CN113648005B

CN113648005B - Acoustic control operation suture equipment

Info

Publication number: CN113648005B
Application number: CN202111002387.0A
Authority: CN
Inventors: 常龙飞; 饶曼婷; 胡颖
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2023-11-14
Anticipated expiration: 2041-08-30
Also published as: CN113648005A

Abstract

The invention discloses sound control surgical suture equipment, which relates to the technical field of surgical suture equipment and comprises a needle changing arm, a surgical arm, a sound control device and a moving device; the needle changing arm and the operation arm are positioned on the moving device, and the moving device moves to enable the needle changing arm and the operation arm to move close to or far away from the operation suture position. The needle changing arm comprises a first driving mechanism, a first bending mechanism, a second shell, a needle changing mechanism and a first grabbing mechanism; the invention has the beneficial effects that: the invention completes the rotation, the extension and the bending of the needle changing arm and the operation arm through the first driving mechanism, the first bending mechanism, the second driving mechanism and the second bending mechanism, has multiple degrees of freedom and completes the needle changing suture of different parts of the human body in the operation process.

Description

Acoustic control operation suture equipment

Technical Field

The invention relates to the technical field of surgical suture equipment, in particular to sound control surgical suture equipment.

Background

In surgical suturing, a surgeon generally needs to hold forceps with the left hand to clamp tissues to be sutured, the right hand to clamp a suture needle, the wrist is rotated to enable the suture needle to pass through the tissues, the forceps with the left hand loosen the tissues, and clamp the suture needle to pull out the tissues, so that the suturing process is completed. In the suturing process, the stability of the hands of a doctor is very great under the condition of long-time operation.

The current robotic arms used with medical procedures are mostly focused on how to complete the surgical incision, and are less focused on the suturing process. And most of the mechanical arms adopt rigid structural members, and rotation, bending and stretching actions are achieved through structural design and motor use. The utility model patent with publication number of CN208926600U discloses a surgical manipulator capable of being bent in a universal way. The two pull rods are utilized, one pull rod stretches different parts of a flexible shaft made of elastic parts such as springs and the like to drive the flexible shaft to bend in all directions, and the other pull rod is used for driving the front end clamp to open and close. The stretching of the pull rod is realized by driving a gear to drive through a motor. Although the manipulator can bend in all directions, the manipulator is difficult to rotate and stretch, and the manipulator is heavy in transmission by adopting a motor and a gear. Patent publication number CN2614044Y discloses a medical manipulator in the shape of a human hand. The palm and the arm of the manipulator are made of steel wire ropes, and the palm and the arm are connected by adopting circular structural members so as to achieve the bending of the palm in all directions. The finger part steel wire rope is pulled by the tail end screw rod, so that the palm is bent and straightened. The method has long transmission distance, and the steel wire rope has larger rigidity, so that the force required by palm bending is large. In addition, neither of these two manipulators have considered the surgical stapling process. Patent publication No. CN208274590U discloses a minimally invasive mammary gland surgical suture device, which utilizes gear and shaft transmission to enable a suture needle to freely move and rotate to complete the surgical suture process. But the transmission route is complex and the efficiency is low.

With the advancement of technology, there is an increasing demand for flexible mechanisms. Electrically actuated polymeric materials such as IPMC are popular in the field of biomimetic manipulators as a low voltage drivable flexible material. Flexible manipulators based on IPMC are generally classified into three types of actions to be performed, namely telescoping, rotating and bending. The publication CN103963066a discloses an IPMC-based robot that has six first IPMC sheets arranged circumferentially, and six artificial muscles bent simultaneously upon power-up to drive the rotating disc to rotate. However, the structure cannot complete the large-amplitude rotation of the manipulator and the manipulator cannot complete the telescopic movement. The manipulator of the patent publication CN107253188A uses a vertical circumferential arrangement of four IPMC to complete the rotational movement. And the two ends of the four IPMC are fixed together, and the IPMC is outwards bulged to complete the expansion of the manipulator by powering on. However, this structure cannot complete 360 ° continuous rotation, and the telescopic length is limited. The patent with publication number CN104842345a uses pneumatic muscle (PAM), shape Memory Alloy (SMA) and IPMC as drivers, and uses a motor and gear drive to design a manipulator. But the manipulator has a complex structure and a large volume. Patent publication number CN208697479U discloses a mechanical joint based on ionic polymer metal composite actuation. The IPMC rotary driving assembly is used for driving the upper swing ring, the lower swing ring and the left swing ring to swing respectively, and the driving shaft further controls the driven shaft to rotate through the ball gear. The transmission chain with the structure is complex and has lower transmission effect.

When the IPMC flexible sensor is deformed under the action of external stress, the situation that one side of the membrane expands and the other side contracts occurs, and hydrated cations can diffuse to one side of the membrane expanding under the action of density difference, so that potential difference is formed at two sides of the electrode. The sensing mechanism of IPMC can be applied to various flexible sensing fields such as wearable devices, for example, it has been used to invent a wearable glove for detecting pulse (IPMC Sensor Integrated Smart Glove for Pulse Diagnosis, braille Recognition and Human-Computer interaction. Advanced Materials Technologies,2018,3 (12)). When a person speaks, the sound sounds and the vibration of the vocal cords are different, and the frequency of the generated sound waves is also different. Thus IPMC as a more sensitive sensor can generate different signals according to different sounds.

Based on the above analysis, the present invention proposes to design a voice-activated surgical stapling apparatus using the flexible driving and sensing properties of electrically actuated polymers. The voice-controlled needle changing and suturing device can complete voice-controlled needle changing and suturing processes in suturing operation, and has important significance for promoting automation of the operation and reducing dependence of the operation on doctors.

Disclosure of Invention

The invention aims to solve the technical problem of providing the voice-controlled surgical suture equipment which can complete rotation, expansion and bending actions and has multiple degrees of freedom.

The invention solves the technical problems by the following technical means:

the invention provides sound control operation suture equipment which comprises a needle changing arm, an operation arm, a sound control device and a moving device, wherein the needle changing arm is connected with the operation arm; the needle changing arm and the operation arm are positioned on the moving device, and the moving device moves to enable the needle changing arm and the operation arm to move close to or far away from the operation suture position;

the needle changing arm comprises a first driving mechanism, a first bending mechanism, a second shell, a needle changing mechanism and a first grabbing mechanism; the needle changing mechanism is positioned in the second shell, and one end of the second shell is provided with a needle outlet; the first driving mechanism comprises a first spiral telescopic component and a first rotary driving component; the first spiral telescopic assembly, the first rotary driving assembly, the first bending mechanism and the needle changing mechanism are sequentially connected;

the needle replacing mechanism comprises a second rotating assembly, a linear driving assembly and a suture needle assembly, wherein the suture needle assembly is provided with a suture needle, the suture needle is rotated to the needle outlet by the second rotating assembly, and the suture needle is driven to extend out of the needle outlet by the linear driving assembly;

the first spiral telescopic group stretches to enable the first rotary driving assembly to move back and forth along the axis of the first rotary driving assembly; the first rotary driving assembly rotates to enable the first grabbing mechanism to rotate, the first grabbing mechanism rotates, and the first bending mechanism bends to enable the first grabbing mechanism to extend into a to-be-stitched position; the first grabbing mechanism is used for grabbing a suture needle or a to-be-sutured part;

The surgical arm comprises a second driving mechanism, a second bending mechanism and a second grabbing mechanism; the second driving structure comprises a second spiral telescopic component and a second rotary driving component, and the second spiral telescopic component, the second rotary driving component and the second bending mechanism are sequentially connected; the second spiral telescopic group stretches to enable the second rotary driving assembly to move back and forth along the axis of the second rotary driving assembly; the second rotary driving assembly rotates to enable the second grabbing mechanism to rotate, the second grabbing mechanism rotates, and the second bending mechanism bends to enable the second grabbing mechanism to extend into a to-be-stitched position; the second grabbing mechanism is used for grabbing a suture needle or a to-be-sutured part;

the sound control device is in communication connection with the needle changing arm and the operation arm, and controls the frequency of sound signals so as to control the needle changing arm and the operation arm to realize bending and linear motion.

