TW201505599A - Automatic suture knotting device for surgery - Google Patents
Automatic suture knotting device for surgery Download PDFInfo
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Abstract
Description
本發明係有關一種手術輔助裝置，尤指一種手術自動縫合打結裝置。The invention relates to a surgical aid device, in particular to a surgical automatic suture knotting device.
外科手術中，縫合為醫師必備的技術之一，在人體表面的傷口縫合較為容易，醫師通常可藉由手術使用的縫合針以及縫線進行傷口的縫合。而手術時間的長短，往往也影響著病患的存活機率，另一方面，病患手術後的恢復能力也因為開刀時間長短而受到影響。因此，如何有效縮短手術的時間，實為醫師以及醫療儀器開發者所共同研發的方向之一。
除了手術醫師以手動方式進行傷口的縫合打結之外，為了加快手術的縫合時間，其中如中華民國專利公告第174197號之「外科手術用釘釘機」，其係透過一種外科手術用釘針機，利用偏壓彈簧將釘針推出，並以釘合的方式封閉手術的開口。但釘針釘合的方式固定性不佳，因此病患於手術後必須非常注意傷口的拉動或移動，避免釘針脫落的問題。
再者，如美國專利公告第5480406號之「METHOD OF EMPLOYING SURGICAL APPARATUS TO THE KNOTS」，其揭露一種手術的打結器具，主要包含有一縫合裝置以及一夾取裝置，該縫合裝置具有兩鉗口，該兩鉗口可交替式的拿取一手術針，而於需進行縫合的物件兩側由一鉗口拿取手術針穿過該物件後，由另一鉗口夾持拿取該手術針，藉此可快速的於物件的兩側進行手術針的穿線動作，接著配合該夾取裝置進行手動的打結動作。上述方式，不僅可應用於皮膚表面的縫合，亦由於該縫合裝置以及該夾取裝置的體積較小，因而可深入體內進行內臟的縫合。然而，使用者必須具備有良好的立體空間概念，並經過相當的練習以及熟悉之後，才能學會如何用該縫合裝置以及該夾取裝置進行打結，並達到快速縫合的目的，這樣的方式並不符合手術器械研發人員的期待。In surgery, suturing is one of the necessary techniques for physicians. It is easier to suture wounds on the surface of the human body. The surgeon can usually suture the wound by suture needles and sutures used for surgery. The length of the operation often affects the survival rate of the patient. On the other hand, the recovery ability of the patient after surgery is also affected by the length of the operation. Therefore, how to effectively shorten the operation time is one of the directions jointly developed by doctors and medical instrument developers.
In addition to the suturing and tying of the wound by the surgeon manually, in order to speed up the suturing time of the operation, the "surgical nailing machine" of the Republic of China Patent Publication No. 174197, which is through a surgical staple The needle is pushed out by a biasing spring and the opening of the operation is closed in a stapling manner. However, the nail fixation method is not well fixed, so the patient must pay great attention to the pulling or moving of the wound after the operation to avoid the problem of the needle falling off.
Further, as disclosed in US Patent Publication No. 5480406, "METHOD OF EMPLOYING SURGICAL APPARATUS TO THE KNOTS", which discloses a surgical knotting device, which mainly comprises a suturing device and a gripping device, the suturing device having two jaws, The two jaws can alternately take a surgical needle, and the surgical needle is grasped by the other jaw after the surgical needle is taken by a jaw on both sides of the object to be sutured, and the surgical needle is grasped by another jaw. Thereby, the threading action of the surgical needle can be quickly performed on both sides of the object, and then the manual knotting action is performed in conjunction with the gripping device. The above method can be applied not only to the suturing of the skin surface, but also because the suturing device and the gripping device are small in size, so that the suturing of the viscera can be performed in the body. However, the user must have a good concept of three-dimensional space, and after considerable practice and familiarity, can learn how to use the suturing device and the clamping device to knot, and achieve the purpose of rapid suturing, this way is not Meet the expectations of surgical device developers.
