主体的旋转角。其中，控制连接杆400的第二端还设置有旋转旋钮403，其同样位于控制主体100的外部，可以通过手指拨动的方式控制旋转旋钮403旋转，来精准调节控制连接杆400的旋转角。需要说明的是，该自由度调节仅为微调，基于其无法与摆动自由度、缝合自由度进行完全解耦。As a further improvement, in this embodiment, the control connecting rod 400 and the control body 100 are also rotationally connected to adjust the rotation angle of the entire actuator body. Among them, the second end of the control connecting rod 400 is also provided with a rotating knob 403, which is also located outside the control body 100. The rotation of the rotating knob 403 can be controlled by turning the finger to accurately adjust the rotation angle of the controlling connecting rod 400. It should be noted that this degree of freedom adjustment is only fine-tuning, since it cannot be completely decoupled from the swinging degree of freedom and the sewing degree of freedom.
同时如图6、图7所示，在本实施例中，曲针安装块201的第一端设置有曲针槽207，曲针202活动设置在曲针槽207内，其形状与曲针槽207是一致的，能够沿曲针槽207进行曲线运动。作为优选的实施方式，曲针槽207、曲针202均为圆弧形，因此曲针202是在圆周上进行往复运动的，以方便进行控制、传力更加平滑等。At the same time, as shown in Figures 6 and 7, in this embodiment, the first end of the curved needle mounting block 201 is provided with a curved needle groove 207, and the curved needle 202 is movably arranged in the curved needle groove 207, and its shape is consistent with that of the curved needle groove. 207 is consistent and capable of curved movement along the curved needle groove 207. As a preferred embodiment, the curved needle groove 207 and the curved needle 202 are both arc-shaped, so the curved needle 202 reciprocates on the circumference to facilitate control and smoother force transmission.
需要说明的是，本实施例中曲针槽207不是完整圆周（360度）设置的，其为圆弧段且位于曲针安装块201的第一端内部。曲针安装块201的第一端设置有第一开口208和第二开口209，第一开口208位于曲针槽207的端部。当曲针202进行一次缝合动作时，曲针202的穿刺尖端从第一开口208穿出，穿过人体组织后再进入第二开口209，此时第二开口209的位置设置有线导头501，线导头501与缝合线连接。曲针202复位退回时其穿刺尖端带动线导头501从人体组织的穿刺口返回后再退回第一开口208内，线导头501带着缝合线穿过人体组织的穿刺口后停留在第一开口208处。曲针再进行第二次缝合动作，此时不进行人体组织穿刺，以使线导头501回到第二开口209位置。再重复上述步骤进行第二次穿刺，依次完成人体组织的缝合即可。因此，曲针202采用了连续往复的缝合运动方式，相比于360度周回旋转的运动方式缝合更加顺畅，更好地避免了曲针202缝合过程中与人体组织的卡滞现象。It should be noted that in this embodiment, the crank groove 207 is not provided in a complete circle (360 degrees), but is an arc segment and is located inside the first end of the crank mounting block 201 . The first end of the crank mounting block 201 is provided with a first opening 208 and a second opening 209 , and the first opening 208 is located at the end of the crank groove 207 . When the curved needle 202 performs a suturing action, the puncture tip of the curved needle 202 passes through the first opening 208, passes through the human tissue, and then enters the second opening 209. At this time, a wire guide 501 is provided at the position of the second opening 209. The thread guide 501 is connected to the suture thread. When the curved needle 202 is reset and withdrawn, its puncture tip drives the thread guide 501 to return from the puncture port of the human tissue and then back into the first opening 208. The thread guide 501 carries the suture through the puncture port of the human tissue and then stays at the first opening. There are 208 openings. The curved needle performs a second suturing action without puncturing human tissue at this time, so that the thread guide 501 returns to the second opening 209 position. Repeat the above steps for a second puncture to complete the suturing of human tissue in sequence. Therefore, the curved needle 202 adopts a continuous reciprocating suturing movement, which is smoother than the 360-degree rotation movement, and better avoids the phenomenon of the curved needle 202 getting stuck with human tissue during the suturing process.
