CN113842180B - Auxiliary suturing device for liver transplantation operation - Google Patents
Auxiliary suturing device for liver transplantation operation Download PDFInfo
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- CN113842180B CN113842180B CN202110972946.4A CN202110972946A CN113842180B CN 113842180 B CN113842180 B CN 113842180B CN 202110972946 A CN202110972946 A CN 202110972946A CN 113842180 B CN113842180 B CN 113842180B
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- clamping
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- rotating
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- sewing
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- 210000004185 liver Anatomy 0.000 title claims abstract description 11
- 238000002054 transplantation Methods 0.000 title claims abstract description 11
- 238000009958 sewing Methods 0.000 claims description 88
- 238000007599 discharging Methods 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000003028 elevating effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims 2
- 241000270923 Hesperostipa comata Species 0.000 abstract 1
- 206010052428 Wound Diseases 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 244000309464 bull Species 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 206010053567 Coagulopathies Diseases 0.000 description 1
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 206010019663 Hepatic failure Diseases 0.000 description 1
- 206010023126 Jaundice Diseases 0.000 description 1
- 208000002720 Malnutrition Diseases 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000035602 clotting Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 208000007903 liver failure Diseases 0.000 description 1
- 231100000835 liver failure Toxicity 0.000 description 1
- 230000001071 malnutrition Effects 0.000 description 1
- 235000000824 malnutrition Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 208000015380 nutritional deficiency disease Diseases 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0491—Sewing machines for surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
The invention discloses an auxiliary suturing device for liver transplantation operation, which comprises a supporting platform, a moving mechanism, a lifting mechanism, a telescopic mechanism, a clamping mechanism and a suturing mechanism, wherein the supporting platform is used for implementing an operation platform of the whole device, the moving mechanism is used for adjusting the front and back required positions of the device, the lifting mechanism is used for moving the telescopic mechanism, the clamping mechanism and the suturing mechanism up and down to the required positions, the telescopic mechanism is used for moving the clamping mechanism and the suturing mechanism left and right to the required positions, the clamping mechanism is used for tensioning the skins at two sides of a wound after clamping the skins at two sides of the wound, and the suturing mechanism is used for automatically suturing the wound at two sides in a needle and thread outlet mode after clamping the wound. The auxiliary suturing device for liver transplantation operation has the characteristics of high safety coefficient, time saving and labor saving.
Description
Technical Field
The invention relates to the technical field of surgical suturing, in particular to an auxiliary suturing device for liver transplantation surgery.
Background
Liver failure can lead to malnutrition, clotting dysfunction, gut hemorrhage, and jaundice, and often patients requiring liver transplantation, which requires a lateral surgical incision in the upper abdomen, are quite debilitating and hospitalized in the Intensive Care Unit (ICU) prior to surgery. Suturing is to appose or reconstruct the channel of a tissue or organ which has been cut or traumatically ruptured, and restore the function. Is a basic condition for ensuring good healing and is one of important basic operation techniques of surgical operation. At present, suturing is carried out manually, the efficiency is low, and the application number is as follows: 2017105652645 discloses a wound stapler which can reduce the labor costs to some extent, but which is less automated and is only suitable for smaller incisions.
Disclosure of Invention
The invention provides an auxiliary suturing device for liver transplantation operation, which comprises a supporting platform, a moving mechanism, a lifting mechanism, a telescopic mechanism, a clamping mechanism and a suturing mechanism, wherein the device moves to a required position through the moving mechanism, the lifting mechanism and the telescopic mechanism, the clamping mechanism clamps and tightens the skins at two sides of a wound, and the suturing mechanism carries out automatic suturing through needle discharging and thread hooking.
The clamping mechanism comprises: the clamping device comprises a clamping sliding block, a clamping pair motor, a clamping right driving gear, a clamping right driven gear, a clamping right first rotating rod, a clamping right second rotating rod, a clamping right third rotating rod, a clamping right clamping jaw, a clamping left driven gear, a clamping left first rotating rod, a clamping left second rotating rod, a clamping left third rotating rod and a clamping left clamping jaw.
The suturing mechanism comprises: the sewing machine comprises a sewing right slider, a sewing main mounting plate, a needle outlet motor, a needle outlet driving gear, a needle outlet rack, a needle outlet driven gear, a needle outlet, a sewing auxiliary mounting plate, a thread hooking motor, a thread hooking gear, a thread hooking rack, a thread hooking sector gear shaft and a sewing left slider.