本發明之主要目的，在於解決習知技術的手術打結仍必須依賴人工的方式進行，並且手術操作者必須大量練習利用器械打結的方式才能熟悉器械的使用方式，而不符合使用需求的問題。
為達上述目的，本發明提供一種手術自動縫合打結裝置，用以配合一具有一針頭端及一尾端的手術線進行縫合打結，該手術自動縫合打結裝置包含有一定位基板、一設置於該定位基板上的穿線模組、分別設置於該定位基板上的拉線模組，以及兩穿針臂。該定位基板定義該定位基板的兩側分別為一打結側及一動作側，且該定位基板具有兩分別連通該打結側及該動作側的拉線孔。
該穿線模組設置於該定位基板對應於該兩拉線孔之間的位置，且包含有一位於該定位基板之打結側的穿線架，以及一連接於該穿線架上的夾持件，該穿線架具有一彎折段、一位於該彎折段遠離該定位基板一端的開口，以及一位於該彎折段中連通於該開口的下穿線空間，該夾持件設置於該彎折段相鄰該開口的一端，該彎折段與該定位基板之間具有一對應於該下穿線空間的上穿線空間。
兩該拉線模組分別設置於該定位基板上且分別對應於兩該拉線孔，此外，兩該拉線模組分別設置於該下穿線空間所形成之平面的兩側，且兩該拉線模組分別具有一穿過該拉線孔的升降機構以及一設置於該升降機構上的拉繩件，該拉繩件藉由該升降機構而來回於該打結側及動作側。兩該穿針臂分別設置於兩該拉線模組遠離該穿線架之兩側，且兩該穿針臂分別設置於該定位基板上且位於該打結側，並以該定位基板為軸心而往該穿線架的方向進行樞轉。
其中，該夾持件用以夾持該手術線的尾端，而兩該穿針臂交替拿持位於該針頭端的一手術針穿過該穿線模組的該上穿線空間以及該下穿線空間，並配合兩該拉線模組使該手術線於該開口處進行打結。
由上述說明可知，本發明利用該兩穿針臂於穿線模組進行來回引線的動作，並配合該拉線模組進行拉線動作，進而使手術線於該開口處進行打結，因而具有下列特點：
一、全自動方式於手術縫合位置進行打結，開刀醫師不需要額外練習即可上手，減少醫師必須長時間練習以確認熟練度的問題。
二、輔助醫師於開刀過程中進行傷口縫合的動作，降低醫師開刀的負擔。The main purpose of the present invention is to solve the problem that the surgical knotting of the prior art still has to be performed manually, and the operator must practice a large number of means to knot the device to be familiar with the use of the device, and does not meet the problem of use. .
In order to achieve the above object, the present invention provides a surgical automatic suture knotting device for suturing and knotting with a surgical line having a needle end and a tail end, the surgical automatic suture knotting device comprising a positioning substrate and a setting The threading module on the positioning substrate, the wire drawing module respectively disposed on the positioning substrate, and the two needle-piercing arms. The positioning substrate defines two sides of the positioning substrate as a knotting side and an action side, and the positioning substrate has two wire holes respectively communicating with the knotting side and the action side.
The threading module is disposed at a position corresponding to the positioning hole between the two wire drawing holes, and includes a threading frame on the knotting side of the positioning substrate, and a clamping member connected to the threading frame, The threading frame has a bending section, an opening at one end of the bending section away from the positioning substrate, and a lower threading space in the bending section communicating with the opening, the clamping member is disposed adjacent to the bending section One end of the opening, the bending section and the positioning substrate have an upper threading space corresponding to the lower threading space.
The two wire drawing modules are respectively disposed on the positioning substrate and respectively corresponding to the two wire drawing holes. In addition, the two wire drawing modules are respectively disposed on two sides of the plane formed by the lower threading space, and the two pulling wires are respectively Each of the wire modules has a lifting mechanism passing through the wire drawing hole and a cable member disposed on the lifting mechanism, and the wire drawing member is returned to the knotting side and the action side by the lifting mechanism. The two needle-piercing arms are respectively disposed on two sides of the cable-strapping module, and the two needle-piercing arms are respectively disposed on the positioning substrate and located on the knotting side, and the positioning substrate is used as an axis And pivoting in the direction of the threading frame.
Wherein, the clamping member is configured to clamp the tail end of the surgical line, and the two needle-piercing arms alternately hold a surgical needle at the needle end through the upper threading space of the threading module and the lower threading space. And the two surgical cable modules are used to tie the surgical line at the opening.
As can be seen from the above description, the present invention utilizes the two needle-piercing arms to perform a back-and-forth wire movement on the threading module, and cooperates with the wire drawing module to perform a wire drawing operation, thereby causing the surgical wire to be knotted at the opening, thereby having the following Features:
First, the automatic method of knotting at the surgical suture position, the surgeon can get started without additional practice, reducing the problem that the doctor must practice for a long time to confirm the proficiency.
Second, the auxiliary physician performs the action of suturing the wound during the operation of the knife to reduce the burden on the doctor.
