CN116636891A - Convenient detachable continuous reciprocating motion laparoscope stitching instrument with curved needle - Google Patents
Convenient detachable continuous reciprocating motion laparoscope stitching instrument with curved needle Download PDFInfo
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- CN116636891A CN116636891A CN202310926019.8A CN202310926019A CN116636891A CN 116636891 A CN116636891 A CN 116636891A CN 202310926019 A CN202310926019 A CN 202310926019A CN 116636891 A CN116636891 A CN 116636891A
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- driving wheel
- suture
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- 230000033001 locomotion Effects 0.000 title claims description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 65
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 31
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 14
- 239000000463 material Substances 0.000 abstract description 2
- 238000009958 sewing Methods 0.000 description 17
- 230000009471 action Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000007912 intraperitoneal administration Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- 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
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention provides a laparoscope stitching instrument with a curved needle capable of being conveniently and detachably assembled and continuously reciprocated, which comprises a control main body, a curved needle module and a curved needle module support body; the curved needle module comprises a curved needle mounting block, a curved needle is movably arranged at the first end of the curved needle mounting block, the second end of the curved needle mounting block is detachably connected with the first end of the curved needle module support body, and the second end of the curved needle module support body is in transmission connection with the control main body; and the curved needle mounting block and the curved needle module support body are respectively provided with a positioning component and a locking component. According to the invention, the curved needle module is used as a consumable material for integral replacement, and the guide assembly and the positioning assembly are arranged between the curved needle module and the curved needle module support body, so that the curved needle module can be quickly, conveniently and reliably detached and replaced, the in-place installation and the connection stability of the curved needle module can be ensured, and the stability and reliability of the suture instrument in the use process are ensured.
Description
Technical Field
The invention relates to the technical field of laparoscopic suture devices, in particular to a laparoscopic suture device with a curved needle capable of being conveniently and rapidly disassembled and assembled and continuously reciprocated.
Background
Laparoscopic surgery is a newly developed minimally invasive procedure that is primarily used for intraperitoneal inspection and treatment. When suturing the human tissues after operation, a doctor continuously pulls and loosens the steel wire rope through the suture device to drive the front end swing head to drive the suture needle to continuously rotate, puncture the human tissues and suture. In laparoscopic surgery, the suture needle of the suture device usually adopts an arc-shaped structure, and the suture needle is driven to suture by the rotation of the suture needle through the excitation of the suture device. When the laparoscopic surgery is performed, the executive instruments such as the suture needle are easy to be worn or fatigue damaged due to frequent actions and stress, so the suture device which can be conveniently detached and replaced by the executive instruments is designed, the suture needle replacement efficiency is improved, the safety and the reliability of the suture instruments are improved, and the overall suture cost is reduced. In addition, the suture needle in the prior art usually rotates around 360 degrees, and the main disadvantage of the mode is that the suture needle continuously rotates towards one direction when rotating around 360 degrees, so that the human tissue part is easy to be blocked, and the suture needle is blocked and cannot be continuously sutured.
Disclosure of Invention
The purpose of the invention is that: aiming at the problems in the background art, the utility model provides a suture device with a curved needle module capable of being conveniently and quickly disassembled and replaced so as to improve the replacement efficiency of the curved needle (suture needle), thereby improving the safety and reliability of the instrument and reducing the overall cost of suture.
In order to achieve the above purpose, the invention provides a curved needle convenient detachable continuous reciprocating motion laparoscope stitching instrument, which comprises a control main body, a curved needle module and a curved needle module support body;
the curved needle module comprises a curved needle mounting block, a curved needle is movably arranged at the first end of the curved needle mounting block, the second end of the curved needle mounting block is detachably connected with the first end of the Qu Zhen module support body, and the second end of the Qu Zhen module support body is in transmission connection with the control main body;
the curved needle mounting block and the Qu Zhen module support body are respectively provided with a positioning component and a locking component; the positioning assembly comprises a guiding positioning groove arranged on the curved needle mounting block and a guiding positioning boss arranged on the Qu Zhen module support body, and the guiding positioning boss is matched with the guiding positioning groove; the locking assembly comprises a locking pin hole formed in the curved needle mounting block and a locking pin arranged on the Qu Zhen module support body, and the locking pin is matched with the locking pin hole.
Further, a clamping groove is formed in the first end of the Qu Zhen module support body, the second end of the curved needle mounting block is inserted into the clamping groove, and the guide positioning boss and the locking pin are both located in the clamping groove.
Further, the Qu Zhen module support body is provided with a sewing main driving wheel, the curved needle mounting block is provided with a sewing auxiliary driving wheel, the sewing auxiliary driving wheel is provided with a transmission groove, the sewing main driving wheel is provided with a transmission block, and the transmission block is matched with the transmission groove so that the sewing auxiliary driving wheel synchronously rotates along with the sewing main driving wheel.
Further, a driving wheel opening corresponding to the stitching driven wheel is formed in the curved needle mounting block, the driving wheel opening is communicated with the guiding positioning groove, and when the curved needle mounting block is mounted, the driving block of the stitching main driving wheel moves along the guiding positioning groove first and then enters the driving groove of the stitching driven wheel.