The inner side of the clamping right driving gear is fixedly connected with the clamping sliding block, the outer side of the clamping right driving gear is fixedly connected with the clamping pair motor rotating shaft, the clamping right driven gear is connected with the clamping right driving gear to form gear fit, one end of the clamping right first rotating rod is fixedly connected with the clamping right driven gear, the other end of the clamping right first rotating rod is connected with the upper end of the clamping right second rotating rod to form rotating fit, the lower end of the clamping right second rotating rod is connected with the lower end of the clamping right third rotating rod to form rotating fit, the upper end of the clamping right third rotating rod is connected with the clamping sliding block to form rotating fit, the upper end of the clamping right claw is connected with the lower end of the clamping right third rotating rod in rotating connection with the clamping right second rotating rod to form gear fit, one end of the clamping left first rotating rod is fixedly connected with the clamping left driven gear, the other end of the clamping left first rotating rod is connected with the upper end of the clamping left second rotating rod, the lower end of the left clamping second rotating rod is connected with the lower end of the left clamping third rotating rod to form running fit, the upper end of the left clamping third rotating rod is connected with the clamping sliding block to form running fit, the upper end of the left clamping claw is connected with the lower end of the left clamping third rotating rod in a rotating way and is fixedly connected with the left clamping second rotating rod, the needle outlet is fixedly arranged on the outer side of the right sewing sliding block, the sewing main mounting plate is fixedly arranged above the needle outlet, the needle outlet motor rotating shaft is fixedly connected with the needle outlet driving gear, the needle outlet driving gear is fixedly arranged above the sewing main mounting plate, the needle outlet rack is connected with the needle outlet driving gear to form gear fit, the needle outlet driven gear is connected with the needle outlet rack to form gear fit, the sewing auxiliary mounting plate is fixedly connected with the left sewing sliding block, the needle hooking motor rotating shaft is fixedly connected with the needle hooking gear, the needle hooking gear is fixedly arranged above the sewing auxiliary mounting plate, the thread hooking rack is connected with the thread hooking gear to form gear fit, the thread hooking sector gear is connected with the thread hooking rack to form gear fit, the lower end of the thread hooking sector gear shaft is fixedly connected with the hole of the sewing pair mounting plate, and the upper end of the thread hooking sector gear is connected with the central hole of the thread hooking sector gear to form running fit.
Further, the moving mechanism includes: the movable motor support, the movable motor, the movable screw fixing frame, the movable nut dead lever, the movable nut, the movable platform, movable motor support fixed mounting is in movable screw fixing frame side, movable motor fixed mounting is in movable motor support's upper surface, movable screw and movable motor pivot fixed connection, movable screw fixing frame is total two, fixed mounting is in supporting platform's below, movable nut dead lever and movable screw fixing frame fixed connection, movable nut dead lever and movable nut aperture are connected, form normal running fit, movable nut and movable screw are connected, form gear cooperation, outside and movable platform fixed connection.
Further, the lifting mechanism comprises: the lifting device comprises a lifting motor support, a lifting motor, a lifting driving gear, a lifting rack, a lifting first rotating rod, a lifting second rotating rod, a lifting table, a lifting third rotating rod, a lifting fourth rotating rod and a lifting driven gear, wherein the lifting motor support is fixedly connected with a moving platform, the lifting motor is fixedly installed above the lifting motor support, the lifting driving gear is fixedly connected with a lifting motor rotating shaft, the lifting rack is connected with the lifting driving gear to form gear fit, the lower end of the lifting first rotating rod is fixedly connected with the lifting driving gear, the upper end of the lifting first rotating rod is connected with the lifting second rotating rod to form running fit, the lifting table is connected with the lifting second rotating rod to form sliding fit, the lifting third rotating rod is connected with the lifting table to form running fit, the lower end of the lifting third rotating rod is connected with the upper end of the lifting fourth rotating rod to form running fit, and the lower end of the lifting fourth rotating rod is fixedly connected with the lifting driven gear.
Further, the telescopic mechanism includes: the telescopic motor support, telescopic motor, flexible driving gear, flexible driven gear, gear mount, flexible driven gear axle, flexible cam, mounting bracket slide, flexible motor support fixed mounting is in elevating platform top, flexible motor fixed mounting is in flexible motor support top, flexible driving gear and flexible motor pivot fixed connection, flexible driven gear is connected with flexible driving gear, form gear fit, gear mount lower extreme fixed mounting is in elevating platform top, the upper end is connected with flexible driven gear axle, form normal running fit, flexible driven gear axle one end and flexible driven gear fixed connection, the other end and flexible cam fixed connection, mounting bracket slide lower extreme fixed mounting is in elevating platform top.
Further, the clamping mechanism further includes: the mounting bracket, press from both sides tight main motor, press from both sides tight belt pulley, press from both sides tight belt, the swivel mount, press from both sides tight slider connecting axle, press from both sides tight slider slide, mounting bracket and mounting bracket slide recess are connected, form sliding fit, press from both sides tight main motor fixed mounting in the mounting bracket top, press from both sides tight belt pulley and press from both sides tight main motor pivot fixed connection, press from both sides tight belt pulley total two, another one and swivel mount fixed connection, press from both sides tight belt and press from both sides tight belt pulley and be connected, form normal running fit, swivel mount and press from both sides tight slider connecting axle and be connected, form gear fit, press from both sides tight slider slide and press from both sides tight slider slide recess and be connected, form sliding fit.