前文已经提及，本实施例中通过缝合从驱动轮205带动曲针202往复运动，具体来说，缝合从驱动轮205与曲针202之间设置有曲针传动连杆210，曲针传动连杆210的第一端与曲针202的其中一点铰接，曲针传动连杆210的第二端与缝合从驱动轮205的非旋转中心位置铰接，因此缝合从驱动轮205旋转时，能够带动曲针传动连杆210的第二端旋转，从而曲针传动连杆210的第一端带动曲针202沿曲针槽207移动，完成缝合或复位的动作。As mentioned above, in this embodiment, the sewing slave driving wheel 205 drives the curved needle 202 to reciprocate. Specifically, a curved needle transmission connecting rod 210 is provided between the sewing slave driving wheel 205 and the curved needle 202. The first end of the rod 210 is hinged with one point of the crank 202, and the second end of the crank transmission connecting rod 210 is hinged with the non-rotating center position of the suture slave drive wheel 205. Therefore, when the suture slave drive wheel 205 rotates, it can drive the curved needle. The second end of the needle transmission connecting rod 210 rotates, so that the first end of the curved needle transmission connecting rod 210 drives the curved needle 202 to move along the curved needle groove 207 to complete the suturing or resetting action.
由于曲针202需要沿圆弧形的曲针槽207运动，为进一步提升曲针传动连杆210带动曲针202运动的稳定性，适应手术缝合的精密操作，本实施例中还设置有导向连杆211，导向连杆211的第一端与曲针传动连杆210铰接，导向连杆211的第二端与曲针安装块201铰接，同时，曲针传动连杆210与缝合从驱动轮205的铰接点到缝合从驱动轮205的旋转中心的连线与导向连杆211是始终平行的，导向连杆211与曲针安装块201的铰接点到缝合从驱动轮205的旋转中心的连线与曲针传动连杆210始终平行，因而形成了双平行四边形传动机构。Since the curved needle 202 needs to move along the arc-shaped curved needle groove 207, in order to further improve the stability of the movement of the curved needle 202 driven by the curved needle transmission connecting rod 210 and adapt to the precise operation of surgical suturing, a guide link is also provided in this embodiment. Rod 211, the first end of the guide link 211 is hinged with the crank drive connecting rod 210, the second end of the guide link 211 is hinged with the crank mounting block 201, and at the same time, the crank drive link 210 is connected with the sewing slave drive wheel 205 The line connecting the hinge point to the rotation center of the suture drive wheel 205 is always parallel to the guide link 211, and the line connecting the hinge point of the guide link 211 and the crank mounting block 201 to the suture center of rotation of the drive wheel 205 It is always parallel to the crankshaft transmission connecting rod 210, thus forming a double parallelogram transmission mechanism.
具体如图6所示，第一个平行四边形机构是导向连杆211、曲针传动连杆210、缝合从驱动轮205以及曲针安装块201构成的平行四边形，这个平行四边形保证曲针传动连杆210保持平动，且对曲针202的驱动力始终保持延切线方向（有效力最大方向）。第二个平行四边形是缝合从驱动轮205、曲针传动连杆210、曲针202以及曲针安装块201构成的大平行四边形，曲针202被限制在曲针槽207内，只能围绕曲针槽207中心旋转。缝合从驱动轮205偏心地与曲针传动连杆210连接，构成双平行四边形传动机构的驱动曲柄，通过控制曲柄的旋转角度θ，实现曲针传动连杆210平动，从而推动曲针202往复运动实现缝合与复位，在曲针槽207的限制以及驱动力保持切向的情况下，能够提升曲针运动持续的平稳性。Specifically as shown in Figure 6, the first parallelogram mechanism is a parallelogram formed by the guide link 211, the crank drive link 210, the sewing slave driving wheel 205 and the crank mounting block 201. This parallelogram ensures the crank drive connection. The rod 210 maintains translational motion, and the driving force on the curved needle 202 always maintains the tangential direction (the direction of maximum effective force). The second parallelogram is a large parallelogram formed by sewing the driving wheel 205, the crank transmission connecting rod 210, the crank 202 and the crank mounting block 201. The crank 202 is limited in the crank groove 207 and can only surround the curve. The center of the needle groove 207 rotates. The sewing slave drive wheel 205 is eccentrically connected to the crank drive connecting rod 210 to form a driving crank of a double parallelogram transmission mechanism. By controlling the rotation angle θ of the crank, the crank drive connecting rod 210 is translated in translation, thereby pushing the crank needle 202 to reciprocate. The movement realizes suturing and resetting, and under the condition that the curved needle groove 207 is limited and the driving force remains tangential, the continuous smoothness of the curved needle movement can be improved.