Further, a control connecting rod is arranged between the Qu Zhen module support body and the control main body, a plurality of control steel wires are arranged in the control connecting rod in a penetrating mode, and the control steel wires are used for connecting the control main body with the Qu Zhen module support body so as to control through the control main body.
Further, curved needle grooves are formed in the first end of the curved needle mounting block, curved needles are movably arranged in the Qu Zhen grooves, the curved needles move along the curved needle grooves in a curved mode, curved needle transmission assemblies are arranged between the stitching driven wheels and the curved needles, and the stitching driven wheels drive the curved needles to reciprocate through the Qu Zhen transmission assemblies.
Further, the Qu Zhen transmission assembly comprises a curved needle transmission connecting rod and a guide connecting rod, the first end of the Qu Zhen transmission connecting rod is hinged with the Qu Zhen, the second end of the Qu Zhen transmission connecting rod is hinged with the sewing driven wheel at a non-rotation center position, the first end of the guide connecting rod is hinged with the Qu Zhen transmission connecting rod, the second end of the guide connecting rod is hinged with the curved needle mounting block, a connecting line from a hinging point of the Qu Zhen transmission connecting rod and the sewing driven wheel to a rotation center of the sewing driven wheel is always parallel with the guide connecting rod, a connecting line from a hinging point of the guide connecting rod and the curved needle mounting block to a rotation center of the sewing driven wheel is always parallel with the Qu Zhen transmission connecting rod, and double-parallelogram transmission is formed.
Further, the first end of the curved needle mounting block is provided with a first opening and a second opening, the first opening is located at the tail end of the curved needle groove, the second opening is provided with a detachable thread guide, the thread guide is used for connecting the end part of a suture thread, the second opening is provided with a thread guide reciprocating disengaging mechanism, and the thread guide reciprocating disengaging mechanism is used for fixing the thread guide or enabling the thread guide to be disengaged with the curved needle.
Further, the first end of the wire guide head is provided with a conical clamping groove, and the conical clamping groove corresponds to the puncture tip of the curved needle.
Further, a disengaging mechanism mounting groove is formed in the rear of the second opening of the curved needle mounting block, the wire guide head reciprocating disengaging mechanism comprises a rotating buckle and a rotating buckle base, the rotating buckle and the rotating buckle base are both arranged in the disengaging mechanism mounting groove, the rotating buckle is located at the first end of the disengaging mechanism mounting groove, the rotating buckle base is located at the second end of the disengaging mechanism mounting groove, wedge-shaped teeth matched with each other are arranged on the rotating buckle base, the rotating buckle faces the rotating buckle base and rotates by a preset angle along the wedge-shaped teeth when moving, a reset spring is further arranged between the rotating buckle base and the rotating buckle, two-face cutting flanges are arranged at the second end of the wire guide head, the rotating buckle is provided with end holes, the two-face cutting flanges can penetrate through the end holes of the rotating buckle when being located at a first angle position relative to the rotating buckle, and the two-face cutting flanges cannot be separated from the rotating buckle when being located at a second angle position relative to the rotating buckle.
The scheme of the invention has the following beneficial effects:
according to the continuous reciprocating motion laparoscope stitching instrument provided by the invention, the curved needle module is used as a consumable material to be replaced integrally, and the curved needle module support body are provided with the guide assembly and the positioning assembly, so that the curved needle module can be quickly, conveniently and reliably detached and replaced, the in-place installation and the connection stability of the curved needle module can be ensured, and the stability and reliability of the stitching instrument in the use process are ensured;
in the invention, the continuous reciprocating motion of the curved needle is stitched through the double-parallelogram transmission mechanism, so that the curved needle transmission connecting rod translates, the driving force of the curved needle always keeps the tangential direction, namely the maximum effective force direction, the reasonable reliability of transmission can be ensured, and the stability of the movement of the curved needle is improved;
according to the invention, by arranging the reciprocating disengaging mechanism of the thread guide head on the curved needle module, the thread guide head sequentially moves along with the curved needle to penetrate through the puncture hole of human tissue in the surgical suturing process, or is disengaged from the curved needle, and the separating disengaging is automatically formed, so that the ordering of suture thread routing when the suture device performs surgical suturing is ensured, and the suturing reliability and convenience are further improved;
in the invention, the curved needle adopts a continuous reciprocating sewing movement mode, so that compared with a 360-degree circle rotation movement mode, the curved needle is sewn more smoothly, and the clamping stagnation phenomenon with human tissues in the curved needle sewing process is better avoided;
other advantageous effects of the present invention will be described in detail in the detailed description section which follows.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is an exploded view of the curved needle mounting block and curved needle module support of the present invention;
FIG. 3 is another exploded view of the curved needle mounting block and curved needle module support of the present invention;
FIG. 4 is a schematic diagram of the connection of the curved needle module support and the control link of the present invention;
FIG. 5 is a schematic diagram of a control main structure of the present invention;
FIG. 6 is a schematic diagram of a double parallelogram transmission of a curved needle of the present invention;
FIG. 7 is a schematic view of the internal structure of the curved needle mounting block of the present invention;
FIG. 8 is a schematic diagram of a wire guide and wire guide reciprocating release mechanism according to the present invention;
FIG. 9 is a schematic view of the mating of the two-sided cutting flange and the swivel fastener of the present invention.