Further, the suturing mechanism further comprises: the utility model provides a stitch spout, stitch the pivot, stitch the main motor, stitch the belt pulley, stitch the belt, stitch the spring, stitch spout fixed mounting in the below of pressing from both sides tight slider slide, stitch the pivot left side and stitch spout fixed connection, the right side is connected with the belt pulley of stitching, form normal running fit, stitch the main motor and stitch spout fixed connection, stitch the belt pulley and stitch the main motor pivot fixed connection, stitch the belt and stitch the belt pulley and be connected, form normal running fit, stitch belt one end and stitch right slider fixed connection, the other end and stitch left slider fixed connection, stitch spring one end and stitch right slider fixed connection, the other end and stitch spout fixed connection.
Further, the needle outlet includes: go out needle mounting bracket, the solid fixed ring, go out needle pinion, go out needle swivel axle, go out the needle go up bull stick, the driving lever, the sewing needle, go out the needle spring, go out needle mounting bracket and sew up right slider fixed connection, gu fixed ring and play needle mounting bracket fixed connection, go out needle pinion and play needle mounting bracket hole and be connected, form normal running fit, go out needle swivel and play needle pinion fixed connection, go out needle swivel axle and play needle swivel outside fixed connection, go out the needle go up bull stick and go out needle swivel axle and be connected, form normal running fit, the driving lever is connected with play needle mounting bracket hole, form normal running fit, driving lever and play needle driven gear fixed connection, sewing needle and driving lever lower extreme are connected, go out needle driven gear, go out needle, collude line sector gear and totally six, arrange equidistantly on sewing up main mounting panel and sewing up pair mounting panel.
Further, the lifting driving gear, the lifting rack and the lifting driven gear are respectively two, and are symmetrically fixedly connected with the upper ends of the lifting second rotating rod and the lifting third rotating rod.
Compared with the prior art, the invention has the beneficial effects that: (1) After the liver transplantation operation is finished, the invention realizes the suture at any position through the moving mechanism, the lifting mechanism and the telescopic mechanism; (2) According to the invention, the plurality of needle-out and thread-hooking devices are arranged, so that the sewing efficiency is greatly improved, each needle is independently sewn, wounds with different sizes can be applied, and the applicability of the device is improved; (3) The clamping mechanism is arranged to clamp the skins at two sides of the wound, then the skin is tensioned towards two sides and then is sutured, so that dislocation at two sides during suturing caused by wound skin accumulation is avoided.
Drawings
FIG. 1 is a schematic view of the whole of the present invention.
FIG. 2 is a schematic view of a moving mechanism and a lifting mechanism according to the present invention.
FIG. 3 is a schematic view of the telescopic mechanism of the present invention.
Fig. 4 is a schematic side view of the clamping mechanism of the present invention.
FIG. 5 is a schematic view of a reverse side of the clamping mechanism of the present invention.
FIG. 6 is a schematic top view of the suturing mechanism of the present invention.
FIG. 7 is a schematic view of the suturing mechanism of the present invention.
Fig. 8 is a schematic view of the needle of the present invention.
Figure number: 1-a supporting platform; 2-a moving mechanism; 3-a lifting mechanism; 4-a telescopic mechanism; 5-a clamping mechanism; 6-a suturing mechanism; 201-a mobile motor support; 202-a mobile motor; 203-moving the lead screw; 204-moving a screw rod fixing frame; 205-moving a nut fixing rod; 206-moving the nut; 207-a mobile platform; 301-lifting a motor bracket; 302-lifting motor; 303-lifting a driving gear; 304-lifting a rack; 305-lifting the first rotating rod; 306-lifting the second rotating rod; 307-lifting table; 308-lifting the third rotating rod; 309-lifting the fourth rotating rod; 310-lifting a driven gear; 401-telescoping motor mount; 402-telescoping motor; 403-telescoping drive gear; 404-telescoping driven gear; 405-gear fixing frame; 406-telescoping driven gear shaft; 407-telescoping cam; 408-a mounting rack slideway; 501-mounting frame; 502-clamping the main motor; 503-clamping the pulley; 504-clamping the belt; 505-rotating rack; 506-clamping a slider connecting shaft; 507-clamping the slider slide; 508-clamping a slider; 509-clamp sub-motor; 510-clamping the right drive gear; 511-clamping the right driven gear; 512-clamping the right first rotating rod; 513-clamping the right second rotating rod; 514-clamping the right third rotating rod; 515-clamping the right jaw; 516-clamping the left driven gear; 517-clamping the left first rotating rod; 518-clamping the left second rotating rod; 519-clamping the left third rotating bar; 520-clamping left jaw; 601-stitching the chute; 602-stitching the shaft; 603-stitching the main motor; 604-stitching the pulley; 605-stitching the belt; 606-stitch right slider; 607-suture spring; 608-stitching the main mounting plate; 609-a needle-out motor; 610-needle out driving gear; 611-needle bar; 612-a needle-out driven gear; 613-needle out; 6131-needle-out mounting rack; 6132-a fixing ring; 6133-needle out pinion; 6134-needle-out swivel; 6135-needle-out rotating ring shaft; 6136-needle-out upper rotating rod; 6137-a toggle lever; 6138-suture needle; 6139 needle-out spring; 614-stitching the secondary mounting plate; 615-a wire hooking motor; 616-hook gear; 617-hooking rack; 618-hooking sector gear; 619-hooking sector shaft; 620-stitch left slider.