前文已经提及，线导头501是用于连接缝合线的端部的，其能够随曲针202的穿刺尖端从曲针安装块201的第二开口209转移至第一开口208，以及从第一开口208转移回第二开口209。当线导头501从第一开口208转移回第二开口209后，曲针的穿刺尖端需要与线导头501脱离，以使线导头501留存在第二开口209位置，以进行人体组织的下一次穿刺。As mentioned above, the wire guide 501 is used to connect the end of the suture, and it can be transferred from the second opening 209 of the curved needle mounting block 201 to the first opening 208 along with the puncture tip of the curved needle 202, and from the second opening 209 of the curved needle mounting block 201 to the first opening 208. One opening 208 is transferred back to a second opening 209. After the wire guide 501 is transferred from the first opening 208 back to the second opening 209, the puncture tip of the curved needle needs to be separated from the wire guide 501, so that the wire guide 501 remains at the second opening 209 for performing human tissue analysis. Next puncture.
因此在本实施例中，曲针安装块201的第二开口209还设置有线导头往复脱离机构，其用于线导头501与曲针202的穿刺尖端脱离。同时如图8所示，线导头501的第一端设置有与曲针202的穿刺尖端相对应的锥形卡紧槽502，曲针202的穿刺尖端插入锥形卡紧槽502时能够通过锥形卡紧槽502的锥面引导而快速、顺利插入。插入后穿刺尖端后部的台阶面能够与锥形卡紧槽502的台阶面相互卡合，从而在线导头501不受线导头往复脱离机构限制时随曲针202移动而退出第二开口209。当线导头往复脱离机构对线导头501限制时，曲针202退出的过程中能够让台阶面变形（线导头501由弹性材料制成并表面开槽，能够整体胀开），使曲针202相对于线导头501离开，线导头501保留在第二开口209的位置。Therefore, in this embodiment, the second opening 209 of the curved needle mounting block 201 is also provided with a wire guide reciprocating disengagement mechanism, which is used for the wire guide 501 to disengage from the puncture tip of the curved needle 202 . At the same time, as shown in Figure 8, the first end of the wire guide 501 is provided with a tapered clamping groove 502 corresponding to the piercing tip of the curved needle 202. When the piercing tip of the curved needle 202 is inserted into the tapered clamping groove 502, it can pass through The tapered surface of the tapered clamping groove 502 guides the insertion quickly and smoothly. After insertion, the step surface at the rear of the piercing tip can engage with the step surface of the tapered clamping groove 502, so that the wire guide 501 exits the second opening 209 with the movement of the curved needle 202 when it is not restricted by the wire guide reciprocating disengagement mechanism. . When the wire guide head reciprocates away from the restriction of the wire guide head 501 by the mechanism, the curved needle 202 can deform the step surface during the withdrawal process (the wire guide head 501 is made of elastic material and has grooves on the surface, and can expand as a whole), causing the curved needle 202 to expand. The needle 202 moves away relative to the wire guide 501 which remains in the position of the second opening 209 .
在本实施例中，线导头往复脱离机构包括旋转扣503和旋转扣底座504，旋转扣503、旋转扣底座504均设置在曲针安装块201第二开口209后方的脱离机构安装槽505内。旋转扣503位于脱离机构安装槽505的第一端、旋转扣底座504位于脱离机构安装槽505的第二端，两者之间具有相互配合的楔形齿506。同时，旋转扣底座504与旋转扣503之间还设置有复位弹簧507，其两端分别位于圆筒状的旋转扣503、旋转扣底座504内部。In this embodiment, the wire guide reciprocating disengagement mechanism includes a rotary buckle 503 and a rotary buckle base 504. The rotary buckle 503 and the rotary buckle base 504 are both arranged in the disengagement mechanism mounting groove 505 behind the second opening 209 of the crank mounting block 201. . The rotary buckle 503 is located at the first end of the disengagement mechanism installation groove 505, and the rotary buckle base 504 is located at the second end of the disengagement mechanism installation groove 505. There are wedge-shaped teeth 506 matching each other between them. At the same time, a return spring 507 is also provided between the rotary buckle base 504 and the rotary buckle 503, and its two ends are located inside the cylindrical rotary buckle 503 and the rotary buckle base 504 respectively.