[ reference numerals description ]
100-a control body; 101-swinging a driving steel wire; 102-stitching the drive wire; 103-swinging the driving roller; 104-stitching drive rollers; 105-swing knob; 106-stitching a drive rocker; 107-wire guide roller sets; 200-curved needle module; 201-a curved needle mounting block; 202-a curved needle; 203-a guide positioning groove; 204-locking pin holes; 205-stitching slave drive wheel; 206-a transmission groove; 207-curved needle grooves; 208-a first opening; 209-a second opening; 210-a curved needle drive link; 211-a guide link; 300-curved needle module support; 301-clamping grooves; 302-guiding and positioning bosses; 303-locking pin; 304-a disassembly hole; 305-stitching the main drive wheel; 306-a transmission block; 307-hinge blocks; 400-control connecting rod; 401-hinge base; 402-wire spacing spring tube; 403-rotating a knob; 501-wire guide; 502-a conical clamping groove; 503-rotating buckle; 504-a swivel base; 505-disengage mechanism mounting groove; 506-wedge teeth; 507-a return spring; 508-two-sided cutting flanges; 509-limit steps.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. 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. In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a locked connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 3, the embodiment of the present invention provides a laparoscopic suture device with a curved needle capable of being conveniently and detachably mounted and continuously reciprocated, the suture device integrally including an actuator body and a control body 100, the control body 100 being used for controlling the action of the actuator body. The actuator body comprises a curved needle module 200 and a curved needle module support body 300, wherein the curved needle module 200 is used as an integral replacement consumable, and is detachably connected with the curved needle module support body 300, so that the curved needle module 200 is directly detached from the curved needle module support body 300 when the curved needle module 200 needs to be replaced, and then a new Qu Zhen module 200 is replaced for next suturing, thereby improving the operation convenience.
The curved needle module 200 includes a curved needle mounting block 201, and a curved needle 202 is disposed at a first end of the curved needle mounting block 201, and adopts a movable connection manner to perform an arc-shaped continuous reciprocating motion on a preset track, so as to drive a suture line to complete suturing of human tissues and the like. The second end of curved needle installation piece 201 is provided with locating component and locking subassembly, is provided with locating component and locking subassembly on the curved needle module supporter 300 equally corresponds, through locating component and locking subassembly's setting for curved needle module 200 can be installed in place by locating component fast when the installation, relies on locking subassembly locking again and fixes, makes and forms firm reliable connection between curved needle module 200 and the curved needle module supporter 300.
Referring to fig. 2 and 3 again, in this embodiment, a clamping groove 301 is provided at the end of the curved needle module support 300, and the second end of the curved needle mounting block 201 is inserted into the clamping groove 301, and the dimensions thereof are matched, so that the curved needle mounting block 201 will not shake relative to the curved needle module support 300 during the stitching process.
The positioning assembly includes a guide positioning groove 203 provided on the curved needle mounting block 201, and a guide positioning boss 302 provided in the card slot 301 of the curved needle module support body 300. The width of the guiding and positioning boss 302 is matched with the guiding and positioning boss 203, so that the guiding and positioning boss 203 can be aligned with the guiding and positioning boss 302 when the curved needle mounting block 201 is pushed into the clamping groove 301 in the mounting process of the curved needle module 200, the curved needle mounting block 201 and the clamping groove 301 are initially aligned, and then the guiding and positioning boss 302 is gradually clamped by the guiding and positioning groove 203 when the curved needle mounting block 201 is pushed into the clamping groove 301, so that the curved needle mounting block 201 and the curved needle module support 300 are assembled. In a preferred embodiment, the guide positioning boss 302 is L-shaped, so that the curved needle mounting block 201 can be positioned from both sides, and the degree of adhesion between the curved needle mounting block 201 and the curved needle module support body 300 after being mounted can be further improved.
The locking assembly includes locking pin holes 204 provided on the curved needle mounting block 201 and locking pins 303 provided on the curved needle module support 300. The locking pin 303 takes the form of a spring pin and is located in the catch 301. When the curved needle mounting block 201 is mounted in place, the locking pin 303 is aligned with the locking pin hole 204, and the locking pin 303 is inserted into the locking pin hole 204 under the action of a spring, so that the curved needle mounting block 201 is further locked relative to the curved needle module support body 300 and cannot move relative to the curved needle module support body 300, particularly move forwards and backwards, and the accuracy of the position of the curved needle module 200 in the surgical suturing process is ensured.
When the curved needle module 200 is disassembled, the locking pin 303 needs to be ejected from the locking pin hole 204, and then the curved needle mounting block 201 is ejected from the clamping groove 301. Therefore, in this embodiment, the curved pin module support 300 is further provided with a disassembling hole 304, which is also located in the clamping groove 301 and is communicated to the outside of the curved pin module support 300, and is distributed on different sides with respect to the locking pin 303, specifically located at the back of the curved pin module support 300. During disassembly, a tool or a finger is directly inserted into the disassembly hole 304 and the locking pin hole 204 to eject the locking pin 303, and then the curved needle module 200 is taken down, so that the operation is convenient. In addition, when the curved needle module 200 is installed, the locking pin 303 is also required to be pressed first, so that the curved needle mounting block 201 can be smoothly inserted into the clamping groove 301, when the curved needle mounting block 201 is about to pass the position of the locking pin 303, a tool or a finger can be removed, and the locking pin 303 is contacted with the surface of the curved needle mounting block 201 first and then inserted into the locking pin hole 204, which indicates that the curved needle module 200 is installed in place at this time.