Detailed Description
The invention will now be further described with reference to specific examples, which are intended to illustrate, but not limit the invention.
Examples: a liver transplantation operation auxiliary stitching device as shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8.
The inner side of the clamping right driving gear 510 is fixedly connected with the clamping sliding block 508, the outer side of the clamping right driving gear 510 is fixedly connected with the rotating shaft of the clamping auxiliary motor 509, the clamping right driven gear 511 is connected with the clamping right driving gear 510 to form gear fit, one end of the clamping right first rotating rod 512 is fixedly connected with the clamping right driven gear 511, the other end of the clamping right first rotating rod is connected with the upper end of the clamping right second rotating rod 513 to form rotating fit, the lower end of the clamping right second rotating rod 513 is connected with the lower end of the clamping right third rotating rod 514 to form rotating fit, the upper end of the clamping right third rotating rod 514 is connected with the clamping sliding block 508 to form rotating fit, the upper end of the clamping right claw 515 is rotationally connected with the lower end of the clamping right third rotating rod 514 to form rotating fit, the clamping right driven gear 516 is connected with the clamping right driven gear 511 to form gear fit, one end of the clamping left first rotating rod 517 is fixedly connected with the clamping left driven gear 516, the other end is connected with the upper end of the left clamping second rotating rod 518 to form a rotating fit, the lower end of the left clamping second rotating rod 518 is connected with the lower end of the left clamping third rotating rod 519 to form a rotating fit, the upper end of the left clamping third rotating rod 519 is connected with the clamping sliding block 508 to form a rotating fit, the upper end of the left clamping claw 520 is connected with the lower end of the left clamping third rotating rod 519 in a rotating way and is fixedly connected with the left clamping second rotating rod 518, the needle discharging 613 is fixedly arranged on the outer side of the right stitching sliding block 606, the main stitching mounting plate 608 is fixedly arranged above the needle discharging 613, the rotating shaft of the needle discharging motor 609 is fixedly connected with the needle discharging driving gear 610, the needle discharging driving gear 610 is fixedly arranged above the main stitching mounting plate 608, the needle discharging rack 611 is connected with the needle discharging driving gear 610 to form a gear fit, the needle discharging driven gear 612 is connected with the needle discharging rack 611 to form a gear fit, the sewing auxiliary mounting plate 614 is fixedly connected with the sewing left slider 620, the rotating shaft of the thread hooking motor 615 is fixedly connected with the thread hooking gear 616, the thread hooking gear 616 is fixedly mounted above the sewing auxiliary mounting plate 614, the thread hooking rack 617 is connected with the thread hooking gear 616 to form gear fit, the thread hooking sector gear 618 is connected with the thread hooking rack 617 to form gear fit, the lower end of the thread hooking sector gear shaft 619 is fixedly connected with the hole of the sewing auxiliary mounting plate 614, and the upper end of the thread hooking sector gear 618 is connected with the central hole of the thread hooking sector gear 618 to form running fit.
The specific structure of the moving mechanism 2 is shown in fig. 2, a moving motor support 201 is fixedly arranged on the side face of a moving screw fixing frame 204, a moving motor 202 is fixedly arranged on the upper surface of the moving motor support 201, the moving screw 203 is fixedly connected with a rotating shaft of the moving motor 202, the moving screw fixing frames 204 are fixedly arranged below the supporting platform 1, a moving nut fixing rod 205 is fixedly connected with the moving screw fixing frames 204, the moving nut fixing rods 205 are connected with small holes of a moving nut 206 to form a running fit, the moving nut 206 is connected with the moving screw 203 to form a gear fit, the outer side is fixedly connected with a moving platform 207, the moving motor 202 is started to drive the moving screw 203 to rotate, the moving nut 206 is driven to rotate, the moving platform 207 is driven to move, and the moving motor 202 is turned off after the moving platform moves to a required position.