10‧‧‧手術線
11‧‧‧針頭端
12‧‧‧尾端
13‧‧‧手術針
20‧‧‧定位基板
21‧‧‧拉線孔
21a‧‧‧第一拉線孔
21b‧‧‧第二拉線孔
22‧‧‧固定板
30‧‧‧穿線模組
31‧‧‧垂直位移單元
32‧‧‧穿線架
321、321a‧‧‧彎折段
322‧‧‧開口
323‧‧‧下穿線空間
33‧‧‧上穿線空間
34‧‧‧夾持件
35‧‧‧旋轉單元
40‧‧‧拉線模組
40a‧‧‧第一拉線模組
40b‧‧‧第二拉線模組
41‧‧‧升降機構
42‧‧‧拉繩件
42a‧‧‧第一拉繩件
42b‧‧‧第二拉繩件
43‧‧‧樞轉件
50‧‧‧穿針臂
50a‧‧‧第一穿針臂
50b‧‧‧第二穿針臂
61‧‧‧打結側
62‧‧‧動作側
70‧‧‧垂直活動單元10‧‧‧ surgical line
11‧‧‧Need end
12‧‧‧End
13‧‧‧Surgical needle
20‧‧‧ Positioning substrate
21‧‧‧ Pull hole
21a‧‧‧First wire hole
21b‧‧‧Second wire hole
22‧‧‧ Fixed plate
30‧‧‧Threading module
31‧‧‧Vertical displacement unit
32‧‧‧Threading frame
321, 321a‧‧‧ bends
322‧‧‧ openings
323‧‧‧Under the threading space
33‧‧‧Upper threading space
34‧‧‧Clamping parts
35‧‧‧Rotating unit
40‧‧‧Wire module
40a‧‧‧First cable module
40b‧‧‧Second cable module
41‧‧‧ Lifting mechanism
42‧‧‧Drawing rope
42a‧‧‧First rope piece
42b‧‧‧Second drawstring
43‧‧‧ pivoting parts
50‧‧‧needle arm
50a‧‧‧First needle arm
50b‧‧‧Second needle arm
61‧‧‧ knotted side
62‧‧‧Action side
70‧‧‧Vertical activity unit
圖1，為本發明之立體結構示意圖。
圖2，為本發明之穿線模組立體結構示意圖。
圖3A～3F，為本發明之打結動作流程示意圖。
圖4，為本發明之第二實施例之立體結構示意圖。
圖5，為本發明第三實施例之立體結構示意圖。
圖6，為本發明第四實施例之立體結構示意圖。FIG. 1 is a schematic perspective view of the present invention.
2 is a schematic perspective view of the threading module of the present invention.
3A-3F are schematic diagrams showing the flow of the knotting operation of the present invention.
Fig. 4 is a perspective view showing the structure of a second embodiment of the present invention.
Fig. 5 is a perspective view showing the structure of a third embodiment of the present invention.
Figure 6 is a perspective view showing the structure of a fourth embodiment of the present invention.
有關本發明之詳細說明及技術內容，現就配合圖示說明如下：
請參閱「圖1」、「圖2」及「圖3A」所示，本發明係為一種手術自動縫合打結裝置，用以配合一具有一針頭端11及一尾端12的手術線10進行縫合打結，該手術自動縫合打結裝置包含有一定位基板20、一設置於該定位基板20上的穿線模組30、分別設置於該定位基板20上的拉線模組40，以及兩穿針臂50。該定位基板20定義該定位基板20的兩側分別為一打結側61及一動作側62，且該定位基板20具有兩分別連通該打結側61及該動作側62的拉線孔21。於本實施例中，於該動作側62更具有一與該定位基板20間隔一段距離的固定板22，該穿線模組30及該拉線模組40可固定於該定位基板20以及該固定板22上以進行對應動作。
該穿線模組30設置於該定位基板20對應於該兩拉線孔21之間的位置，且包含有一與該定位基板20連接的垂直位移單元31、一連接該垂直位移單元31的一端並位於該定位基板20之打結側61的穿線架32，以及一連接於該穿線架32上的夾持件34，該穿線架32具有一連接於該垂直位移單元31的彎折段321、一位於該彎折段321遠離該垂直位移單元31一端的開口322，以及一位於該彎折段321中連通於該開口322的下穿線空間323，該垂直位移單元31帶動該穿線架32而往垂直該定位基板20的方向進行位移，該夾持件34設置於該彎折段321相鄰該開口322的一端。需特別說明的是，該垂直位移單元31會帶動該穿線架32進行垂直位移，而使該穿線架32藉由該垂直位移單元31之垂直位移而具有一遠離該定位基板20的上穿線位置，如「圖2」所示，以及一相鄰於該定位基板20的下穿線位置，如「圖1」所示。