同时如图9所示，线导头501的第二端设置有两面切割法兰508，其相对的两面进行了一定的切割，同时旋转扣503的对应端设置有端孔，其与两面切割法兰508的形状是类似的，端孔内侧设置有限位台阶509，以使两面切割法兰508相对于旋转扣503处于第一角度位置时穿过旋转扣503的端孔进入旋转扣503内部，当旋转扣503旋转后两面切割法兰508相对于旋转扣503处于第二角度位置时（优选为旋转90度），两面切割法兰508的端部与限位台阶509相抵触，而无法从旋转扣503脱出，因此曲针202退出时能够与线导头501顺利分离。At the same time, as shown in Figure 9, the second end of the wire guide 501 is provided with a double-sided cutting flange 508, and the two opposite sides are cut to a certain extent. At the same time, the corresponding end of the rotating buckle 503 is provided with an end hole, which is consistent with the double-sided cutting method. The shape of the flange 508 is similar, and a limiting step 509 is provided inside the end hole, so that when the two-sided cutting flange 508 is in the first angular position relative to the rotary buckle 503, it passes through the end hole of the rotary buckle 503 and enters the interior of the rotary buckle 503. After the rotary buckle 503 is rotated, when the two-sided cutting flange 508 is in the second angular position relative to the rotary buckle 503 (preferably rotated 90 degrees), the end of the two-sided cutting flange 508 conflicts with the limiting step 509 and cannot be removed from the rotary buckle 503 . 503 protrudes, so the curved needle 202 can be smoothly separated from the wire guide 501 when withdrawing.
在两面切割法兰508进入旋转扣503的过程中，线导头501整体也是朝向脱离机构安装槽505移动的，能够将旋转扣503向旋转扣底座504的方向推动，使两者的楔形齿506配合而让旋转扣503沿斜齿面推送旋转预设的角度（此时两面切割法兰508相对于旋转扣503处于第二角度位置）。当曲针202退出后，在复位弹簧507作用下，旋转扣503复位至脱离机构安装槽505的第一端，此时在第二角度位置下两面切割法兰508无法从旋转扣503上脱离，因此曲针202退出时能够与线导头501顺利分离。当曲针202再次插入线导头501时，在楔形齿506的配合下，旋转扣503旋转预设的角度至两面切割法兰508相对于旋转扣503变为第一角度位置，曲针202退出后在复位弹簧507作用下，旋转扣503复位至脱离机构安装槽505的第一端，此时在第一角度位置下两面切割法兰508可以从旋转扣503上脱离，因此曲针202退出时带动线导头501顺利从旋转扣503以及第二开口209位置离开。When the two-sided cutting flange 508 enters the rotary buckle 503, the whole wire guide 501 also moves toward the disengagement mechanism installation groove 505, which can push the rotary buckle 503 toward the rotary buckle base 504, so that the wedge-shaped teeth 506 of both Cooperate to allow the rotary buckle 503 to push and rotate along the helical tooth surface by a preset angle (at this time, the two-sided cutting flange 508 is in the second angular position relative to the rotary buckle 503). When the curved needle 202 exits, under the action of the return spring 507, the rotating buckle 503 is reset to the first end of the disengagement mechanism installation groove 505. At this time, the double-sided cutting flange 508 cannot be separated from the rotating buckle 503 at the second angular position. Therefore, the curved needle 202 can be smoothly separated from the wire guide 501 when withdrawing. When the curved needle 202 is inserted into the wire guide 501 again, with the cooperation of the wedge-shaped teeth 506, the rotating buckle 503 rotates at a preset angle until the two-sided cutting flange 508 becomes the first angular position relative to the rotating buckle 503, and the curved needle 202 withdraws. Finally, under the action of the return spring 507, the rotating buckle 503 is reset to the first end of the disengagement mechanism installation groove 505. At this time, the two-sided cutting flange 508 can be separated from the rotating buckle 503 at the first angular position, so when the curved needle 202 exits The wire guide 501 is driven to leave smoothly from the rotating buckle 503 and the second opening 209 .