The specific structure of the lifting mechanism 3 is shown in fig. 2, the lifting motor support 301 is fixedly connected with the moving platform 207, the lifting motor 302 is fixedly installed above the lifting motor support 301, the lifting driving gear 303 is fixedly connected with the rotating shaft of the lifting motor 302, the lifting rack 304 is connected with the lifting driving gear 303 to form gear matching, the lower end of the lifting first rotating rod 305 is fixedly connected with the lifting driving gear 303, the upper end of the lifting first rotating rod 303 is connected with the lifting second rotating rod 306 to form rotating matching, the lifting platform 307 is connected with the lifting second rotating rod 306 to form sliding matching, the lifting third rotating rod 308 is connected with the lifting platform 307 to form rotating matching, the lower end of the lifting third rotating rod 308 is connected with the upper end of the lifting fourth rotating rod 309 to form rotating matching, the lower end of the lifting fourth rotating rod 309 is fixedly connected with the lifting driven gear 310, the lifting motor 302 is started to drive the lifting driving gear 303 to rotate, the lifting driven gear 310 is driven to rotate, the lifting fourth rotating rod 309 is driven to rotate, the lifting driving gear 303 drives the lifting first rotating rod 306 to rotate, the lifting second rotating rod 306 is driven to rotate, and the lifting motor 307 is driven to rotate, and the lifting driven to reach the required position 302 after the lifting platform is closed.
The specific structure of the telescopic mechanism 4 is shown in fig. 3, the telescopic motor support 401 is fixedly installed above the lifting platform 307, the telescopic motor 402 is fixedly installed above the telescopic motor support 401, the telescopic driving gear 403 is fixedly connected with a rotating shaft of the telescopic motor 402, the telescopic driven gear 404 is connected with the telescopic driving gear 403 to form gear matching, the lower end of the gear fixing frame 405 is fixedly installed above the lifting platform 307, the upper end of the gear fixing frame is connected with the telescopic driven gear 406 to form rotating matching, one end of the telescopic driven gear 406 is fixedly connected with the telescopic driven gear 404, the other end of the telescopic driven gear is fixedly connected with the telescopic cam 407, the lower end of the mounting frame slide 408 is fixedly installed above the lifting platform 307, the telescopic motor 402 is started, the telescopic driving gear 403 is driven to rotate, the telescopic driven gear 404 is driven to rotate, the telescopic driven gear shaft 406 is driven to rotate through surface-to contact, the mounting frame 501 is driven to move in the mounting frame slide, and the telescopic motor 402 is closed after the required position is reached.
The specific structure of the clamping mechanism 5 is shown in fig. 4 and 5, the mounting frame 501 is connected with the grooves of the mounting frame slideway 408 to form sliding fit, the clamping main motor 502 is fixedly mounted above the mounting frame 501, the clamping belt pulley 503 is fixedly connected with the rotating shaft of the clamping main motor 502, the other clamping belt pulley 503 is fixedly connected with the rotating frame 505, the clamping belt 504 is connected with the clamping belt pulley 503 to form rotating fit, the rotating frame 505 is connected with the clamping slide block connecting shaft 506 to form gear fit, the clamping slide block slideway 507 is fixedly connected with the mounting frame 501, the clamping slide block 508 is connected with the grooves of the clamping slide block slideway 507 to form sliding fit, the clamping auxiliary motor 509 is started to drive the clamping right driving gear 509 to rotate, the clamping right driven gear 510 is driven to rotate, the clamping right first rotating rod 511 is driven to rotate, the clamping right second rotating rod 512 is driven to rotate, the clamping right third rotating rod 513 is driven to rotate, the clamping right claw 515 is similarly driven to drive the clamping right claw 515 and the clamping left claw 520 to move in the mirror direction, after the skin on two sides of a wound is clamped, the clamping auxiliary motor 509 is started, the clamping main motor 502 is driven to rotate, the clamping belt pulley 503 is driven to rotate, the clamping belt pulley 505 is driven to rotate, the clamping driving the clamping motor 505 is driven to rotate, the clamping driving the clamping slide block 507 is driven to rotate, the clamping driving shaft 508 is driven to rotate, the clamping slide block 506 is driven to rotate, and the clamping shafts on two sides to be clamped tightly when the skin on two sides are required to be clamped.
The specific structure of the sewing mechanism 6 is shown in fig. 6 and 7, a sewing chute 601 is fixedly arranged below a clamping slider slideway 507, the left side of a sewing rotating shaft 602 is fixedly connected with the sewing chute 601, the right side is connected with a sewing belt pulley 604 to form a rotating fit, a sewing main motor 603 is fixedly connected with the sewing chute 601, the sewing belt pulley 604 is fixedly connected with the rotating shaft of the sewing main motor 603, a sewing belt 605 is connected with the sewing belt pulley 604 to form a rotating fit, one end of the sewing belt 605 is fixedly connected with a sewing right slider 606, the other end of the sewing belt 605 is fixedly connected with a sewing left slider 620, one end of a sewing spring 607 is fixedly connected with the sewing right slider 606, the other end of the sewing spring is fixedly connected with the sewing chute 601, the main sewing motor 603 is started, the sewing belt pulley 604 is driven to rotate, the sewing belt 605 is driven to rotate, the right sewing slider 606 and the left sewing slider 620 are driven to move in a mirror direction, the main sewing motor 603 is closed when the required position is reached, a spool is arranged on the main sewing mounting plate 608, the thread sequentially passes through the needle discharging motor 609 and the thread hooking motor 615, the needle discharging motor 609 drives the needle discharging driving gear 610 to rotate, the needle discharging rack 611 is driven to slide, the needle discharging driven gear 612 is sequentially driven to rotate, the needle discharging 613 is driven to discharge the needle, the thread hooking motor 615 drives the thread hooking gear 616 to rotate, the thread hooking rack 617 is driven to rotate, and the thread hooking sector gear 618 is sequentially driven to rotate.