兩該拉線模組40分別設置於該定位基板20上且分別對應於兩該拉線孔21，此外，兩該拉線模組40分別設置於該下穿線空間323所形成之平面的兩側，且兩該拉線模組40分別具有一穿過該拉線孔21的升降機構41以及一設置於該升降機構41上的拉繩件42，該拉繩件42藉由該升降機構41而來回於該打結側61及動作側62。需特別說明的是，該拉線模組40更具有一設置於該升降機構41上的樞轉件43，該拉繩件42為桿體形狀，且固定於該樞轉件43而往遠離該升降機構41的方向延伸，該樞轉件43帶動該拉繩件42往該升降機構41的活動方向進行樞轉。並且，於本實施例中，兩該拉線模組40位於該定位基板20相鄰於該開口322的一邊，而該拉繩件42為桿體形狀，並由該開口322往該彎折段321方向延伸。需特別說明的是，該拉線模組40亦可設置於相對的兩側，而分別相鄰於開口322以及遠離開口322，於此狀況下，兩該拉線模組40的兩拉繩件42便往相對方向延伸。
兩該穿針臂50分別設置於兩該拉線模組40遠離該穿線架32之兩側，且兩該穿針臂50分別設置於該定位基板20上且位於該打結側61，並以該定位基板20為軸心而往該穿線架32的方向進行樞轉。而該夾持件34用以夾持該手術線10的尾端12，而兩該穿針臂50交替拿持位於該針頭端11的一手術針13穿過該穿線模組30，並配合兩該拉線模組40使該手術線10於該開口322處進行打結。
為了更進一步的描述本發明之機構動作，請配合「圖3A」至「圖3F」所示，並說明如下：
首先，請參閱「圖3A」所示，手術線10的針頭端11連接有該手術針13，而該尾端12則被該穿線模組30的該夾持件34連接，本發明假設手術線10已經穿過欲縫合的傷口位置，準備進行打結，因而該手術線10的尾端12位於縫合傷口的一側，並該手術線10穿過該縫合傷口，使該手術針13被拿持於該穿針臂50，其中，定義兩該穿針臂50分別為一第一穿針臂50a以及一第二穿針臂50b，該兩拉線模組40分別為一第一拉線模組40a以及一第二拉線模組40b，並分別具有其對應的第一拉繩件42a以及第二拉繩件42b，該手術針13先被拿持於該第一穿針臂50a。
接著，移動該垂直位移單元31於該上穿線位置，並使該彎折段321與該定位基板20具有一上穿線空間33，該第一穿針臂50a與該第二穿針臂50b於該上穿線空間33相互靠近，並將該第一穿針臂50a之手術針13交替至該第二穿針臂50b，進而使該手術線10穿過該上穿線空間33，如「圖3B」所示。同時，該手術線10會越過該第一拉繩件42a與該定位基板20之間。而後透過該升降機構41將該第一拉繩件42a穿過對應於該第一拉繩件42a的一第一拉線孔21a而往該動作側62的方向移動，使該手術線10也隨著該第一拉繩件42a的移動而被拉入該動作側62中，如「圖3C」所示。需特別說明的是，於本實施例中，該第一拉繩件42a可透過該樞轉件43之轉動調整該第一拉繩件42a之角度，進而穿過該拉線孔21，並且可使該手術線10隨著該第一拉繩件42a之位移而拉動，不致於掉落。
接著如「圖3D」所示，再由該第二拉繩件42b將手術線10由該打結側61穿過對應於該第二拉繩件42b的一第二拉線孔21b，而往該動作側62移動，同時，該第一拉繩件42a由該動作側62往該打結側61移動，藉此將該手術線10由該第一拉線模組40a移動至該第二拉線模組40b。而後，請配合參閱「圖3E」所示，讓該第二穿針臂50b與該第一穿針臂50a於該下穿線位置以樞轉方式相互靠近並使該手術針13由該第二穿針臂50b交替至該第一穿針臂50a，而改由該第一穿針臂50a拿持。最後，如「圖3F」所示，再由該第一拉線件鉤住該手術線10，並由該打結側61往該動作側62移動，同時，該第二拉線件由該動作側62往該打結側61方向移動，並拉動該手術線10由該夾持件34位置往該開口322方向進行脫出，藉此使該手術線10於該開口322相鄰於該夾持件34之位置進行打結，而完成本發明所述之全自動打結的流程。除了上述以該垂直位移單元31控制該穿線架32而具有上穿線位置以及該下穿線位置，而供該兩穿針臂50於該上穿線空間33及該下穿線空間323進行該手術針13的交替拿持，進而達到穿線的效果之外，請配合參閱「圖4」所示，其係為本發明之第二實施例，該手術自動縫合打結裝置具有兩連接該兩穿針臂50的垂直活動單元70，其係控制該兩穿針臂50往垂直該定位基板20的方向移動，而於該上穿線空間33及該下穿線空間323進行該手術針13的交替拿持。因此，除了以該穿線模組30進行垂直位移之外，亦可利用該穿針臂50的垂直位移，達到穿線的目的。
另外，請配合參閱「圖5」所示，其係為本發明之第三實施例，為避免該手術線10無法脫出該彎折段321而於該開口322完成打結的狀況，該穿線模組30更具有一與該穿線架32連接的旋轉單元35，使該穿線架32以該旋轉單元35為軸心旋轉，進而使手術線10較易脫出該穿線架32，於該開口322完成打結，其中，該旋轉單元35可為主動式的利用動力源的帶動而主動進行旋轉，或者為與該穿線架32樞接的機構，而被動式透過外力的拉動而旋轉。
該穿線架32之彎折段321除了如上述實施例所揭露的形狀之外，請配合參閱「圖6」所示，其係為本發明之第四實施例，該彎折段321a亦可為一具有缺口的圓形結構，而形成該開口322，亦即，其係形成「C」字型鉤狀，而可避免在自動打結過程中，因手術線10被穿線架32鉤住，而無法順利脫出該夾持件34於該開口322打結的狀況。
綜上所述，由於本發明利用該兩穿針臂50於穿線模組30進行來回引線的動作，並配合該拉線模組40進行拉線動作，進而使手術線10於該開口322處進行打結，因而具有下列特點：
一、全自動方式於手術縫合位置進行打結，開刀醫師不需要額外練習即可上手，減少醫師必須長時間練習以確認熟練度的問題。