Working principle: the voice control device controls the frequency of acoustic signals, and is used for controlling the needle changing arm and the operation arm to realize bending and linear motion, the second rotary component rotates to enable the suture needle to rotate to the needle outlet, the linear driving component drives to enable the suture needle to extend out of the needle outlet, the first spiral telescopic component drives to enable the first rotary driving component to move along the axis of the first rotary driving component, the second grabbing mechanism clamps and grabs the suture needle, the second spiral telescopic component drives to enable the second rotary driving component to move along the axis of the second rotary driving component, the first spiral telescopic component drives to enable the first grabbing mechanism to move towards the operation suture part, the first grabbing mechanism clamps and grabs the tissue to be sutured, the second rotary driving component rotates to enable the second grabbing mechanism to move back and forth, the second spiral telescopic component bends to enable the second grabbing mechanism to extend into the position to be sutured, the first grabbing mechanism loosens the position to be sutured, the first grabbing mechanism clamps the suture needle again, and the moving device adjusts the movement of the arm and the needle arm to move towards the operation suture position in sequence, and the operation process is completed.

The beneficial effects are that: the invention completes the rotation, the extension and the bending of the needle changing arm and the operation arm through the first driving mechanism, the first bending mechanism, the second driving mechanism and the second bending mechanism, has multiple degrees of freedom and completes the needle changing suture of different parts of the human body in the operation process.

Preferably, the first driving mechanism is located in the first housing, and the first spiral telescopic assembly comprises a first rotary driving unit, a first base, a second base, a first handle, a second handle, a first screw rod and a first nut;

the first rotary driving unit comprises a first elastic film and first IPMC sheets, the first IPMC sheets are respectively positioned on two sides of the first elastic film and are arranged in a crossing manner, the first base and the second base are respectively positioned on two ends of the first elastic film, and the first IPMC sheets are electrified to enable the first elastic film to be spiral;

the first handle is positioned at one end of the first base, the second handle is positioned at one end of the second base, the first handle grabs the first base, and the first elastic film is in a spiral shape so as to enable the second base to rotate; the second gripper grabs the second base, and the first elastic film is in a spiral shape so as to enable the first base to rotate;

One end of the first screw rod is connected with one end of the second base, the other end of the first screw rod penetrates through the first nut and is in threaded connection with the first nut, and the first nut is fixedly connected with the first shell.

Preferably, the first rotary driving assembly comprises a second rotary driving unit, a third base, a fourth base, a third gripper, a fourth gripper and a connecting rod;

the second rotary driving unit comprises a second elastic film and second IPMC sheets, the second IPMC sheets are respectively positioned on two sides of the second elastic film and are arranged in a crossing manner, the third base and the fourth base are respectively positioned on two ends of the second elastic film, and the second IPMC sheets are electrified to enable the second elastic film to be spiral;

the third handle is positioned at one end of the third base, the fourth handle is positioned at one end of the fourth base, the third handle grabs the third base, and the second elastic film is in a spiral shape so as to enable the third base to rotate; the fourth handle grabs the fourth base, and the second elastic film is in a spiral shape so as to enable the fourth base to rotate;

one end of the connecting rod is connected with one end of the fourth base, and the other end of the connecting rod is connected with the first bending mechanism.

Preferably, the first bending mechanism includes a first base, a second base, a third base, a first IPMC bending unit and a second IPMC bending unit; the first IPMC bending unit is a third IPMC strip, the second IPMC bending unit is a fourth IPMC strip, and two ends of the third IPMC strip are respectively connected with one end of the first base and one end of the second base; and two ends of the fourth IPMC strip are respectively connected with the other end of the second base and one end of the third base.

Preferably, the plane of the end of the third IPMC strip is perpendicular to the plane of the end of the fourth IPMC strip.

The beneficial effects are that: the bending force is increased and the front, back, left and right bending of the first bending mechanism is completed.

Preferably, the second rotating assembly includes a third rotating drive unit, a fifth grip, a sixth grip, a fifth base, and a sixth base;

the third rotary driving unit comprises a third elastic film and third IPMC sheets, the third IPMC sheets are respectively positioned on two sides of the third elastic film and are arranged in a crossing manner, the fifth base and the sixth base are respectively positioned on two ends of the third elastic film, and the third IPMC sheets are electrified to lead the third elastic film to be spiral;

the fifth handle is positioned at one end of the fifth base, the sixth handle is positioned at one end of the sixth base, the fifth handle grabs the fifth base, and the third elastic film is in a spiral shape so as to enable the fifth base to rotate; the sixth hand grip grabs the sixth base, and the third elastic film is in a spiral shape so as to enable the sixth base to rotate.

Preferably, the linear driving assembly comprises an electromagnetic relay, a first elastic member, a magnetic sheet and a mounting plate; the magnetic sheet is positioned on the fifth base, the first elastic piece is wrapped on the outer side wall of the electromagnetic relay, and one end of the first elastic piece is connected with the mounting plate;

the electromagnetic relay is electrified to enable the magnetic sheet to attract the first elastic piece, so that the first elastic piece is in a compressed state, and the electromagnetic relay is powered off to enable the first elastic piece to extend, so that the fifth base, the third rotary driving unit, the sixth base and the sixth gripper move towards the needle outlet, and the suture needle is led to extend out of the needle outlet.

Preferably, the suture needle assembly further comprises a winding unit, a connecting column and a second elastic member; the connecting column is hollow, the winding unit is positioned inside the connecting column, a fifth through hole is formed in the top end of the connecting column, one end of the elastic piece is positioned in the fifth through hole, the needle hole end of the suture needle is inserted into the other end of the second elastic piece, and the other end of the suture needle abuts against the inner top wall of the second shell.

The beneficial effects are that: the second elastic piece is used for facilitating the ejection of the suture needle.

Preferably, the first grabbing mechanism includes a first fixed disc, a fourth elastic film and a seventh IPMC strip; the four elastic films are two, a fifth groove is formed in one end of the first fixing disc, the other end of the first fixing disc is arranged at the end part of the second shell, the end parts of the two fourth elastic films are fixed in the fifth groove, three seventh IPMC strips are respectively stuck to the outer sides of the two fourth elastic films, and the three seventh IPMC strips are respectively positioned in the middle and on two sides of the fourth elastic films.

Working principle: and applying different voltages to each seventh IPMC strip on the fourth elastic film, wherein the seventh IPMC strips generate different curvatures, the seventh IPMC strips on the two fourth elastic films are bent relatively to form a clamping state, the seventh IPMC strips are powered off, and the clamping state is removed from the two fourth elastic films.

Preferably, the second driving mechanism is located in the third housing, and the second spiral telescopic assembly comprises a fourth rotary driving unit, a seventh base, an eighth base, a seventh gripper, an eighth gripper, a second screw rod and a second nut;

the fourth rotary driving unit comprises a fifth elastic film and fourth IPMC sheets, the fourth IPMC sheets are respectively positioned on two sides of the fifth elastic film and are arranged in a crossing manner, the seventh base and the eighth base are respectively positioned on two ends of the fifth elastic film, and the fourth IPMC sheets are electrified to lead the fifth elastic film to be spiral;

the seventh gripper is positioned at one end of the seventh base, the eighth gripper is positioned at one end of the eighth base, the seventh gripper grips the seventh base, and the fifth elastic film is spiral to enable the eighth base to rotate; the eighth hand grip grips the eighth base, and the fifth elastic film is in a spiral shape so as to enable the seventh base to rotate;

One end of the second screw rod is connected with one end of the eighth base, the other end of the second screw rod penetrates through the second nut and is in threaded connection with the second nut, and the second nut is fixedly connected with the third shell.