可以理解的是，当旋转扣503每次的旋转角度为90度时，旋转扣503与旋转扣底座504上的楔形齿506共设置四对并均匀环绕分布，因此旋转扣503的旋转方式为依次旋转90度，当其在0度和180度相位时两面切割法兰508相对于旋转扣503处于第一角度位置，当其在90度和270度相位时两面切割法兰508相对于旋转扣503处于第二角度位置，以达到缝合过程中线导头501与曲针202偶数次地脱离。It can be understood that when the rotation angle of the rotary buckle 503 is 90 degrees each time, a total of four pairs of wedge-shaped teeth 506 on the rotary buckle 503 and the rotary buckle base 504 are provided and evenly distributed around them, so the rotation mode of the rotary buckle 503 is sequentially Rotate 90 degrees. When it is in phase of 0 degrees and 180 degrees, the two-sided cutting flange 508 is in the first angular position relative to the rotating buckle 503. When it is in phase of 90 degrees and 270 degrees, the two-sided cutting flange 508 is in the first angular position relative to the rotating buckle 503. In the second angular position, the thread guide 501 and the curved needle 202 are separated from each other an even number of times during the suturing process.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明所述原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications can also be made. should be regarded as the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310926019.8ACN116636891B (en) | 2023-07-26 | 2023-07-26 | A curved needle removable and removable continuous reciprocating motion laparoscopic suture device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310926019.8ACN116636891B (en) | 2023-07-26 | 2023-07-26 | A curved needle removable and removable continuous reciprocating motion laparoscopic suture device |
| Publication Number | Publication Date |
|---|---|
| CN116636891A CN116636891A (en) | 2023-08-25 |
| CN116636891Btrue CN116636891B (en) | 2023-11-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310926019.8AActiveCN116636891B (en) | 2023-07-26 | 2023-07-26 | A curved needle removable and removable continuous reciprocating motion laparoscopic suture device |
| Country | Link |
|---|---|
| CN (1) | CN116636891B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1722989A (en)* | 2001-06-14 | 2006-01-18 | 苏太克股份有限公司 | Apparatus and method for surgical suturing |
| CN101400308A (en)* | 2006-01-27 | 2009-04-01 | 舒图尔泰克公司 | Apparatus and method for tissue closure |
| WO2011009464A2 (en)* | 2009-07-22 | 2011-01-27 | Coloplast A/S | Suturing system and assembly |
| CN102824201A (en)* | 2012-09-17 | 2012-12-19 | 北京中法派尔特医疗设备有限公司 | Circular purse-string forceps capable of automatically sewing in purse way |
| CN203506780U (en)* | 2013-08-24 | 2014-04-02 | 杭州慧泉医药科技有限公司 | Minimally-invasive suture knotter |
| CN104936534A (en)* | 2012-12-13 | 2015-09-23 | 伊西康内外科公司 | round needle applicator |
| WO2020102407A1 (en)* | 2018-11-15 | 2020-05-22 | ReViable Surgical, Inc. | Laparoscopic suturing devices, needles, sutures, and drive systems |
| CN212346609U (en)* | 2020-04-27 | 2021-01-15 | 浙江左元医疗技术有限公司 | Suturing device, treatment device with suturing device and treatment system |
| CN112932575A (en)* | 2021-04-08 | 2021-06-11 | 深圳市玮琦实业有限公司 | Continuous stitching instrument |
| WO2022211274A1 (en)* | 2021-03-29 | 2022-10-06 | 고려대학교 산학협력단 | Endoscopic suturing device |
| CN115634002A (en)* | 2022-11-07 | 2023-01-24 | 无锡市神康医疗器械设备有限公司 | Driving device of disposable endoscope stitching instrument |
| CN218606710U (en)* | 2021-12-08 | 2023-03-14 | 常州市朗轩斯精密机械有限公司 | Continuous stitching instrument for laparoscope |
| CN116369996A (en)* | 2023-05-09 | 2023-07-04 | 浙江微度医疗器械有限公司 | Suturing device for minimally invasive surgery |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3880907B2 (en)* | 2001-08-31 | 2007-02-14 | オリンパス株式会社 | Endoscopic suture device |
| US7615060B2 (en)* | 2005-06-13 | 2009-11-10 | Ethicon-Endo Surgery, Inc. | Endoscopic suturing device |
| US20100130990A1 (en)* | 2007-07-03 | 2010-05-27 | Saliman Justin D | Methods of suturing and repairing tissue using a continuous suture passer device |
| US9161751B2 (en)* | 2010-12-02 | 2015-10-20 | Coloplast A/S | Suture system and assembly |
| US20200375591A1 (en)* | 2011-01-25 | 2020-12-03 | Isuturing, Llc | Devices for continuous surgical suturing |