As a preferred embodiment, in this embodiment, the positioning assembly is disposed in the middle of the curved needle mounting block 201, qu Zhen module support 300, and the locking assemblies are disposed in two groups and are respectively disposed on two sides, so that the locking forces on the two sides are uniformly distributed, and the assembly and the disassembly are also convenient.
As mentioned above, the curved needle 202 needs to be continuously reciprocated, i.e., continuously reciprocated along a predetermined track, when performing suturing, and thus the curved needle 202 needs to be driven and controlled to reciprocate by controlling the main body 100. In this embodiment, a main stitching driving wheel 305 is disposed in the curved needle module support 300, a secondary stitching driving wheel 205 is disposed in the curved needle mounting block 201, and when the curved needle mounting block 201 and the curved needle module support 300 are mounted in place, the secondary stitching driving wheel 205 and the main stitching driving wheel 305 form a transmission fit, and the main stitching driving wheel 305 is controlled by the main control body 100 to rotate, so as to drive the secondary stitching driving wheel 205 to rotate, thereby further driving the curved needle 202 to move.
Based on this, in this embodiment, one side, specifically the top surface, of the stitching slave driving wheel 205 extends out of the curved needle mounting block 201, and is provided with a transmission groove 206, and one side, specifically the bottom surface, of the stitching slave driving wheel 305 also extends out of the curved needle module support 300 and is located in the clamping groove 301, and is provided with a transmission block 306, where the transmission block 306 is provided in an elongated shape, and preferably distributed along the diameter of the stitching slave driving wheel 305, and when the curved needle mounting block 201 and the curved needle module support 300 are mounted in place, the transmission block 306 is inserted into the transmission groove 206, so that the stitching slave driving wheel 205 can synchronously rotate with the stitching master driving wheel 305 to move the curved needle 202 in a preset manner under the control of the control main body 100.
It will be appreciated that the curved needle mounting blocks 201, qu Zhen module support 300 need to be provided with drive wheel openings at corresponding positions so that the drive slots 206, 306 can extend to the outside. When the curved needle mounting block 201 is removed from the curved needle module support body 300, it is apparent that the directions of the transmission block 306 and the transmission groove 206 are the same as the withdrawal direction of the curved needle mounting block 201, that is, the directions of the guide positioning groove 203 and the guide positioning boss 302, and at this time Qu Zhen 202 is set to be in the initial position, and the stitching slave driving wheel 205 and the stitching master driving wheel 305 are also in the initial position. Therefore, when the curved needle mounting block 201 needs to be replaced, the main suture driving wheel 305 can be adjusted to the initial position by the control main body 100, and a reset mechanism can be provided to automatically reset the main suture driving wheel 305 to the initial position in a non-operating state, so as to facilitate the removal of the curved needle module 200.
As a preferred embodiment, the driving wheel opening of the curved needle mounting block 201 is closely adjacent to the guiding and positioning groove 203 and is communicated with the first end of the guiding and positioning groove 203 in this embodiment, so that during the pushing process of the curved needle mounting block 201, the transmission block 306 of the main stitching driving wheel 305 can move along the guiding and positioning groove 203 first and then enter the transmission groove 206 of the auxiliary stitching driving wheel 205, so that smoothness during pushing can be ensured. When the drive block 306 is in place, it does not re-enter the guide and positioning groove 203 under the locking action of the locking pin 303, so that the synchronous rotation with the main suture driving wheel 305 is maintained.
In this embodiment, a control connecting rod 400 is disposed between the curved needle module support 300 and the control main body 100, and the curved needle module support 300 and the first end of the control connecting rod 400 are hinged, so that the curved needle module support 300 and the curved needle module 200 can swing relative to the control connecting rod 400, and have a degree of freedom of swing, so as to facilitate adjusting the pitch angle of the curved needle module 200 for stitching.
Wherein the swing of the curved needle module support 300 is controlled by the swing driving wire 101. As shown in fig. 4, a second end of the curved needle module support body 300 is provided with a hinge block 307, a first end of the control connection rod 400 is provided with a hinge seat 401, and the hinge block 307 and the hinge seat 401 are hinged by a hinge member. The swing driving steel wires 101 are connected with the hinge block 307, the two swing driving steel wires 101 are circularly conveyed, the first ends of the two swing driving steel wires 101 are fixedly connected with two positions of the hinge block 307 respectively (or the first ends of the swing driving steel wires 101 are closed single wires and fixedly wound on the hinge block 307), when one swing driving steel wire 101 is shortened towards the control main body 100, the other swing driving steel wire 101 is lengthened by the control main body 100, the hinge block 307 can be controlled to rotate around the hinge seat 401, and the swing action is completed.