Preferably, the second rotary driving assembly includes a fifth rotary driving unit, a ninth base, a tenth base, a ninth gripper, and a tenth gripper;

the fifth rotary driving unit comprises a sixth elastic film and fifth IPMC sheets, the fifth IPMC sheets are respectively positioned on two sides of the sixth elastic film and are arranged in a crossing manner, the ninth base and the tenth base are respectively positioned on two ends of the sixth elastic film, and the fifth IPMC sheets are electrified to lead the sixth elastic film to be spiral;

the ninth gripper is positioned at one end of the ninth base, the tenth gripper is positioned at one end of the tenth base, the ninth gripper grips the ninth base, and the sixth elastic film is in a spiral shape so as to enable the tenth base to rotate; the tenth base is grasped by the tenth hand, and the sixth elastic film is spirally rotated to cause the ninth base to rotate.

Preferably, the second bending mechanism includes a fourth base, a fifth base, a sixth base, a third IPMC bending unit and a fourth IPMC bending unit;

The third IPMC bending unit is a twelfth IPMC strip, the fourth IPMC bending unit is a thirteenth IPMC strip, two ends of the twelfth IPMC strip are respectively connected with one end of the fourth base and one end of the fifth base, two ends of the thirteenth IPMC strip are respectively connected with the other end of the fifth base and one end of the sixth base, and the other end of the fourth base is connected with one end of the tenth mounting seat.

Preferably, the second grabbing mechanism includes a second fixed disc, a seventh elastic film and a fourteenth IPMC strip; the seventh elastic films are two, a sixth groove is formed in one end of the second fixing disc, the other end of the second fixing disc is arranged at the end part of the sixth base, the end parts of the two seventh elastic films are fixed in the sixth groove, and three fourteenth IPMC strips are respectively adhered to the outer sides of the two seventh elastic films.

Preferably, the surgical suture apparatus further comprises a controller, and the voice control device comprises a microphone, a signal transmission line and an IPMC patch; the IPMC patch comprises an IPMC vocal cord patch, an IPMC face patch and an IPMC chin patch, the middle of the microphone is provided with three signal transmission lines, the front of each of the three signal transmission lines is provided with a rectangular IPMC patch, the microphone is respectively and electrically connected with the IPMC vocal cord patch, the IPMC face patch and the IPMC chin patch through the signal transmission lines, and the controller is connected with a first driving mechanism, a first bending mechanism, a needle changing mechanism, a second driving mechanism and a second bending mechanism.

Working principle: the speaker sound is collected by a microphone and transmitted to a round IPMC sheet, the IPMC vocal cord patch, the IPMC face patch and the IPMC chin patch are respectively stuck on the vocal cords, the cheeks and the chin of the speaker, and because the sound production frequency is different, the energy received by the IPMC patch is different, different electric signals are produced, the signals are transmitted to a controller through a signal transmission line, and the controller sends out a movement instruction to control the first driving mechanism, the first bending mechanism, the needle changing mechanism, the second driving mechanism and the second bending mechanism to move.

The working principle of the invention is as follows: the voice control device controls the frequency of acoustic signals, and is used for controlling the needle changing arm and the operation arm to realize bending and linear motion, the second rotary component rotates to enable the suture needle to rotate to the needle outlet, the linear driving component drives to enable the suture needle to extend out of the needle outlet, the first spiral telescopic component drives to enable the first rotary driving component to move along the axis of the first rotary driving component, the second grabbing mechanism clamps and grabs the suture needle, the second spiral telescopic component drives to enable the second rotary driving component to move along the axis of the second rotary driving component, the first spiral telescopic component drives to enable the first grabbing mechanism to move towards the operation suture part, the first grabbing mechanism clamps and grabs the tissue to be sutured, the second rotary driving component rotates to enable the second grabbing mechanism to move back and forth, the second spiral telescopic component bends to enable the second grabbing mechanism to extend into the position to be sutured, the first grabbing mechanism loosens the position to be sutured, the first grabbing mechanism clamps the suture needle again, and the moving device adjusts the movement of the arm and the needle arm to move towards the operation suture position in sequence, and the operation process is completed.

The invention has the advantages that: the invention completes the rotation, the extension and the bending of the needle changing arm and the operation arm through the first driving mechanism, the first bending mechanism, the second driving mechanism and the second bending mechanism, has multiple degrees of freedom and completes the needle changing suture of different parts of the human body in the operation process.

The first rotary driving unit, the second rotary driving unit, the third rotary driving unit, the fourth rotary driving unit and the fifth rotary driving unit can complete clockwise and anticlockwise multi-turn rotation, so that the degree of freedom of rotation is greatly improved; according to the invention, the first spiral telescopic component and the second spiral telescopic component can precisely regulate and control the telescopic distance of the manipulator according to the rotation number of the screw rod.

The driving units of the invention are all made of IPMC materials, and have the advantages of light weight, low-voltage driving, high transmission efficiency, environmental protection and the like.

Drawings

FIG. 1 is a schematic diagram of a voice-activated surgical stapling apparatus in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of a needle changing arm according to an embodiment of the present invention;

FIG. 3 is a schematic view of a first spiral telescopic assembly according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a first rotary driving assembly according to an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a first rotary driving unit according to an embodiment of the present invention;

FIG. 6 is a schematic view of a first handle according to an embodiment of the present invention;

FIG. 7 is a schematic view of a first bending mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of the first rotary driving unit in the embodiment of the invention when not rotating;

FIG. 9 is a schematic view of a needle changing mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic view of a suture needle assembly according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a first grabbing mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic view of a surgical arm according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a sound control device according to an embodiment of the present invention;

in the figure: a needle changing arm 1; a first housing 11; a first screw telescoping assembly 121; a first rotation driving unit 1211; a first elastic film 12111; a first IPMC sheet 12112; a first mount 1212; a second base 1213; a first grip 1214; a first mount 12141; a first IPMC stripe 12142; second recess 12143; a second grip 1215; a first screw 1216; a first nut 1217; a first rotary drive assembly 122; a second rotation driving unit 1221; a third base 1222; a fourth mount 1223; a third grip 1224; a third mount 12241; a third IPMC strip 12242; a fourth grip 1225; a fourth mount 12251; a fourth IPMC strip 12252; a connecting rod 1226; a first bending mechanism 13; a first base 131; a second base 132; a third base 133; a third IPMC bar 134; a fourth IPMC bar 135; a second housing 14; a needle outlet 141; a needle changing mechanism 15; a second rotating assembly 151; a third rotation driving unit 1511; a fifth grip 1512; a fifth mount 15121; a fifth IPMC strip 15122; a sixth grip 1513; a sixth mount 15131; a sixth IPMC strip 15132; a fifth mount 1514; sixth chassis 1515; a linear drive assembly 152; an electromagnetic relay 1521; a first spring 1522; a mounting plate 1523; a needle assembly 153; suture needle 1531; a winding unit 1532; a connection post 1533; a second spring 1534; locating block 1535; a first grasping mechanism 16; a first fixing plate 161; a fourth elastic film 162; a seventh IPMC bar 163;

A surgical arm 2; a third housing 21; a second screw telescoping assembly 221; a fourth rotation driving unit 2211; a seventh mount 2212; an eighth mount 2213; a seventh grip 2214; an eighth gripper 2215; a second screw 2216; a second nut 2217; a second rotary drive assembly 222; a fifth rotation driving unit 2221; a ninth mount 2222; a tenth base 2223; a ninth grip 2224; a tenth grip 2225; a second bending mechanism 23; a fifth base 232; a sixth base 233; a twelfth IPMC bar 234; thirteenth IPMC bar 235; a second grasping mechanism 24; a sound control device 3; a microphone 31; IPMC patch 32; a signal transmission line 33; circular IPMC sheet 34; a controller 4; a mobile device 5; a first moving rail 51; a second moving rail 52; a lifting mechanism 53; the body 6 to be sutured.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

It is noted that relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

An acoustic control surgical suture apparatus, as shown in fig. 1-13, comprises a needle changing arm 1, a surgical arm 2, an acoustic control device 3, a controller 4 and a moving device 5.