二、輔助醫師於開刀過程中進行傷口縫合的動作，降低醫師開刀的負擔。The detailed description and technical content of the present invention will now be described as follows:
Referring to FIG. 1 , FIG. 2 and FIG. 3A , the present invention is a surgical automatic suture knotting device for engaging a surgical line 10 having a needle end 11 and a tail end 12 . The suture knotting device comprises a positioning substrate 20, a threading module 30 disposed on the positioning substrate 20, a wire drawing module 40 respectively disposed on the positioning substrate 20, and two needles. Arm 50. The positioning substrate 20 defines two sides of the positioning substrate 20 as a knotting side 61 and an action side 62, and the positioning substrate 20 has two wire holes 21 respectively communicating with the knotting side 61 and the action side 62. In the embodiment, the mounting side 62 further has a fixing plate 22 spaced apart from the positioning substrate 20, and the threading module 30 and the cable module 40 can be fixed to the positioning substrate 20 and the fixing plate. 22 to perform the corresponding action.
The threading module 30 is disposed at a position corresponding to the positioning hole 20 between the two wire holes 21, and includes a vertical displacement unit 31 connected to the positioning substrate 20, and an end connected to the vertical displacement unit 31. a threading frame 32 of the knotting side 61 of the positioning substrate 20, and a clamping member 34 connected to the threading frame 32. The threading frame 32 has a bending section 321 connected to the vertical displacement unit 31, and a The bending section 321 is away from the opening 322 of one end of the vertical displacement unit 31, and a lower threading space 323 which is located in the bending section 321 and communicates with the opening 322. The vertical displacement unit 31 drives the threading frame 32 to be vertical. The direction of the positioning substrate 20 is displaced, and the clamping member 34 is disposed at one end of the bending portion 321 adjacent to the opening 322. It should be noted that the vertical displacement unit 31 drives the threading frame 32 to perform vertical displacement, so that the threading frame 32 has an upper threading position away from the positioning substrate 20 by the vertical displacement of the vertical displacement unit 31. As shown in FIG. 2, and a lower threading position adjacent to the positioning substrate 20, as shown in FIG.