Similarly, the main suture driving wheel 305 is controlled by the two suture driving wires 102, and the first ends of the two suture driving wires 102 are respectively and fixedly connected with the two positions of the main suture driving wheel 305 (or the first ends of the two suture driving wires 102 are a closed single wire and fixedly wound on the main suture driving wheel 305), when one suture driving wire 102 is shortened to the control main body 100 and the other suture driving wire 102 is lengthened by the control main body 100, the main suture driving wheel 305 can be controlled to rotate, and the two suture driving wires 102 are repeatedly wound and unwound to control the main suture driving wheel 305 to reciprocally rotate, so as to drive the curved needle 202 to reciprocally move for suture.
Obviously, when the curved needle module support 300 swings, the main stitching driving wheel 305 swings with it, and the length of the stitching driving wire 102 changes due to bending, etc. under the conventional connection, so that the main stitching driving wheel 305 drives the curved needle 202 to move abnormally. Therefore, to ensure that the swing degree of freedom and the degree of freedom of the sewing motion of the curved needle 202 are independent of each other, in this embodiment, a wire limiting spring tube 402 is further disposed between the curved needle module support body 300 and the first end of the control connection rod 400, and the portion of the sewing driving wire 102 from the control connection rod 400 to the curved needle module support body 300 is located in the wire limiting spring tube 402, and the inner length of the wire limiting spring tube 402 can be always consistent when the curved needle module support body 300 swings relative to the control connection rod 400, so that the length of the sewing driving wire 102 located inside is always constant during the swing process, and the abnormal rotation of the sewing main driving wheel 305 is not driven. By means of the arrangement of the steel wire limiting spring tube 402, decoupling of the swing freedom degree and the stitching freedom degree of the Qu Zhen module 200 is guaranteed, and reliability and safety of operation are further improved.
Also, as shown in fig. 5, in the present embodiment, the control body 100 is provided in a shape convenient to hand, with a handle. Meanwhile, a swing driving roller 103 and a stitching driving roller 104 are disposed in the control main body 100, and are rotatably connected to the control main body 100. The second ends of the two swing driving wires 101 pass through the control connecting rod 400 and then enter the control main body 100, and are respectively and fixedly connected with two positions of the swing driving roller 103 (or fixedly wound on a single part), the swing driving roller 103 is connected with the swing knob 105 through a connecting shaft, and the swing knob 105 is arranged outside the control main body 100. Therefore, the swing knob 105 can be controlled to rotate in a finger-toggle manner to accurately control the swing.
Similarly, the second ends of the two suture driving wires 102 penetrate through the control connection rod 400 and then enter the control main body 100, and are fixedly connected (or fixedly wound on a single piece) with the two positions of the suture driving roller 104 respectively. The control body 100 is further provided with a suture driving rocker 106 which is hinged to the control body 100, and a first end of the suture driving rocker 106 extends into the control body 100 and is connected to two suture driving wires 102 near a second end. When the suture driving rocker 106 approaches to the handle, one suture driving wire 102 can be shortened to the suture driving roller 104, and the other suture driving wire is lengthened relative to the suture driving roller 104, so that the curved needle 202 completes one suture action, and when the suture driving rocker 106 reverses, the curved needle 202 completes one reset action. Therefore, in the actual operation process, the main body 100 is controlled by hand, and the stitching action is completed once when the stitching driving rocker 106 is clamped with the handle Qu Zhen, so that the operation habit is better suited.
It can be understood that based on the inconvenience of the reverse rotation of the suture driving rocker 106, a reset torsion spring can be arranged on the hinge shaft of the suture driving rocker 106, and the suture driving rocker 106 is automatically reset by means of the reset torsion spring, namely, after the suture driving rocker 106 is loosened, the curved needle 202 automatically completes one reset action, so that the operator only needs to press when the suture operation is continuously performed, and the rhythm control during the suture operation is facilitated.
In addition, the control main body 100 is further provided with a steel wire guiding roller group 107, and the swing driving steel wire 101 and the stitching driving steel wire 102 entering the control main body 100 from the control connecting rod 400 bypass the guiding rollers corresponding to the steel wire guiding roller group 107 and are respectively connected with the swing driving roller 103 and the stitching driving roller 104, so that the distribution of the control steel wires in the control main body 100 is more orderly, and the control steel wires do not interfere with each other.
As a further improvement, the control link 400 is also rotatably connected to the control body 100 in the present embodiment to adjust the rotation angle of the entire actuator body. The second end of the control connecting rod 400 is further provided with a rotation knob 403, which is also located outside the control main body 100, and the rotation knob 403 can be controlled to rotate by a finger poking manner, so as to accurately adjust the rotation angle of the control connecting rod 400. The degree of freedom adjustment is only fine adjustment, and cannot be completely decoupled from the swing degree of freedom and the stitching degree of freedom.
Meanwhile, as shown in fig. 6 and 7, in the present embodiment, a curved needle slot 207 is provided at a first end of the curved needle mounting block 201, and a curved needle 202 is movably provided in the curved needle slot 207, and has a shape consistent with that of the Qu Zhen slot 207, and can perform a curved motion along the curved needle slot 207. As a preferred embodiment, the curved needle groove 207 and the curved needle 202 are circular arc-shaped, so that the curved needle 202 reciprocates circumferentially to facilitate control, smooth force transmission, etc.