As shown in fig. 2, the needle changing arm 1 includes a first housing 11, a first driving mechanism, a first bending mechanism 13, a second housing 14, a needle changing mechanism 15, and a first grasping mechanism 16. The first driving mechanism is located in the first housing 11, the needle changing mechanism 15 is located in the second housing 14, and the first grabbing mechanism 16 is located on the needle changing mechanism 15. The first drive mechanism includes a first screw telescoping assembly 121 and a first rotary drive assembly 122. The first bending mechanism 13 is located between the first drive structure and the needle changing mechanism 15.

The first casing 11 and the second casing 14 are hard casings, and are made of one or more of polyvinyl chloride, polycarbonate, polyethylene, polystyrene, thermoplastic polyurethane, polytetrafluoroethylene, polyether-ether-ketone and other lightweight materials harmless to human bodies, and the first spiral telescopic component 121 and the first rotary driving component 122 are coaxially arranged.

As shown in fig. 2 and 3, the first screw telescoping assembly 121 includes a first rotary drive unit 1211, a first base 1212, a second base 1213, a first grip 1214, a second grip 1215, a first screw 1216, and a first nut 1217.

As shown in fig. 2, 3, 5 and 8, the first rotary driving unit 1211 includes a first elastic film 12111 and at least four first IPMC sheets 12112, the first elastic film 12111 is made of silicone rubber or other material harmless to the human body and deformable and recoverable, the first IPMC sheets 12112 are four sheets, and the first IPMC sheets 12112 are Nation-based IPMC, which are conventional, and can be bent toward a certain direction when energized. The first IPMC sheet 12112 is in a parallelogram shape, four IPMC sheets are adhered to the surface of the first elastic film 12111 by insulating tapes, wherein two IPMC sheets are adhered to one surface of the first elastic film 12111, the other two IPMC sheets are adhered to the other surface of the first elastic film 12111, the IPMC sheets on both surfaces are arranged in a crossing manner, and the IPMC sheets on the same surface are symmetrically arranged along the length direction of the first elastic film 12111. The side edge of each IPMC is parallel to the longer side edge of the first elastic film 12111, and in order to increase the force, the first elastic film 12111 in this embodiment is two, and the shadows of the two first elastic films 12111 overlap.

Energizing the diagonally opposite first IPMC sheet 12112 bends the diagonally opposite first IPMC sheet 12112 in the same direction, causing the rotary drive unit to rotate in a clockwise direction in a spiral. The other pair of diagonally opposite first IPMC plates 12112 is energized, and diagonally opposite IPMC is bent, and the rotation driving unit rotates in a spiral shape in the counterclockwise direction.

The first base 1212 and the second base 1213 are respectively located at two ends of the first elastic film 12111, and the first base 1212 and the second base 1213 are each in a column shape. Four clamping blocks are fixedly arranged at one end of the first base 1212, a gap is arranged between the two clamping blocks, and one end of the first elastic film 12111 is clamped in the gap. The side wall of the first base 1212 is provided with a plurality of first grooves, the plurality of first grooves are uniformly arranged along the circumferential direction of the first bottom wall, and the length direction of the first grooves is axially parallel to the first base 1212.

Four clamping blocks are fixedly arranged at one end of the second base 1213, a gap is arranged between the two clamping blocks, and the other end of the first elastic film 12111 is clamped in the gap. The side wall of the second base 1213 is provided with a plurality of first grooves, the plurality of first grooves are uniformly arranged along the circumferential direction of the second bottom wall, and the length direction of the first grooves is axially parallel to the second base 1213.

As shown in fig. 3 and 6, the first grip 1214 includes a first mount 12141 and a first IPMC strip 12142, and the second grip 1215 includes a second mount (not shown) and a second IPMC strip (not shown).

The outer diameter of the first mounting seat 12141 is greater than that of the first base 1212, the outer side wall of the first mounting seat 12141 is provided with sliding blocks (not shown), the number of the sliding blocks is set according to actual needs, the inner side wall of the first housing 11 is provided with corresponding sliding grooves (not shown), the first mounting seat 12141 can slide along the inner side wall of the first housing 11, the first IPMC long strips 12142 are distributed around the first mounting seat 12141, in this embodiment, the number of the first IPMC long strips 12142 is four, but not limited to four, one end of the first IPMC long strips 12142 is fixedly connected with one end of the first mounting seat 12141, the other end of the first IPMC long strips 12142 is provided with a second groove, when the first IPMC long strips 12142 are electrified, the end of the first IPMC long strips 12142 with the second groove is bent, and the other end of the first IPMC long strips 12142 is clamped on the side wall of the first base 1212. After the first IPMC long strip 12142 is engaged, the friction between the first IPMC long strip 12142 and the outer sidewall of the first base 1212 is increased by the first groove, so as to further limit the rotation of the first base 1212.

The first through hole is formed in the center of the second mounting seat, the outer diameter of the second mounting seat is larger than that of the second base 1213, the outer side wall of the second mounting seat is provided with a sliding block, the inner side wall of the first shell 11 is provided with a corresponding sliding groove, the second mounting seat can slide along the inner side wall of the first shell 11, the second IPMC strips are distributed around the second mounting seat, the number of the second IPMC strips is four in the embodiment, but not limited to four, one end of the second IPMC strips is fixedly connected with one end of the second mounting seat, the other end of the second IPMC strips is provided with a second groove, when the second IPMC strips are electrified, the end of the second IPMC strips with the second groove is bent, and the other end of the second IPMC strips is clamped on the side wall of the second base 1213. After the second IPMC long strip is engaged, the friction force between the second IPMC long strip and the outer side wall of the first base 1212 is increased by the first groove, so as to further limit the rotation of the second base 1213.

One end of the first screw 1216 passes through the first through hole and is fixedly connected with one end of the second base 1213, the other end of the first screw 1216 passes through the first nut 1217 and is in threaded connection with the first nut 1217, and the side wall of the first nut 1217 is fixedly connected with the side wall of the first housing 11. The first screw 1216 can rotate relative to the first nut 1217 with less friction therebetween.

As shown in fig. 2 and 4, the first rotary drive assembly 122 includes a second rotary drive unit 1221, a third mount 1222, a fourth mount 1223, a third grip 1224, a fourth grip 1225, and a connecting rod 1226.

The second rotary driving unit 1221 includes a second elastic film (not shown) and at least four second IPMC sheets (not shown), and the structures of the second elastic film and the second IPMC sheets and the connection relationship between the second elastic film and the second IPMC sheets are the same as those of the first elastic film 12111 and the first IPMC sheet 12112, which are not described in detail herein.

The third mount 1222 and the fourth mount 1223 are respectively located at both ends of the second elastic film, and the third mount 1222 and the fourth mount 1223 are each in a column shape. Four clamping blocks are fixedly arranged at one end of the third base 1222, a gap is arranged between the two clamping blocks, and one end of the second elastic film is clamped in the gap. The side wall of the third base 1222 is provided with a plurality of first grooves (not labeled in the figure), the plurality of first grooves are uniformly arranged along the circumferential direction of the third base 1222, and the length direction of the first grooves is axially parallel to the third base 1222.

Four clamping blocks (not shown) are fixedly arranged at one end of the fourth base 1223, a gap is arranged between the two clamping blocks, and the other end of the second elastic film is clamped in the gap. The side wall of the fourth base 1223 is provided with a plurality of first grooves, the plurality of first grooves are uniformly arranged along the circumferential direction of the fourth base 1223, and the length direction of the first grooves is axially parallel to the fourth base 1223.