The specific structure of the needle 613 is shown in fig. 8, the needle mounting frame 6131 is fixedly connected with the right sewing slider 606, the fixed ring 6132 is fixedly connected with the needle mounting frame 6131, the needle pinion 6133 is connected with the needle mounting frame 6131 hole to form a running fit, the needle rotating ring 6134 is fixedly connected with the needle pinion 6133, the needle rotating ring shaft 6135 is fixedly connected with the outer side of the needle rotating ring 6134, the needle upper rotating rod 6136 is connected with the needle rotating ring shaft 6135 to form a running fit, the deflector rod 6137 is connected with the needle mounting frame 6131 hole to form a running fit, the deflector rod 6137 is fixedly connected with the needle driven gear 612, the sewing needle 6138 is connected with the lower end of the deflector rod 6137 to form a running fit, the upper end of the needle spring 6139 is fixedly connected with the needle mounting frame 6131, the lower end is fixedly connected with the middle of the sewing needle 6138, and the needle driven gear 612, the needle 613 and the thread hooking sector gear 618 are arranged at equal distances on the sewing main mounting plate 608 and the sewing auxiliary mounting plate 614.
Claims (2)
1. The utility model provides an auxiliary suturing device of liver transplantation operation, includes supporting platform (1), moving mechanism (2), elevating system (3), telescopic machanism (4), clamping mechanism (5), suturing mechanism (6), its characterized in that:
the clamping mechanism (5) comprises: a clamping slider (508), a clamping sub motor (509), a clamping right driving gear (510), a clamping right driven gear (511), a clamping right first rotating rod (512), a clamping right second rotating rod (513), a clamping right third rotating rod (514), a clamping right claw (515), a clamping left driven gear (516), a clamping left first rotating rod (517), a clamping left second rotating rod (518), a clamping left third rotating rod (519) and a clamping left claw (520);
the suturing mechanism (6) comprises: a right sewing slider (606), a main sewing mounting plate (608), a needle discharging motor (609), a needle discharging driving gear (610), a needle discharging rack (611), a needle discharging driven gear (612), a needle discharging (613), a secondary sewing mounting plate (614), a thread hooking motor (615), a thread hooking gear (616), a thread hooking rack (617), a thread hooking sector gear (618), a thread hooking sector gear shaft (619) and a left sewing slider (620);
the inner side of the right clamping driving gear (510) is fixedly connected with the clamping sliding block (508), the outer side of the right clamping driving gear is fixedly connected with the rotating shaft of the auxiliary clamping motor (509), the right clamping driven gear (511) is connected with the right clamping driving gear (510) to form gear fit, one end of the right clamping first rotating rod (512) is fixedly connected with the right clamping driven gear (511), the other end of the right clamping first rotating rod is connected with the upper end of the right clamping second rotating rod (513) to form rotating fit, the lower end of the right clamping second rotating rod (513) is connected with the lower end of the right clamping third rotating rod (514) to form rotating fit, the upper end of the right clamping third rotating rod (514) is connected with the lower end of the clamping sliding block (508) to form rotating fit, the upper end of the right clamping claw (515) is connected with the lower end of the right clamping third rotating rod (514) to form rotating fit, the right clamping second rotating rod (513) is fixedly connected with the right clamping driven gear (516) to form gear fit, one end of the left clamping first rotating rod (517) is connected with the upper end of the left clamping driven gear (516), the other end of the left rotating rod is connected with the upper end of the left clamping second rotating rod (518) to form rotating fit, the upper end of the left rotating rod (519) is connected with the upper end of the left rotating rod (518) to form rotating fit, the upper end of the left rotating rod (519) is connected with the lower end of the left rotating rod (519) is formed by the lower end of the upper end of the lower rotating rod (519), the upper end of the clamping left claw (520) is rotationally connected with the lower end of the clamping left third rotating rod (519), the clamping left second rotating rod (518) is fixedly connected with the clamping left second rotating rod (518), the needle outlet (613) is fixedly arranged on the outer side of the sewing right sliding block (606), the sewing main mounting plate (608) is fixedly arranged above the needle outlet (613), the rotating shaft of the needle outlet motor (609) is fixedly connected with the needle outlet driving gear (610), the needle outlet driving gear (610) is fixedly arranged above the sewing main mounting plate (608), the needle outlet rack (611) is connected with the needle outlet driving gear (610) to form gear fit, the needle outlet driven gear (612) is connected with the needle outlet rack (611) to form gear fit, the sewing auxiliary mounting plate (614) is fixedly connected with the sewing left sliding block (620), the rotating shaft of the needle outlet motor (615) is fixedly connected with the needle outlet gear (616), the needle outlet gear (616) is fixedly arranged above the sewing auxiliary mounting plate (614), the needle outlet rack (617) is connected with the needle outlet driving gear (616) to form gear fit, the needle outlet sector gear (618) is connected with the needle outlet rack (611) to form gear sector hole, and the needle sector gear (618) is rotationally matched with the lower end of the needle outlet fan-shaped gear (618) to form the needle sector hole;