Note that, in this embodiment, the curved needle groove 207 is not disposed in a complete circumference (360 degrees), and is a circular arc segment and is located inside the first end of the curved needle mounting block 201. The first end of the curved needle mounting block 201 is provided with a first opening 208 and a second opening 209, the first opening 208 being located at the end of the Qu Zhen slot 207. When the curved needle 202 performs a suturing operation, the puncture tip of the curved needle 202 passes through the first opening 208, passes through the human tissue, and then enters the second opening 209, and at this time, the wire guide 501 is disposed at the position of the second opening 209, and the wire guide 501 is connected with the suture. When the curved needle 202 returns back, the puncture tip drives the wire guide 501 to return from the puncture of the human tissue and then returns back to the first opening 208, and the wire guide 501 stays at the first opening 208 after passing through the puncture of the human tissue with the suture. The curved needle performs a second suturing operation, in which no penetration of body tissue is performed, to return the wire guide 501 to the position of the second opening 209. Repeating the steps to puncture for the second time, and sequentially completing suturing of human tissues. Therefore, qu Zhen adopts a continuous reciprocating suture movement mode, and compared with a 360-degree circle rotation movement mode, suture is smoother, and the clamping stagnation phenomenon with human tissues in the suture process of the curved needle 202 is better avoided.
As mentioned above, in this embodiment, the curved needle 202 is driven to reciprocate by the stitching slave driving wheel 205, specifically, the curved needle transmission link 210 is disposed between the stitching slave driving wheel 205 and the curved needle 202, the first end of the curved needle transmission link 210 is hinged to one point of the curved needle 202, and the second end of the curved needle transmission link 210 is hinged to the non-rotation center position of the stitching slave driving wheel 205, so that when the stitching slave driving wheel 205 rotates, the second end of the curved needle transmission link 210 can be driven to rotate, and thus the first end of the curved needle transmission link 210 drives the curved needle 202 to move along the curved needle slot 207, thereby completing the stitching or resetting operation.
Since the curved needle 202 needs to move along the curved needle slot 207 in the circular arc shape, in order to further improve the stability of the curved needle transmission link 210 driving the curved needle 202 to move and adapt to the precise operation of surgical suture, in this embodiment, a guiding link 211 is further provided, a first end of the guiding link 211 is hinged with the curved needle transmission link 210, a second end of the guiding link 211 is hinged with the curved needle installation block 201, meanwhile, a connection line between the curved needle transmission link 210 and suture from the hinging point of the driving wheel 205 to the rotation center of the driving wheel 205 is always parallel to the guiding link 211, and a connection line between the hinging point between the guiding link 211 and the curved needle installation block 201 and suture from the rotation center of the driving wheel 205 is always parallel to the curved needle transmission link 210, thus forming a double parallelogram transmission mechanism.
As shown in fig. 6, the first parallelogram mechanism is a parallelogram formed by the guide links 211, qu Zhen, the transmission link 210, the stitching slave drive wheel 205 and the curved needle mounting block 201, and this parallelogram ensures that the curved needle transmission link 210 keeps translating and the driving force to the curved needle 202 always keeps tangential (effective force maximum direction). The second parallelogram is a large parallelogram formed by stitching the drive links 205, qu Zhen, the curved needle 202 and the curved needle mounting block 201, the curved needle 202 being constrained within the curved needle slot 207 to rotate only about the center of the curved needle slot 207. The stitching is eccentrically connected with the curved needle transmission connecting rod 210 from the driving wheel 205 to form a driving crank of the double-parallelogram transmission mechanism, and the curved needle transmission connecting rod 210 is translated by controlling the rotation angle theta of the crank, so that the curved needle 202 is pushed to reciprocate to realize stitching and resetting, and the continuous stability of the curved needle movement can be improved under the condition that the curved needle groove 207 is limited and the driving force is kept tangential.
As already mentioned above, the wire guide 501 is for connecting the ends of a suture, which is capable of being transferred from the second opening 209 to the first opening 208 of the curved needle mounting block 201 and from the first opening 208 back to the second opening 209 with the piercing tip of the curved needle 202. After the wire guide 501 is transferred from the first opening 208 back to the second opening 209, the piercing tip of the curved needle needs to be disengaged from the wire guide 501 to leave the wire guide 501 in place in the second opening 209 for the next piercing of human tissue.
Thus, in this embodiment, the second opening 209 of the curved needle mounting block 201 is also provided with a wire guide reciprocating disengagement mechanism for disengaging the wire guide 501 from the piercing tip of the curved needle 202. Meanwhile, as shown in fig. 8, the first end of the wire guide 501 is provided with a tapered clamping groove 502 corresponding to the piercing tip of the curved needle 202, and the piercing tip of the curved needle 202 can be rapidly and smoothly inserted through the guiding of the tapered surface of the tapered clamping groove 502 when being inserted into the tapered clamping groove 502. The step surface at the rear of the piercing tip after insertion can engage with the step surface of the tapered clamping groove 502, thereby exiting the second opening 209 as the curved needle 202 moves when the wire guide 501 is not limited by the wire guide reciprocating release mechanism. When the wire guide reciprocating release mechanism restrains the wire guide 501, the step surface can be deformed (the wire guide 501 is made of elastic material and has a groove on the surface, and can be integrally expanded) during the withdrawal process of the wire guide Qu Zhen 202, so that the curved needle 202 is released relative to the wire guide 501, and the wire guide 501 remains at the position of the second opening 209.