The two wire drawing modules 40 are respectively disposed on the positioning substrate 20 and respectively corresponding to the two wire drawing holes 21, and the two wire drawing modules 40 are respectively disposed on both sides of the plane formed by the lower threading space 323. And the two cable pull modules 40 respectively have a lifting mechanism 41 passing through the cable hole 21 and a cable member 42 disposed on the lifting mechanism 41. The cable member 42 is supported by the lifting mechanism 41. It goes back and forth to the knotting side 61 and the action side 62. It should be particularly noted that the cable module 40 further has a pivoting member 43 disposed on the lifting mechanism 41. The cable member 42 is in the shape of a rod and is fixed to the pivoting member 43 away from the The direction of the lifting mechanism 41 extends, and the pivoting member 43 drives the cable member 42 to pivot in the moving direction of the lifting mechanism 41. In addition, in the embodiment, the two cable assemblies 40 are located on one side of the positioning substrate 20 adjacent to the opening 322, and the cable member 42 is in the shape of a rod, and the opening 322 extends to the bending portion. Extends in 321 direction. It should be noted that the cable module 40 can also be disposed on opposite sides, adjacent to the opening 322 and away from the opening 322. In this case, the two cable members of the cable module 40 42 will extend in the opposite direction.
The two needle-piercing arms 50 are respectively disposed on two sides of the cable-strapping module 40 away from the threading frame 32, and the two needle-piercing arms 50 are respectively disposed on the positioning substrate 20 and located on the knotting side 61, and The positioning substrate 20 is pivoted in the direction of the threading frame 32. The clamping member 34 is configured to clamp the tail end 12 of the surgical wire 10, and the two needle-piercing arms 50 alternately hold a surgical needle 13 at the needle end 11 through the threading module 30, and cooperate with the two The cable module 40 causes the surgical line 10 to be knotted at the opening 322.
In order to further describe the mechanism of the present invention, please refer to "Figure 3A" to "Figure 3F", and explain as follows:
First, referring to FIG. 3A, the surgical needle 13 is connected to the needle end 11 of the surgical line 10, and the tail end 12 is connected by the clamping member 34 of the threading module 30. The present invention assumes a surgical line. 10 has passed through the position of the wound to be sutured, ready to be knotted, so that the tail end 12 of the surgical line 10 is located on the side of the suture wound, and the surgical line 10 passes through the suture wound, so that the surgical needle 13 is held The first threading arm 50 is defined as a first needle arm 50a and a second needle arm 50b. The two cable module 40 are respectively a first cable module. 40a and a second cable module 40b respectively have their corresponding first cable member 42a and second cable member 42b. The surgical needle 13 is first held by the first needle arm 50a.
Then, the vertical displacement unit 31 is moved to the upper threading position, and the bending section 321 and the positioning substrate 20 have an upper threading space 33, and the first needle-piercing arm 50a and the second needle-piercing arm 50b are The upper threading space 33 is close to each other, and the surgical needle 13 of the first needle-piercing arm 50a is alternated to the second needle-piercing arm 50b, so that the surgical thread 10 passes through the upper threading space 33, as shown in FIG. 3B. Show. At the same time, the surgical line 10 will pass between the first cable member 42a and the positioning substrate 20. Then, the first cable member 42a is moved through the lifting mechanism 41 through a first wire hole 21a corresponding to the first cable member 42a to move in the direction of the action side 62, so that the surgical line 10 is also The movement of the first cable member 42a is pulled into the action side 62 as shown in Fig. 3C. It should be particularly noted that, in this embodiment, the first cable member 42a can adjust the angle of the first cable member 42a through the rotation of the pivoting member 43, and then pass through the wire hole 21, and can The surgical line 10 is pulled along with the displacement of the first cable member 42a so as not to fall.
Then, as shown in FIG. 3D, the second cable member 42b passes the surgical wire 10 from the knotted side 61 through a second wire hole 21b corresponding to the second cable member 42b. The action side 62 moves while the first cable member 42a moves from the action side 62 to the knot side 61, thereby moving the surgical line 10 from the first cable module 40a to the second pull Line module 40b. Then, as shown in FIG. 3E, the second needle-piercing arm 50b and the first needle-piercing arm 50a are pivotally brought close to each other at the lower threading position and the surgical needle 13 is worn by the second needle. The needle arm 50b alternates to the first needle arm 50a and is held by the first needle arm 50a. Finally, as shown in FIG. 3F, the first wire puller hooks the surgical wire 10 and moves from the knotting side 61 to the action side 62. At the same time, the second wire puller is operated by the action. The side 62 moves toward the knotting side 61, and pulls the surgical line 10 out of the opening 322 by the position of the clamping member 34, thereby causing the surgical line 10 to be adjacent to the opening 322 at the opening 322. The position of the piece 34 is knotted to complete the fully automatic knotting process of the present invention. In addition to the upper threading frame 32 being controlled by the vertical displacement unit 31, the upper threading position and the lower threading position are provided, and the two needle-piercing arms 50 are used to perform the surgical needle 13 in the upper threading space 33 and the lower threading space 323. In addition to the effect of threading, please refer to FIG. 4, which is a second embodiment of the present invention. The surgical automatic suture knotting device has two connecting needle arms 50. The vertical movable unit 70 controls the two needle-piercing arms 50 to move in a direction perpendicular to the positioning substrate 20, and alternately holds the surgical needles 13 in the upper threading space 33 and the lower threading space 323. Therefore, in addition to the vertical displacement of the threading module 30, the vertical displacement of the needle-piercing arm 50 can be utilized to achieve the purpose of threading.