the moving mechanism (2) comprises: the device comprises a mobile motor support (201), a mobile motor (202), mobile lead screws (203), mobile lead screw fixing frames (204), mobile nut fixing rods (205), mobile nuts (206) and a mobile platform (207), wherein the mobile motor support (201) is fixedly arranged on the side face of the mobile lead screw fixing frames (204), the mobile motor (202) is fixedly arranged on the upper surface of the mobile motor support (201), the mobile lead screws (203) are fixedly connected with rotating shafts of the mobile motor (202), the mobile lead screw fixing frames (204) are two in total and fixedly arranged below the supporting platform (1), the mobile nut fixing rods (205) are fixedly connected with the mobile lead screw fixing frames (204), the mobile nut fixing rods (205) are connected with small holes of the mobile nuts (206) to form running fit, the mobile nuts (206) are connected with the mobile lead screws (203) to form threaded fit, and the outer sides of the mobile lead screw fixing frames are fixedly connected with the mobile platform (207);
the lifting mechanism (3) comprises: the lifting device comprises a lifting motor support (301), a lifting motor (302), a lifting driving gear (303), a lifting rack (304), a lifting first rotating rod (305), a lifting second rotating rod (306), a lifting table (307), a lifting third rotating rod (308), a lifting fourth rotating rod (309) and a lifting driven gear (310), wherein the lifting motor support (301) is fixedly connected with a moving platform (207), the lifting motor (302) is fixedly arranged above the lifting motor support (301), the lifting driving gear (303) is fixedly connected with a rotating shaft of the lifting motor (302), the lifting rack (304) is connected with the lifting driving gear (303) to form gear fit, the lower end of the lifting first rotating rod (305) is fixedly connected with the lifting driving gear (303), the upper end of the lifting first rotating rod is connected with the lifting second rotating rod (306) to form rotating fit, the lifting table (307) is connected with the lifting second rotating rod (306) to form sliding fit, the lower end of the lifting third rotating rod (308) is connected with the lifting fourth rotating rod (309) to form rotating fit, and the lower end of the lifting fourth rotating rod (309) is fixedly connected with the lifting driven gear (310);
the telescopic mechanism (4) comprises: the telescopic motor support (401), telescopic motor (402), telescopic driving gear (403), telescopic driven gear (404), gear fixing frame (405), telescopic driven gear shaft (406), telescopic cam (407) and installation rack slide way (408), telescopic motor support (401) is fixedly installed above elevating platform (307), telescopic motor (402) is installed above telescopic motor support (401), telescopic driving gear (403) and telescopic motor (402) rotating shaft are fixedly connected, telescopic driven gear (404) and telescopic driving gear (403) are connected to form gear fit, the lower end of gear fixing frame (405) is fixedly installed above elevating platform (307), the upper end is connected with telescopic driven gear shaft (406) to form running fit, one end of telescopic driven gear shaft (406) is fixedly connected with telescopic driven gear (404), the other end is fixedly connected with telescopic cam (407), and the lower end of installation rack (408) is fixedly installed above elevating platform (307);
the clamping mechanism (5) further comprises: the clamping device comprises a mounting frame (501), a clamping main motor (502), clamping belt pulleys (503), clamping belts (504), a rotating frame (505), a clamping slide block connecting shaft (506) and a clamping slide block slideway (507), wherein the mounting frame (501) is connected with a groove of the mounting frame slideway (408) to form sliding fit, the clamping main motor (502) is fixedly arranged above the mounting frame (501), the clamping belt pulleys (503) are fixedly connected with rotating shafts of the clamping main motor (502), the two clamping belt pulleys (503) are in total, the other clamping belt pulleys are fixedly connected with the rotating frame (505), the clamping belts (504) are connected with the clamping belt pulleys (503) to form running fit, the rotating frame (505) is connected with the clamping slide block connecting shaft (506) to form threaded fit, the clamping slide block slideway (507) is fixedly connected with the mounting frame (501), and the clamping slide block (508) is connected with the groove of the clamping slide block slideway (507) to form sliding fit;