The third grip 1224 includes a third mount 12241 and a third IPMC strip 12242, and the fourth grip 1225 includes a fourth mount 12251 and a fourth IPMC strip 12252. The third mount 12241 is disposed near the first nut 1217, and the structures of the third mount 12241 and the third IPMC strip 12242 and the connection relationship between the third mount 12241 and the third IPMC strip 12242 are the same as those of the first mount 12141 and the first IPMC strip 12142, which are not described herein.

The side wall of the third mounting seat 12241 is slidably connected to the inner side wall of the first housing 11 through a slider and a chute. The center of the fourth mount 12251 is provided with a second through hole, and the structures of the fourth mount 12251 and the fourth IPMC strip 12252 and the connection relationship between the fourth mount 12251 and the fourth IPMC strip 12252 are the same as those of the first mount 12141 and the first IPMC strip 12142. The side wall of the fourth mounting seat 12251 is slidably connected to the inner side wall of the first housing 11 through a slider and a chute.

One end of the connecting rod 1226 passes through the second through hole and is fixedly connected with one end of the fourth base 1223, and the other end of the connecting rod 1226 passes through the end of the first housing 11.

As shown in fig. 2 and 7, the first bending mechanism 13 includes a first base 131, a second base 132, a third base 133, a first IPMC bending unit, and a second IPMC bending unit; the first IPMC bending unit is located between the first base 131 and the second base 132, and the second IPMC bending unit is located between the second base 132 and the third base 133.

The first IPMC bending unit is a third IPMC strip 134, the second IPMC bending unit is a fourth IPMC strip 12252, two ends of the third IPMC strip 134 are fixedly connected to one end of the first base 131 and one end of the second base 132, the number of the third IPMC strips 134 is plural, in this embodiment four, and two ends of the fourth IPMC strip 12252 are fixedly connected to the other end of the second base 132 and one end of the third base 133, respectively. The number of the fourth IPMC long strips 12252 is plural, in this embodiment, four, and the other end of the first base 131 is fixedly connected to the end of the connecting rod 1226 located outside the first housing 11.

To increase the bending force and complete the bending of the first bending mechanism 13, the plane of the end of the third IPMC strip 134 is perpendicular to the plane of the end of the fourth IPMC strip 12252.

As shown in fig. 2, 9 and 10, the needle changing mechanism 15 includes a second rotating assembly 151, a linear driving assembly 152 and a suture needle assembly 153. The second rotating assembly 151 includes a third rotary drive unit 1511, a fifth grip 1512, a sixth grip 1513, a fifth mount 1514, and a sixth mount 1515.

The third rotary driving unit 1511 includes a third elastic film (not shown) and at least four third IPMC sheets (not shown), and the third elastic film, the third IPMC sheets, and the connection relationship between the third elastic film and the third IPMC sheets are the same as those of the first elastic film 12111 and the first IPMC sheet 12112, which are not described in detail herein.

Fifth mount 1514 and sixth mount 1515 are positioned at both ends of the third elastic film, respectively, and fifth mount 1514 and sixth mount 1515 are each columnar. One end of the fifth base 1514 is provided with a third groove, the other end of the fifth base 1514 is fixedly provided with four clamping blocks, a gap is arranged between the two clamping blocks, and one end of the third elastic film is clamped in the gap. The side wall of the fifth base 1514 is provided with a plurality of first grooves, the plurality of first grooves are uniformly arranged along the circumferential direction of the fifth base 1514, and the length direction of the first grooves is axially parallel to the fifth base 1514.

A fourth groove (not shown) is formed in the center of one end of the sixth base 1515, four clamping blocks are fixedly mounted on the other end of the sixth base 1515, a gap is formed between the two clamping blocks, and the other end of the third elastic film is clamped in the gap. The side wall of the sixth base 1515 is provided with a plurality of first grooves, the plurality of first grooves are uniformly arranged along the circumferential direction of the tenth bottom wall, and the length direction of the first grooves is axially parallel to the sixth base 1515.

The fifth grip 1512 includes a fifth mount 15121 and a fifth IPMC strip 15122, and the sixth grip 1513 includes a sixth mount 15131 and a sixth IPMC strip 15132.

The center of the fifth mounting seat 15121 is provided with a third through hole, the structures of the fifth mounting seat 15121 and the fifth IPMC strip 15122 and the connection relationship between the fifth mounting seat 15121 and the fifth IPMC strip 15122 are the same as those of the first mounting seat 12141 and the first IPMC strip 12142, and the side wall of the fifth mounting seat 15121 is slidably connected with the inner side wall of the second casing 14 through a sliding block and a sliding groove. The center of the sixth mounting seat 15131 is provided with a fourth through hole, the connection relationship between the sixth mounting seat 15131, the structure of the sixth IPMC long strip 15132 and the connection relationship between the sixth mounting seat 15131 and the sixth IPMC long strip 15132 are the same as those of the first mounting seat 12141 and the first IPMC long strip 12142, and the side wall of the sixth mounting seat 15131 is slidably connected with the inner side wall of the second casing 14 through a sliding block and a sliding groove.

The linear driving assembly 152 includes an electromagnetic relay 1521, a first elastic member, an iron sheet (not shown) and a mounting plate 1523, wherein the iron sheet is located on the bottom wall of the third groove of the fifth base 1514, the first elastic member is a first spring 1522, the first spring 1522 is wrapped on the outer sidewall of the electromagnetic relay 1521, one end of the first spring 1522 is fixedly connected with one end of the mounting plate 1523, the other end of the first spring 1522 extends into the third through hole of the fifth mounting plate 1523, the electromagnetic relay 1521 is fixedly mounted on one end of the mounting plate 1523, the mounting plate 1523 is in interference fit with the second housing 14, and a magnetic force is generated after the electromagnetic relay 1521 is electrified to attract the fifth base 1514, and the first spring 1522 is in a compressed state.

The suture needle assembly 153 includes suture needles 1531, a winding unit 1532 and a connecting column 1533, wherein the first base 1212, the second base 1213, the third base 1222, the fourth base 1223, the fifth base 1514, the sixth base 1515, the first mount 12141, the second mount, the third mount 12241, the fourth mount 12251, the fifth mount 15121 and the sixth mount 15131 are coaxially arranged, and since the number of suture needles 1531 required for one surgical procedure is generally 2-3, three suture needles 1531 of different types are arranged in this embodiment, the number of winding units 1532 matches with the number of suture needles 1531, and the winding unit 1532 is the prior art.

The bottom end of the connecting column 1533 extends into the fourth through hole of the sixth mounting seat 15131, the bottom end of the connecting column 1533 is fixedly connected with the inner bottom wall of the sixth base 1515, the connecting column 1533 is hollow, the winding unit 1532 is fixedly mounted in the connecting column 1533, the top end of the connecting column 1533 is provided with a fifth through hole, a second elastic element is arranged in the fifth through hole, in this embodiment, the second elastic element is a second spring 1534, one end of the second spring 1534 is just clamped in the fifth through hole, the pinhole end of the suture needle 1531 is inserted into the other end of the second spring 1534, the second spring 1534 is compressed, the pinhole end of the suture needle 1531 abuts against the second spring 1534, the other end of the suture needle 1531 extends out of the fifth through hole and abuts against the inner top wall of the second housing 14, and the pinhole of the suture needle 1531 is connected with the winding unit 1532 through a surgical thread.

In order to ensure the ejecting path of the suture needle 1531 during ejecting, the device further comprises a positioning block 1535, the number of the positioning blocks 1535 is set according to the number of the suture needles 1531, the positioning block 1535 is fixedly installed at the top end of the fifth through hole, a sixth through hole is formed in the center of the positioning block 1535, and the other end of the suture needle 1531 extends out of the sixth through hole.

The second housing 14 has a single needle outlet 141 at its end, and the number of needle holes is set according to the rotational position of the suture needle 1531, so that the suture needle 1531 can be ejected from the needle hole after rotation.