In addition, please refer to FIG. 5, which is a third embodiment of the present invention. In order to prevent the surgical line 10 from coming out of the bending section 321 and completing the knotting at the opening 322, the threading is completed. The module 30 further has a rotating unit 35 connected to the threading frame 32, so that the threading frame 32 rotates with the rotating unit 35 as an axis, so that the surgical thread 10 can easily come out of the threading frame 32, and the opening 322 The tying is completed, wherein the rotating unit 35 can be actively rotated by the driving of the power source, or rotated by the external force by a mechanism that is pivotally connected to the threading frame 32.
The bending section 321 of the threading frame 32 is in addition to the shape disclosed in the above embodiments. Please refer to FIG. 6 for the fourth embodiment of the present invention. The bending section 321a may also be A circular structure having a notch forms the opening 322, that is, it forms a "C"-shaped hook shape, thereby avoiding the surgical thread 10 being caught by the threading frame 32 during the automatic knotting process. The condition that the holding member 34 is knotted at the opening 322 cannot be smoothly taken out.
In summary, the present invention utilizes the two needle-piercing arms 50 to perform a back-and-forth wire movement on the threading module 30, and cooperates with the wire drawing module 40 to perform a wire drawing operation, thereby causing the surgical wire 10 to be performed at the opening 322. Knotted, thus having the following characteristics:
First, the automatic method of knotting at the surgical suture position, the surgeon can get started without additional practice, reducing the problem that the doctor must practice for a long time to confirm the proficiency.
Second, the auxiliary physician performs the action of suturing the wound during the operation of the knife to reduce the burden on the doctor.
20‧‧‧定位基板 20‧‧‧ Positioning substrate
21‧‧‧拉線孔 21‧‧‧ Pull hole
21a‧‧‧第一拉線孔 21a‧‧‧First wire hole
21b‧‧‧第二拉線孔 21b‧‧‧Second wire hole
22‧‧‧固定板 22‧‧‧ Fixed plate
31‧‧‧垂直位移單元 31‧‧‧Vertical displacement unit
321‧‧‧彎折段 321‧‧‧Bend section
322‧‧‧開口 322‧‧‧ openings
34‧‧‧夾持件 34‧‧‧Clamping parts
40‧‧‧拉線模組 40‧‧‧Wire module
40a‧‧‧第一拉線模組 40a‧‧‧First cable module
40b‧‧‧第二拉線模組 40b‧‧‧Second cable module
41‧‧‧升降機構 41‧‧‧ Lifting mechanism
42‧‧‧拉繩件 42‧‧‧Drawing rope
42a‧‧‧第一拉繩件 42a‧‧‧First rope piece
42b‧‧‧第二拉繩件 42b‧‧‧Second drawstring
43‧‧‧樞轉件 43‧‧‧ pivoting parts
50‧‧‧穿針臂 50‧‧‧needle arm
50a‧‧‧第一穿針臂 50a‧‧‧First needle arm
50b‧‧‧第二穿針臂 50b‧‧‧Second needle arm
61‧‧‧打結側 61‧‧‧ knotted side
62‧‧‧動作側 62‧‧‧Action side
Claims (8)
一定位基板，定義該定位基板的兩側分別為一打結側及一動作側，且該定位基板具有兩分別連通該打結側及該動作側的拉線孔；
一設置於該定位基板且對應於該兩拉線孔之間的穿線模組，包含有一位於該定位基板之打結側的穿線架，以及一連接於該穿線架上的夾持件，該穿線架具有一彎折段、一位於該彎折段遠離該定位基板一端的開口，以及一位於該彎折段中連通於該開口的下穿線空間，該夾持件設置於該彎折段相鄰該開口的一端，該彎折段與該定位基板之間具有一對應於該下穿線空間的上穿線空間；
分別設置於該定位基板上且分別對應於兩該拉線孔的兩拉線模組，兩該拉線模組分別設置於該下穿線空間所形成之平面的兩側，且兩該拉線模組分別具有一穿過該拉線孔的升降機構以及一設置於該升降機構上的拉繩件，該拉繩件藉由該升降機構而來回於該打結側及該動作側；及
分別設置於兩該拉線模組遠離該穿線架之兩側的兩穿針臂，兩該穿針臂分別設置於該定位基板上且位於該打結側，並以該定位基板為軸心而往該穿線架的方向進行樞轉；
該夾持件用以夾持該手術線的尾端，而兩該穿針臂交替拿持位於該針頭端的一手術針穿過該穿線模組的該上穿線空間以及該下穿線空間，並配合兩該拉線模組使該手術線於該開口處進行打結。An automatic suture knotting device for suturing a knot with a surgical line having a needle end and a tail end, the automatic suture knotting device comprising:
a positioning substrate, the two sides of the positioning substrate are defined as a knotting side and an action side, and the positioning substrate has two drawing holes respectively communicating the knotting side and the action side;