the suturing mechanism (6) further comprises: the novel sewing machine comprises a sewing chute (601), a sewing rotating shaft (602), a sewing main motor (603), a sewing belt pulley (604), a sewing belt (605) and a sewing spring (607), wherein the sewing chute (601) is fixedly arranged below a clamping slider slideway (507), the left side of the sewing rotating shaft (602) is fixedly connected with the sewing chute (601), the right side of the sewing rotating shaft is connected with the sewing belt pulley (604) to form a rotating fit, the sewing main motor (603) is fixedly connected with the sewing chute (601), the sewing belt pulley (604) is fixedly connected with the sewing main motor (603) rotating shaft, the sewing belt (605) is connected with the sewing belt pulley (604) to form a rotating fit, one end of the sewing belt (605) is fixedly connected with a sewing right slider (606), the other end of the sewing belt (605) is fixedly connected with a sewing left slider (620), and one end of the sewing spring (607) is fixedly connected with the sewing right slider (606), the other end of the sewing spring is fixedly connected with the sewing chute (601);
the needle outlet (613) comprises: the needle-out mounting frame (6131), the fixed ring (6132), the needle-out pinion (6133), the needle-out rotating ring (6134), the needle-out rotating ring shaft (6135), the needle-out upper rotating rod (6136), the deflector rod (6137), the suture needle (6138), the needle-out spring (6139), the needle-out mounting frame (6131) and the suture right sliding block (606) are fixedly connected, the fixed ring (6132) and the needle-out mounting frame (6131) are fixedly connected, the needle-out pinion (6133) and the needle-out mounting frame (6131) are connected in a hole to form a rotating fit, the needle-out rotating ring (6134) and the needle-out pinion (6133) are fixedly connected, the needle-out rotating ring shaft (6135) and the needle-out rotating ring (6134) are fixedly connected, the needle-out upper rotating rod (6136) and the needle-out rotating ring shaft (6135) are connected to form a rotating fit, the deflector rod (6137) and the needle-out right sliding block (606) are connected to form a rotating fit, the deflector rod (6137) and the needle-out driven gear (612) are fixedly connected, the needle-out rotating ring (6138) and the needle-out driven gear (6131) are connected to form a rotating fit, the needle-out rotating ring (6138) and the needle-out driven gear (6131) is fixedly connected with the needle-out rotating ring (6131), the needle-out rotating ring (6133) and the needle-out rotating ring (61gear (61613) and the needle-out rotating ring (61gear (6139) are fixedly connected to form a rotating joint, are equidistantly arranged on the suture master mounting plate (608) and the suture slave mounting plate (614).
2. A liver transplantation operation auxiliary stitching device according to claim 1, wherein: the lifting driving gear (303), the lifting rack (304) and the lifting driven gear (310) are respectively two, and are symmetrically connected with the upper ends of the lifting second rotating rod (306) and the lifting third rotating rod (308) in a fixed mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110972946.4A CN113842180B (en) | 2021-08-24 | 2021-08-24 | Auxiliary suturing device for liver transplantation operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110972946.4A CN113842180B (en) | 2021-08-24 | 2021-08-24 | Auxiliary suturing device for liver transplantation operation |
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| Publication Number | Publication Date |
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| CN113842180A CN113842180A (en) | 2021-12-28 |
| CN113842180B true CN113842180B (en) | 2023-12-15 |
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| CN111449706A (en) * | 2020-04-18 | 2020-07-28 | 王秀丽 | Medical wound suturing device |
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| CN212015675U (en) * | 2020-01-16 | 2020-11-27 | 浙江大学 | High efficiency operation suture needle |
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| WO2021012594A1 (en) * | 2019-07-25 | 2021-01-28 | 立欣彤 | Adjustable suture |
| CN112842559A (en) * | 2021-01-18 | 2021-05-28 | 青岛大学附属医院 | Supplementary suturing device of liver operation |
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| WO2021012594A1 (en) * | 2019-07-25 | 2021-01-28 | 立欣彤 | Adjustable suture |
| CN211243535U (en) * | 2019-08-05 | 2020-08-14 | 胡兴周 | Abdominal suture-free operation device |
| CN212015675U (en) * | 2020-01-16 | 2020-11-27 | 浙江大学 | High efficiency operation suture needle |
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| CN113842180A (en) | 2021-12-28 |
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Effective date of registration: 20231121 Address after: 221000, F16A1-2, Xiyi High tech Industrial Development Medical Health Industrial Park, Xinyi City, Xuzhou City, Jiangsu Province Applicant after: Jiangsu Kangkang classmate Technology Co.,Ltd. Address before: 225300 room 2002, Longtan Street office building, Gaogang high tech Zone, Taizhou City, Jiangsu Province Applicant before: Li Jingxing |
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