As shown in fig. 2 and 11, the first grabbing mechanism 16 includes a first fixing disc 161, a fourth elastic film 162 and a seventh IPMC strip 163, the fourth elastic film 162 is two, one end of the first fixing disc 161 is provided with a fifth groove, the other end of the first fixing disc 161 is fixedly mounted at the end of the second casing 14, the ends of the two fourth elastic films 162 are fixed in the fifth groove, three seventh IPMC strips 163 are respectively adhered to the outer sides of the two fourth elastic films 162, the three seventh IPMC strips 163 are respectively located in the middle and on two sides of the fourth elastic film 162, and the inner side of the fourth elastic film 162 is a rough surface for increasing friction force when the suture needle 1531 is clamped.

As shown in fig. 1 and 12, the surgical arm 2 includes a third housing 21, a second drive mechanism, a second bending mechanism 23, and a second grasping mechanism 24. The second driving mechanism is located in the third casing 21, the second driving structure comprises a second spiral telescopic component 221 and a second rotary driving component 222, the second spiral telescopic component 221 is connected with the second rotary driving component 222, the second rotary driving component 222 is connected with one end of the second bending mechanism 23, the second grabbing mechanism 24 is connected with the other end of the second bending mechanism 23, the second spiral telescopic component 221 drives the second rotary driving component 222 to move along the axis of the third casing 21, and the second rotary driving component 222 drives the second bending mechanism 23 to be in a bending state.

The second grasping mechanism 24 is connected to the other end of the second bending mechanism 23.

One end of the third shell 21 is in an opening shape, the third shell 21 is a hard shell, and is made of one or more of light materials harmless to human body, such as polyvinyl chloride, polycarbonate, polyethylene, polystyrene, thermoplastic polyurethane, polytetrafluoroethylene, polyether-ether-ketone and the like. The second screw telescoping assembly 221 is coaxially disposed with the second rotary drive assembly 222.

The second screw telescoping assembly 221 includes a fourth rotary drive unit 2211, a seventh mount 2212, an eighth mount 2213, a seventh grip 2214, an eighth grip 2215, a second screw 2216, and a second nut 2217.

The fourth rotary driving unit 2211 includes a fifth elastic film (not shown) and at least four fourth IPMC sheets (not shown), and the structures of the fifth elastic film and the fourth IPMC sheets and the connection relationship between the fifth elastic film and the fourth IPMC sheets are the same as those of the first elastic film 12111 and the first IPMC sheet 12112, which are not described in detail herein.

The seventh base 2212 and the eighth base 2213 are respectively located at two ends of the fifth elastic film, and the seventh base 2212 and the eighth base 2213 are each in a column shape. One end of the seventh base 2212 is fixedly provided with four clamping blocks, a gap is arranged between the two clamping blocks, and one end of the fifth elastic film is clamped in the gap. The side wall of the seventh base 2212 is provided with a plurality of first grooves, the first grooves are uniformly arranged along the circumferential direction of the seventh base 2212, and the length direction of the first grooves is axially parallel to the seventh base 2212.

One end of the eighth base 2213 is fixedly provided with four clamping blocks, a gap is arranged between the two clamping blocks, and the other end of the fifth elastic film is clamped in the gap. The side wall of the eighth base 2213 is provided with a plurality of first grooves, the plurality of first grooves are uniformly arranged along the circumferential direction of the eighth base 2213, and the length direction of the first grooves is axially parallel to the eighth base 2213.

The seventh grip 2214 includes a seventh mount (not shown) and an eighth IPMC strip (not shown), and the eighth grip 2215 includes an eighth mount (not shown) and a ninth IPMC strip (not shown). The seventh mounting base, the eighth IPMC long strip structure, and the connection relationship between the seventh mounting base and the eighth IPMC long strip are the same as the first mounting base 12141 and the first IPMC long strip 12142, and will not be described herein. The eighth mount pad, the structure of the ninth IPMC strip, and the connection relationship between the eighth mount pad and the ninth IPMC strip are the same as the first mount pad 12141 and the first IPMC strip 12142, and will not be described herein.

The side wall of the seventh installation seat is in sliding connection with the inner side wall of the third shell 21 through a sliding block and a sliding groove, and the seventh installation seat does not rotate while sliding along the axis of the third shell 21. A seventh through hole is formed in the center of the eighth mounting seat, the side wall of the eighth mounting seat is slidably connected with the inner side wall of the third shell 21 through a sliding block and a sliding groove, and the eighth mounting seat does not rotate while sliding along the axis of the third shell 21.

One end of the second screw 2216 passes through the seventh through hole and is fixedly connected with one end of the eighth base 2213, the other end of the second screw 2216 is in threaded connection with the second nut 2217, and the side wall of the second nut 2217 is fixedly connected with the side wall of the third housing 21.

The second rotation driving assembly 222 includes a fifth rotation driving unit 2221, a ninth base 2222, a tenth base 2223, a ninth hand grip 2224, and a tenth hand grip 2225.

The fifth rotary driving unit 2221 includes a sixth elastic film (not shown) and at least four fifth IPMC sheets, and the structures of the sixth elastic film and the fifth IPMC sheets and the connection relationship between the sixth elastic film and the fifth IPMC sheets are the same as those of the first elastic film 12111 and the first IPMC sheet 12112, which are not described in detail herein.

The ninth base 2222 and the tenth base 2223 are respectively located at both ends of the sixth elastic film, and both the ninth base 2222 and the tenth base 2223 are in a column shape. One end of the ninth base 2222 is fixedly provided with four clamping blocks, a gap is arranged between the two clamping blocks, and one end of the sixth elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the ninth base 2222, the plurality of first grooves are uniformly formed in the circumferential direction of the ninth base 2222, and the length direction of the first grooves is axially parallel to the ninth base 2222.

One end of the tenth base 2223 is fixedly provided with four clamping blocks, a gap is arranged between the two clamping blocks, and the other end of the sixth elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the tenth base 2223, the plurality of first grooves are uniformly formed in the circumferential direction of the tenth base 2223, and the length direction of the first grooves is axially parallel to the tenth base 2223.

The ninth gripper 2224 includes a ninth mount (not labeled in the drawing) and a tenth IPMC strip (not labeled in the drawing), the tenth gripper 2225 includes a tenth mount and an eleventh IPMC strip, and the ninth mount, the tenth IPMC strip, and the connection relationship between the ninth mount and the tenth IPMC strip are the same as those of the first mount 12141 and the first IPMC strip 12142, which are not described herein. The tenth mounting base, the eleventh IPMC strip, and the connection between the tenth mounting base and the eleventh IPMC strip are the same as the first mounting base 12141 and the first IPMC strip 12142, and will not be described again here.

The side wall of the ninth installation seat is in sliding connection with the inner side wall of the third shell 21 through a sliding block and a sliding groove, and the ninth installation seat does not rotate while sliding along the axis of the third shell 21. The side wall of the tenth installation seat is in sliding connection with the inner side wall of the third shell 21 through a sliding block and a sliding groove, and the tenth installation seat does not rotate while sliding along the axis of the third shell 21.

The second bending mechanism 23 includes a fourth base (not shown), a fifth base 232, a sixth base 233, a third IPMC bending unit, and a fourth IPMC bending unit; the third IPMC bending unit is located between the fourth and fifth bases 232, and the fourth IPMC bending unit is located between the fifth and sixth bases 232, 233.

The third IPMC bending unit is a twelfth IPMC strip 234, the fourth IPMC bending unit is a thirteenth IPMC strip 235, two ends of the twelfth IPMC strip 234 are fixedly connected to one end of the fourth base and one end of the fifth base 232, the number of the twelfth IPMC strips 234 is plural, in this embodiment four, and two ends of the thirteenth IPMC strip 235 are fixedly connected to the other end of the fifth base 232 and one end of the sixth base 233, respectively. The thirteenth IPMC strip 235 has a plurality of strips, in this embodiment four strips, and the other end of the fourth base is fixedly connected to one end of the tenth mounting base.