a threading module disposed on the positioning substrate and corresponding to the two wire drawing holes, comprising a threading frame on the knotting side of the positioning substrate, and a clamping member connected to the threading frame, the threading The frame has a bent section, an opening located at one end of the bent section away from the positioning substrate, and a lower threading space located in the bending section communicating with the opening, the clamping member is disposed adjacent to the opening of the bending section One end of the bending section and the positioning substrate have an upper threading space corresponding to the lower threading space;
Two wire drawing modules respectively disposed on the positioning substrate and respectively corresponding to the two wire drawing holes, and the two wire drawing modules are respectively disposed on two sides of a plane formed by the lower threading space, and the two wire drawing modes are respectively Each of the sets has a lifting mechanism passing through the cable opening and a pulling member disposed on the lifting mechanism, the cable member is returned to the knotting side and the action side by the lifting mechanism; The two wire-drawing arms are disposed on the two sides of the threading frame, and the two needle-piercing arms are respectively disposed on the positioning substrate and located on the knotting side, and the positioning substrate is used as the axis. Pivoting the direction of the threading frame;
The clamping member is configured to clamp the tail end of the surgical line, and the two needle-piercing arms alternately hold a surgical needle at the needle end through the upper threading space of the threading module and the lower threading space, and cooperate The two wire drawing modules cause the surgical line to be knotted at the opening.
於該上穿線位置時，兩該穿針臂於該上穿線空間進行該手術針的交替拿持；
於該下穿線位置時，兩該穿針臂於該下穿線空間進行該手術針的交替拿持，使該手術線繞過該彎折段。The surgical automatic suture knotting device according to the second aspect of the invention, wherein the threading frame has an upper threading position away from the positioning substrate by a vertical displacement of the vertical displacement unit, and an adjacent to the positioning The lower threading position of the substrate;
In the upper threading position, the two needle-piercing arms perform alternate holding of the surgical needle in the upper threading space;
In the lower threading position, the two needle-piercing arms perform alternate holding of the surgical needle in the lower threading space, so that the surgical thread bypasses the bending section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| TW102128056A TWI522083B (en) | 2013-08-06 | 2013-08-06 | Surgical automatic stitching device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102128056A TWI522083B (en) | 2013-08-06 | 2013-08-06 | Surgical automatic stitching device |
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| Publication Number | Publication Date |
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| TW201505599A true TW201505599A (en) | 2015-02-16 |
| TWI522083B TWI522083B (en) | 2016-02-21 |
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| TW102128056A TWI522083B (en) | 2013-08-06 | 2013-08-06 | Surgical automatic stitching device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107198551A (en) * | 2017-06-27 | 2017-09-26 | 江苏新科达滤袋有限公司 | A kind of automatic sewing device |
| CN109943971A (en) * | 2019-04-18 | 2019-06-28 | 汕头市思朗德自动化科技有限公司 | A kind of pull ring self-threading knotting apparatus |
-
2013
- 2013-08-06 TW TW102128056A patent/TWI522083B/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107198551A (en) * | 2017-06-27 | 2017-09-26 | 江苏新科达滤袋有限公司 | A kind of automatic sewing device |
| CN109943971A (en) * | 2019-04-18 | 2019-06-28 | 汕头市思朗德自动化科技有限公司 | A kind of pull ring self-threading knotting apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI522083B (en) | 2016-02-21 |
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