In this embodiment, the wire guide head reciprocating release mechanism includes a swivel 503 and a swivel base 504, and both the swivel 503 and the swivel base 504 are disposed in a release mechanism mounting groove 505 behind the second opening 209 of the curved needle mounting block 201. Swivel button 503 is located at a first end of disengagement mechanism mounting groove 505 and swivel button base 504 is located at a second end of disengagement mechanism mounting groove 505 with cooperating wedge teeth 506 therebetween. Meanwhile, a return spring 507 is further arranged between the rotary buckle base 504 and the rotary buckle 503, and two ends of the return spring are respectively positioned inside the cylindrical rotary buckle 503 and the rotary buckle base 504.
Meanwhile, as shown in fig. 9, the second end of the wire guide 501 is provided with two-sided cutting flanges 508, two opposite sides of the two-sided cutting flanges are cut to a certain extent, and at the same time, the corresponding end of the rotating buckle 503 is provided with end holes, which are similar to the two-sided cutting flanges 508 in shape, and the inner sides of the end holes are provided with limit steps 509, so that when the two-sided cutting flanges 508 are positioned at a first angle position relative to the rotating buckle 503, the two-sided cutting flanges 508 penetrate through the end holes of the rotating buckle 503 to enter the rotating buckle 503, and when the rotating buckle 503 is rotated, the two-sided cutting flanges 508 are positioned at a second angle position (preferably rotated by 90 degrees) relative to the rotating buckle 503, the ends of the two-sided cutting flanges 508 are in contact with the limit steps 509 and cannot be separated from the rotating buckle 503, so that when the Qu Zhen is withdrawn from the wire guide 501, the two-sided cutting flanges can be smoothly separated.
During the process of the two-sided cutting flange 508 entering the turnbuckle 503, the whole wire guide 501 moves towards the detachment mechanism mounting groove 505, so that the turnbuckle 503 can be pushed towards the direction of the turnbuckle base 504, and the wedge-shaped teeth 506 of the two can be matched to push the turnbuckle 503 to rotate along the inclined tooth surface by a preset angle (at this time, the two-sided cutting flange 508 is at a second angle position relative to the turnbuckle 503). After the curved needle 202 is withdrawn, the rotating buckle 503 is reset to the first end of the disengaging mechanism mounting groove 505 under the action of the reset spring 507, and at this time, the two-sided cutting flange 508 cannot be disengaged from the rotating buckle 503 at the second angular position, so that the Qu Zhen can be smoothly separated from the wire guide 501 when the curved needle 202 is withdrawn. When the curved needle 202 is inserted into the wire guide head 501 again, the rotating buckle 503 rotates by a preset angle under the cooperation of the wedge-shaped teeth 506 until the two-sided cutting flange 508 becomes a first angle position relative to the rotating buckle 503, after the curved needle 202 is withdrawn, the rotating buckle 503 is reset to the first end of the disengaging mechanism mounting groove 505 under the action of the reset spring 507, and at this moment, the two-sided cutting flange 508 can be disengaged from the rotating buckle 503 at the first angle position, so that the Qu Zhen drives the wire guide head 501 to be smoothly separated from the rotating buckle 503 and the second opening 209 when the Qu Zhen is withdrawn.
It will be appreciated that when the rotational angle of the turnbuckle 503 is 90 degrees, the turnbuckle 503 and the wedge teeth 506 on the turnbuckle base 504 are arranged in four pairs and evenly distributed around each other, so that the turnbuckle 503 rotates in a manner of rotating by 90 degrees in sequence, the two-sided cutting flange 508 is at a first angular position relative to the turnbuckle 503 when it is at 0 degree and 180 degrees phase, and the two-sided cutting flange 508 is at a second angular position relative to the turnbuckle 503 when it is at 90 degrees and 270 degrees phase, so as to achieve the even detachment of the thread guide 501 and Qu Zhen 202 during the sewing process.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (10)
1. The convenient detachable continuous reciprocating motion laparoscope stitching instrument with the curved needle is characterized by comprising a control main body, a curved needle module and a curved needle module support body;
the curved needle module comprises a curved needle mounting block, a curved needle is movably arranged at the first end of the curved needle mounting block, the second end of the curved needle mounting block is detachably connected with the first end of the Qu Zhen module support body, and the second end of the Qu Zhen module support body is in transmission connection with the control main body;
the curved needle mounting block and the Qu Zhen module support body are respectively provided with a positioning component and a locking component; the positioning assembly comprises a guiding positioning groove arranged on the curved needle mounting block and a guiding positioning boss arranged on the Qu Zhen module support body, and the guiding positioning boss is matched with the guiding positioning groove; the locking assembly comprises a locking pin hole formed in the curved needle mounting block and a locking pin arranged on the Qu Zhen module support body, and the locking pin is matched with the locking pin hole.