To increase the bending force and complete the bending of the second bending mechanism 23 back and forth, left and right, the plane of the end of the twelfth IPMC strip 234 is perpendicular to the plane of the end of the thirteenth IPMC strip 235.

The second grabbing mechanism 24 has the same structure as the first grabbing mechanism 16, the second grabbing mechanism 24 includes a second fixing disc (not labeled in the figure), a seventh elastic film (not labeled in the figure) and a fourteenth IPMC strip (not labeled in the figure), the seventh elastic film is two, one end of the second fixing disc is provided with a sixth groove, the other end of the second fixing disc is fixedly arranged at the end of the sixth base 233, the end parts of the two seventh elastic films are fixed in the sixth groove, the outer sides of the two seventh elastic films are respectively adhered with three fourteenth IPMC strips, and the inner side of the seventh elastic film is a rough surface for increasing friction force when the suture needle is clamped.

The moving device 5 includes a first moving rail 51, a second moving rail 52, and a lifting mechanism 53, an axis of the first moving rail 51 is perpendicular to an axis of the second moving rail 52, and one end of the second moving pipe is slidably connected to the first moving rail 51. The lifting mechanism 53 is an air cylinder or a hydraulic cylinder, and the telescopic end of the lifting mechanism 53 is fixedly connected with one end side wall of the first movable guide rail 51. The volume of the entire apparatus can be reduced by the elevating mechanism 53.

With the ground as the horizontal plane, the axis of the telescopic end of the lifting mechanism 53 in this embodiment is perpendicular to the ground, but is not limited thereto.

The end of the first housing 11 remote from the needle changing mechanism 15 is fixedly or detachably provided with a slider which is slidably connected to the first moving rail 51. The end of the third housing 21 remote from the second gripping mechanism 24 is fixedly or detachably provided with a slider which is slidably connected to the second moving rail 52.

In order to control the sliding of the sliding block and drive the movement of the operation arm 2 and the needle changing arm 1, the embodiment further comprises a controller 4, wherein the controller 4 is in the prior art, the controller 4 comprises an electronic controller 4 and a wireless transmission module, and the controller 4 is electrically connected with the operation arm 2 and the IPMC strip or the IPMC sheet in the needle changing arm 1, so as to control the movement of the first driving mechanism, the first bending mechanism 13, the needle changing mechanism 15, the second driving mechanism and the second bending mechanism 23.

As shown in fig. 1 and 13, the sound control device 3 is electrically connected to the controller 4, the sound control device 3 includes a microphone 31, a signal transmission line 33 and an IPMC patch 32, in order to more accurately distinguish different sounds, the IPMC patch 32 includes an IPMC vocal cord patch, an IPMC face patch and an IPMC chin patch, a circular IPMC patch 34 is adhered to the middle of the microphone 31, the signal transmission line 33 is three, the three signal transmission lines 33 are all adhered with rectangular IPMC patches, the microphone 31 is electrically connected to the IPMC vocal cord patch, the IPMC face patch and the IPMC chin patch through the signal transmission line 33, the speaker sound is collected by the microphone 31 and transmitted to the circular IPMC patch 34, the IPMC vocal cord patch, the IPMC face patch and the IPMC chin patch are adhered to the vocal cords, the cheeks and the chin of the speaker respectively, and different frequencies of sound are generated due to different sounds, and different electric signals are generated, and are transmitted to the controller 4 through the signal transmission line 33, and the controller 4 sends a movement command to control the first driving mechanism, the first bending mechanism 13, the second bending mechanism, and the second driving mechanism 23.

The working principle of the embodiment is as follows:

movement of the first screw telescoping assembly 121: the first IPMC sheet 12112 and the first IPMC strip 12142 with diagonal angles are energized, the first IPMC strip 12142 is energized to bend inwards, the end portion of the first IPMC strip 12142 is clamped on the side wall of the first base 1212, the first base 1212 is fastened, the first IPMC sheet 12112 with diagonal angles bends towards the same direction, the first rotary driving unit 1211 is in an energized spiral state to drive the second base 1213 to rotate, and meanwhile, the first IPMC strip 12142 is de-energized, at this time, the first IPMC strip 12142 is uncoiled and has an increased length in the axial direction, so that the first screw 1216 rotates in the nut, and moves towards the third mounting seat 12241 while rotating, and because the IPMC strip is in a hard state after being energized, the first screw 1216 pushes the third mounting seat 12241, thereby driving the third mounting seat 12241 to move along the axis of the first housing 11, thereby driving the first bending mechanism 13, the needle changing mechanism 15 and the first grabbing mechanism 16 to move.

After the first spiral advance is finished, the second IPMC long strip is powered to bend inwards to fix the second base 1213, meanwhile, the first IPMC long strip 12142 is powered to make spiral movement, the first IPMC long strip 12142 is powered off, the first elastic film 12111 is shortened, the first mounting seat 12141 slides axially along the first shell 11 at this time, and the first screw 1216 is repeatedly rotated and advanced continuously, the first nut 1217 is fixed with the first shell 11, and the pushing length of the first nut can be controlled by controlling the rotation number due to the fact that the screw pitch is determined. By reversing the helical rotation, the first screw 1216 is rotated back.

The second screw telescoping assembly 221 operates in the same manner as the first screw telescoping assembly 121.

Movement of the first rotary drive assembly 122: the third IPMC long strip 12242 and the diagonal second IPMC sheet are powered on, the third IPMC long strip 12242 is bent inward, the third base 1222 is fixed, the diagonal second IPMC sheet is bent in the same direction, the first rotary driving unit 1211 is in a powered on spiral state to drive the fourth base 1223 to rotate, after the first rotation of the fourth base 1223, the diagonal second IPMC sheet is powered off, the fourth IPMC long strip 12252 and the different diagonal second IPMC sheets are powered on, the end of the fourth IPMC long strip 12252 is bent near the end of the fourth base 1223, the end of the fourth IPMC long strip 12252 is clamped on the side wall of the fourth base 1223, the fourth base 1223 is fastened, the diagonal IPMC sheet is bent in the same direction, and the first rotary driving unit 1211 is rotated in a spiral shape to drive the third base 1222 to rotate.

The rotation process of the fourth base 1223 and the third base 1222 is then repeated, so that the first rotation driving unit 1211 completes the clockwise and counterclockwise multi-rotation, greatly improving the degree of freedom of rotation.

The second rotary drive assembly 222 operates on the same principle as the first rotary drive assembly 122.

Movement of the first bending mechanism 13: the first base 131, the second base 132, and the third base 133 in the first bending mechanism 13 are coaxial, and the third IPMC strip 134 and the fourth IPMC strip 135 are energized according to the movement instruction, so that bending in three-dimensional space is realized.

The working principle of the needle changing mechanism 15 is as follows: when the electromagnetic relay 1521 is started, a magnetic force is generated after the electromagnetic relay 1521 is electrified, and the iron sheet on the fifth base 1514 is sucked, at this time, the first spring 1522 is in a compressed state, and the suture needle is not ejected. Before the electromagnetic relay 1521 is turned off, the fifth IPMC long strip 15122 and the diagonally opposite third IPMC sheet are energized, and the specific energizing position and energizing manner are that in the prior art, the end of the fifth IPMC long strip 15122 close to the fifth mounting seat 15121 is bent, the end of the fifth IPMC long strip 15122 is clamped on the side wall of the fifth base 1514, the fifth base 1514 is fastened, the diagonally opposite IPMC sheet is bent in the same direction, so that the rotation driving unit rotates clockwise to form a spiral shape and simultaneously drives the sixth base 1515 to rotate, and drives the connecting column 1533 to rotate by a certain angle, thereby driving the sewing needle on the connecting column 1533 to rotate to the needle outlet 141, and maintaining the state.