| US10143465B2 (en)* | 2016-10-24 | 2018-12-04 | ReViable Surgical, Inc. | Laparoscopic suturing devices, needles, sutures, and drive systems |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1722989A (en)* | 2001-06-14 | 2006-01-18 | 苏太克股份有限公司 | Apparatus and method for surgical suturing |
| CN101400308A (en)* | 2006-01-27 | 2009-04-01 | 舒图尔泰克公司 | Apparatus and method for tissue closure |
| WO2011009464A2 (en)* | 2009-07-22 | 2011-01-27 | Coloplast A/S | Suturing system and assembly |
| CN102824201A (en)* | 2012-09-17 | 2012-12-19 | 北京中法派尔特医疗设备有限公司 | Circular purse-string forceps capable of automatically sewing in purse way |
| CN104936534A (en)* | 2012-12-13 | 2015-09-23 | 伊西康内外科公司 | round needle applicator |
| CN203506780U (en)* | 2013-08-24 | 2014-04-02 | 杭州慧泉医药科技有限公司 | Minimally-invasive suture knotter |
| WO2020102407A1 (en)* | 2018-11-15 | 2020-05-22 | ReViable Surgical, Inc. | Laparoscopic suturing devices, needles, sutures, and drive systems |
| CN212346609U (en)* | 2020-04-27 | 2021-01-15 | 浙江左元医疗技术有限公司 | Suturing device, treatment device with suturing device and treatment system |
| WO2022211274A1 (en)* | 2021-03-29 | 2022-10-06 | 고려대학교 산학협력단 | Endoscopic suturing device |
| CN112932575A (en)* | 2021-04-08 | 2021-06-11 | 深圳市玮琦实业有限公司 | Continuous stitching instrument |
| CN218606710U (en)* | 2021-12-08 | 2023-03-14 | 常州市朗轩斯精密机械有限公司 | Continuous stitching instrument for laparoscope |
| CN115634002A (en)* | 2022-11-07 | 2023-01-24 | 无锡市神康医疗器械设备有限公司 | Driving device of disposable endoscope stitching instrument |
| CN116369996A (en)* | 2023-05-09 | 2023-07-04 | 浙江微度医疗器械有限公司 | Suturing device for minimally invasive surgery |
| Publication number | Publication date |
|---|---|
| CN116636891A (en) | 2023-08-25 |
| Publication | Publication Date | Title |
|---|---|---|
| CN100569190C (en) | Surgical Suture Instruments | |
| CN110123391A (en) | One kind avoids tearing rotatable biopsy clamp device | |
| EP2494929B1 (en) | Surgical suturing apparatus | |
| CN109044433B (en) | Continuous stitching instrument for laparoscopic stitching operation | |
| CN115153698B (en) | Tissue suturing system | |
| CN111803153A (en) | Suture gun handle and tissue suture gun | |
| CN116636891B (en) | A curved needle removable and removable continuous reciprocating motion laparoscopic suture device | |
| CN209360777U (en) | A portable endoscopic needle-holding suture device | |
| WO2024131800A1 (en) | Electric suturing device | |
| CN113180758A (en) | Endoscope minimal access surgery sewing machine | |
| CN110638497A (en) | Tissue stitching instrument | |
| CN116983035A (en) | Continuous reciprocating motion laparoscope stitching instrument | |
| CN114848061A (en) | Laparoscopic surgery suture traction device | |
| CN116849738A (en) | Qu Zhen reciprocating driving mechanism in laparoscope stitching instrument | |
| CN107898483B (en) | Endoscopic surgical suture device | |
| CN208973953U (en) | Laparoscopic surgical suturing device | |
| CN116831663A (en) | Qu Zhen module suitable for laparoscopic reciprocating stitching instrument | |
| CN215874777U (en) | Diamond needle holding forceps | |
| JP2004267241A (en) | Suturing device | |
| CN118633979B (en) | Suture device for endoscope skull base dura mater | |
| CN116889439A (en) | Intermittent release mechanism for midline guide head of laparoscope reciprocating stitching instrument | |
| CN219814206U (en) | Digestive endoscope suturing device | |
| CN202113114U (en) | Nail bin direction adjusting device of disposable intracavity cutting anastomat | |
| CN202036260U (en) | Automatic stitching device for deep minimally invasive surgical cut | |
| CN208388719U (en) | Vessel forceps are used in a kind of suture of gynemetrics |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | Inventor after:Luo Zhi Inventor after:Zhu Liyong Inventor after:Duan Jian Inventor after:Zhu Shaihong Inventor before:Luo Zhi Inventor before:Zhu Liyong Inventor before:Duan Jian Inventor before:Zhu Shaihong | |
| CB03 | Change of inventor or designer information |