2. The laparoscopic suture instrument with a detachable and attachable type needle capable of continuously and reciprocally moving according to claim 1, wherein a clamping groove is formed in a first end of the Qu Zhen module support body, a second end of the curved needle mounting block is inserted into the clamping groove, and the guiding and positioning boss and the locking pin are both located in the clamping groove.
3. The flexible needle detachable continuous reciprocating laparoscopic stapler according to claim 1, wherein the Qu Zhen module support is provided with a main stitching driving wheel, the flexible needle mounting block is provided with a secondary stitching driving wheel, the secondary stitching driving wheel is provided with a transmission groove, the main stitching driving wheel is provided with a transmission block, and the transmission block is matched with the transmission groove so that the secondary stitching driving wheel rotates synchronously with the main stitching driving wheel.
4. The portable detachable continuous reciprocating laparoscopic suture device according to claim 3, wherein the curved needle mounting block is provided with a driving wheel opening corresponding to the secondary suture driving wheel, the driving wheel opening is communicated with the guiding and positioning groove, and the transmission block of the primary suture driving wheel moves along the guiding and positioning groove when the curved needle mounting block is mounted and then enters the transmission groove of the secondary suture driving wheel.
5. The laparoscopic stapler with the detachable curved needle capable of being assembled and disassembled conveniently and continuously according to claim 1, wherein a control connecting rod is arranged between the Qu Zhen module supporting body and the control main body, a plurality of control steel wires are arranged in the control connecting rod in a penetrating manner, and the control steel wires are used for connecting the control main body and the Qu Zhen module supporting body so as to control the laparoscopic stapler through the control main body.
6. The laparoscopic suture instrument with the curved needle capable of being conveniently and detachably assembled and continuously reciprocated according to claim 1, wherein a curved needle groove is formed in the first end of the curved needle mounting block, a curved needle is movably arranged in the Qu Zhen groove, the curved needle moves in a curved manner along the curved needle groove, a curved needle transmission assembly is arranged between a suture driven wheel and the curved needle, and the suture driven wheel drives the curved needle to reciprocate through the Qu Zhen transmission assembly.
7. The portable detachable continuous reciprocating motion laparoscopic stapler according to claim 6, wherein said Qu Zhen transmission assembly comprises a curved needle transmission link and a guide link, a first end of said Qu Zhen transmission link is hinged with said Qu Zhen, a second end of said Qu Zhen transmission link is hinged with said stapler from a non-rotational center position of the driving wheel, a first end of said guide link is hinged with said Qu Zhen transmission link, a second end of said guide link is hinged with said curved needle mounting block, a line connecting said Qu Zhen transmission link with said stapler from a hinge point of the driving wheel to a rotational center of said stapler from the driving wheel is always parallel with said guide link, a line connecting said guide link with a hinge point of said curved needle mounting block to a rotational center of said stapler from the driving wheel is always parallel with said Qu Zhen transmission link, and a double parallelogram transmission is formed.
8. The laparoscopic stapler of claim 6, wherein the curved needle mounting block has a first opening and a second opening at a first end thereof, the first opening being located at a distal end of the curved needle slot, the second opening having a detachable wire guide for connecting an end of a suture, the second opening having a wire guide reciprocating disengagement mechanism for fixing the wire guide or disengaging the wire guide with the curved needle.
9. The laparoscopic stapler with a detachable and attachable type needle capable of continuously and reciprocally moving, as claimed in claim 8, wherein the first end of the wire guide head is provided with a tapered clamping groove corresponding to the piercing tip of the curved needle.
10. The portable detachable continuous reciprocating motion laparoscopic suture instrument with a curved needle according to claim 8, wherein a detachment mechanism installation groove is formed behind the second opening of the curved needle installation block, the wire guide head reciprocating detachment mechanism comprises a rotary buckle and a rotary buckle base, the rotary buckle and the rotary buckle base are all arranged in the detachment mechanism installation groove, the rotary buckle is positioned at a first end of the detachment mechanism installation groove, the rotary buckle base is positioned at a second end of the detachment mechanism installation groove, the rotary buckle and the rotary buckle base are both provided with mutually matched wedge-shaped teeth, the rotary buckle rotates along the wedge-shaped teeth by a preset angle when moving towards the rotary buckle base, a reset spring is further arranged between the rotary buckle base and the rotary buckle, the second end of the wire guide head is provided with two-sided cutting flanges, the two-sided cutting flanges can penetrate through the holes of the rotary buckle when being positioned at a first angle position relative to the rotary buckle, and the two-sided cutting flanges can not be detached from the rotary buckle when being positioned at a second angle relative to the rotary buckle.
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| CN202310926019.8A CN116636891B (en) | 2023-07-26 | 2023-07-26 | Convenient detachable continuous reciprocating motion laparoscope stitching instrument with curved needle |
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| CN202310926019.8A CN116636891B (en) | 2023-07-26 | 2023-07-26 | Convenient detachable continuous reciprocating motion laparoscope stitching instrument with curved needle |
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