Then, the electromagnetic relay 1521 is turned off, the magnetic force of the electromagnetic relay 1521 disappears, the first spring 1522 pops up, one end of the first spring 1522 pushes against the bottom wall of the fifth base 1514, the fifth base 1514 is driven to move towards the needle outlet 141, the fifth mounting seat 15121 slides relative to the inner side wall of the housing, the suture needle stretches out, and the suture needle pops up the needle outlet 141 due to the elasticity of the second spring 1534.

After the suture needle is ejected, if the needle needs to be replaced, the above steps are repeated, if the suture needle needs to be returned to the needle replacing device after the operation is finished, the above steps are repeated, the connecting column 1533 is rotated to the needle outlet 141, the electromagnetic relay 1521 is started, then the suture end of the suture needle is inserted into the second spring 1534, the first spring 1522 is compressed, the iron sheet on the fifth base 1514 is sucked again, then the fifth IPMC strip 15122 and the diagonal third IPMC sheet are electrified, the connecting column 1533 is driven to rotate for a certain angle, the positioning block 1535 without the suture needle is aligned with the needle outlet 141, and other suture needles are continuously placed.

Movement of the first gripper mechanism 16: different voltages are respectively applied to the seventh IPMC long strips 163 on the fourth elastic film 162, the seventh IPMC long strips 163 generate different curvatures, the seventh IPMC long strips 163 on the two fourth elastic films 162 are relatively bent to form a clamping state, the seventh IPMC long strips 163 are powered off, and the two fourth elastic films 162 are removed from the clamping state.

The second gripper mechanism 24 operates on the same principle as the first gripper mechanism 16.

General principle of operation: during operation suture, the axis of the needle changing arm 1 is perpendicular to the axis of the first moving guide rail 51, the axis of the operation arm 2 is perpendicular to the axis of the second moving guide rail 52, the positions of the needle changing arm 1 and the operation arm 2 in the first moving guide rail 51 and the second moving guide rail 52 are adjusted through the controller 4, after the suture needle is ejected, the second grabbing mechanism 24 clamps the suture needle, the second spiral telescopic component 221 rotates to retreat, so that the suture needle is pulled out, the first grabbing mechanism 16 clamps the tissue to be sutured of the body 6, the second bending unit of the operation arm 2 and the second rotation driving component 222 move, so that the suture needle is sutured into the tissue, the first grabbing mechanism 16 loosens the tissue, clamps the suture needle, and so on. The controller 4 controls the needle changing arm 1 and the operation arm 2 to synchronously and horizontally move in the first moving guide rail 51 and the second moving guide rail 52, so that the operation stitching process is completed.

The speaker's voice is collected by the microphone 31 and transmitted to the circular IPMC sheet 34, and the IPMC vocal cords patch, IPMC face patch and IPMC chin patch are respectively adhered to the vocal cords, cheeks and chin of the speaker, and because of different sounds and different frequencies of sound generation, different electric signals are generated by the IPMC patch 32, and these signals are transmitted to the controller 4 through the signal transmission line 33, and the controller 4 sends out a movement command to control the first driving mechanism, the first bending mechanism 13, the needle changing mechanism 15, the second driving mechanism and the second bending mechanism 23 to move.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An acoustic control operation suture device, characterized in that: comprises a needle changing arm, an operation arm, a sound control device and a moving device; the needle changing arm and the operation arm are positioned on the moving device, and the moving device moves to enable the needle changing arm and the operation arm to move close to or far away from the operation suture position;

The first driving mechanism is positioned in the first shell, and the first spiral telescopic assembly comprises a first rotary driving unit, a first base, a second base, a first handle, a second handle, a first screw rod and a first nut;

one end of the first screw rod is connected with one end of the second base, the other end of the first screw rod penetrates through the first nut and is in threaded connection with the first nut, and the first nut is fixedly connected with the first shell;

the first rotary driving assembly comprises a second rotary driving unit, a third base, a fourth base, a third handle, a fourth handle and a connecting rod;

one end of the connecting rod is connected with one end of the fourth base, and the other end of the connecting rod is connected with the first bending mechanism;

the second rotating assembly comprises a third rotating driving unit, a fifth gripper, a sixth gripper, a fifth base and a sixth base;

the fifth handle is positioned at one end of the fifth base, the sixth handle is positioned at one end of the sixth base, the fifth handle grabs the fifth base, and the third elastic film is in a spiral shape so as to enable the fifth base to rotate; the sixth gripper grabs the sixth base, and the third elastic film is in a spiral shape so as to enable the sixth base to rotate;

the linear driving assembly comprises an electromagnetic relay, a first elastic piece, a magnetic piece and a mounting plate; the magnetic sheet is positioned on the fifth base, the first elastic piece is wrapped on the outer side wall of the electromagnetic relay, and one end of the first elastic piece is connected with the mounting plate;

the electromagnetic relay is electrified to enable the magnetic sheet to attract the first elastic piece, so that the first elastic piece is in a compressed state, and the electromagnetic relay is powered off to enable the first elastic piece to extend, so that the fifth base, the third rotary driving unit, the sixth base and the sixth gripper move towards the needle outlet, and the suture needle is led to extend out of the needle outlet;

the surgical arm comprises a second driving mechanism, a second bending mechanism and a second grabbing mechanism; the second driving structure comprises a second spiral telescopic component and a second rotary driving component, the second spiral telescopic component is identical to the first spiral telescopic component in structure, the second rotary driving component is identical to the first rotary driving component in structure, and the second spiral telescopic component, the second rotary driving component and the second bending mechanism are sequentially connected; the second spiral telescopic group stretches to enable the second rotary driving assembly to move back and forth along the axis of the second rotary driving assembly; the second rotary driving assembly rotates to enable the second grabbing mechanism to rotate, the second grabbing mechanism rotates, and the second bending mechanism bends to enable the second grabbing mechanism to extend into a to-be-stitched position; the second grabbing mechanism is used for grabbing a suture needle or a to-be-sutured part;

2. The voice-activated surgical stapling apparatus of claim 1, wherein: the first bending mechanism comprises a first base, a second base, a third base, a first IPMC bending unit and a second IPMC bending unit; the first IPMC bending unit is a third IPMC strip, the second IPMC bending unit is a fourth IPMC strip, and two ends of the third IPMC strip are respectively connected with one end of the first base and one end of the second base; and two ends of the fourth IPMC strip are respectively connected with the other end of the second base and one end of the third base.

3. The voice-activated surgical stapling apparatus of claim 2, wherein: the plane of the end part of the third IPMC strip is perpendicular to the plane of the end part of the fourth IPMC strip.

4. The voice-activated surgical stapling apparatus of claim 1, wherein: the suture needle assembly further comprises a winding unit, a connecting column and a second elastic piece; the connecting column is hollow, the winding unit is positioned inside the connecting column, a fifth through hole is formed in the top end of the connecting column, one end of the elastic piece is positioned in the fifth through hole, the needle hole end of the suture needle is inserted into the other end of the second elastic piece, and the other end of the suture needle abuts against the inner top wall of the second shell.

5. The voice-activated surgical stapling apparatus of claim 1, wherein: the first grabbing mechanism comprises a first fixed disc, a fourth elastic film and a seventh IPMC strip; the four elastic films are two, a fifth groove is formed in one end of the first fixing disc, the other end of the first fixing disc is arranged at the end part of the second shell, the end parts of the two fourth elastic films are fixed in the fifth groove, three seventh IPMC strips are respectively stuck to the outer sides of the two fourth elastic films, and the three seventh IPMC strips are respectively positioned in the middle and on two sides of the fourth elastic films.

6. The voice-activated surgical stapling apparatus of claim 1, wherein: the second driving mechanism is positioned in the third shell, and the second spiral telescopic assembly comprises a fourth rotary driving unit, a seventh base, an eighth base, a seventh gripper, an eighth gripper, a second screw rod and a second nut;

7. The voice-activated surgical stapling apparatus of claim 1, wherein: the second rotary driving assembly comprises a fifth rotary driving unit, a ninth base, a tenth base, a ninth gripper and a tenth gripper;