CN-122004963-A - Full-automatic operation device for continuously suturing and forming knots in abdominal cavity

CN122004963ACN 122004963 ACN122004963 ACN 122004963ACN-122004963-A

Abstract

The invention discloses a full-automatic surgical device for continuously suturing and forming knots in an abdominal cavity, which comprises an arc-shaped suture needle, wherein the tail end of the arc-shaped suture needle is connected with a suture thread, a needle outlet communicated with the inside of the device body is arranged outside the device body, a suture needle driving mechanism, a knotting mechanism and a tensioning mechanism are arranged inside the device body, the suture needle driving mechanism is of a structure for driving the arc-shaped suture needle to circularly rotate, so that the needle tip of the arc-shaped suture needle is circularly in a state of penetrating out through the needle outlet and penetrating through the needle outlet, the suture thread is wound on the knotting mechanism, a plurality of loops are formed around the suture thread, the knotting mechanism is of a structure capable of controlling the movement of the loops, the arc-shaped suture needle drives the suture thread to penetrate through the loops, and the tensioning mechanism is of a structure for adjusting the tensioning force of the suture thread.

Inventors

XIA CHONGKUN
QIAO JUNMING
YANG JINGRUI
ZHENG YUQUAN
LUO XIYUE

Assignees

中山大学·深圳
中山大学

Dates

Publication Date: 20260512
Application Date: 20260326

Claims (10)

1. A full-automatic surgical device for continuously suturing and forming knots in an abdominal cavity is characterized by comprising, The tail end of the arc-shaped suture needle is connected with a suture line; the device comprises a device main body, wherein a needle outlet communicated with the inside of the device main body is arranged outside the device main body, and a suture needle driving mechanism, a knotting mechanism and a tensioning mechanism are arranged inside the device main body; the suture needle driving mechanism is a structure for driving the arc suture needle to circularly rotate, so that the needle point of the arc suture needle is circularly in a state of penetrating out through the needle outlet and penetrating in through the needle outlet; the knotting mechanism is wound with the suture lines so that the suture lines are wound around to form a plurality of coils, and the knotting mechanism is a structure capable of controlling the coils to move so that the arc-shaped suture needles drive the suture lines to pass through the coils to perform knotting; the tensioning mechanism is a structure for adjusting the tensioning force of the suture.
2. A surgical device according to claim 1, wherein, The arc-shaped suture needle is in a major arc shape.
3. A surgical device according to claim 1, wherein, The suture needle driving mechanism comprises a friction wheel and a connecting rod unit; The two friction wheels are arranged in the device main body in a autorotation mode, the arc-shaped suture needles are stretched out of the two friction wheels, and the autorotation of the two friction wheels is used for driving the arc-shaped suture needles to circularly rotate; The connecting rod unit is connected with the two friction wheels in a connecting rod transmission mode and is used for controlling the two friction wheels to synchronously rotate.
4. A surgical device according to claim 3, wherein, The connecting rod unit comprises a first belt pulley, a first transmission belt, an asymmetric V-shaped rod and a transmission rod; The first belt pulley is arranged in the device main body in a autorotation mode, and an eccentric shaft is arranged on the first belt pulley; the first transmission belt is sleeved outside the first belt wheel and is used for acquiring power to drive the first belt wheel to rotate; the asymmetric V-shaped rod is of an asymmetric V-shaped structure formed by connecting long and short rods, the joint of the long and short rods of the asymmetric V-shaped rod is rotationally connected with the eccentric shaft, and two ends of the asymmetric V-shaped rod are respectively rotationally connected with one ends of two transmission rods; The other ends of the two transmission rods are respectively connected and fixed with the rotating shafts of the two friction wheels.
5. A surgical device according to claim 1, wherein, The knotting mechanism comprises a ring storage frame and a reciprocating movement unit; The coil storage frame is provided with two winding posts which are arranged separately, and the suture lines are alternately wound outside the two winding posts to form a plurality of coils; The reciprocating movement unit is used for controlling the ring storage frame to linearly reciprocate.
6. A surgical device according to claim 5, wherein, The coil storage frame is provided with a threaded pipe and a guide pipe; The reciprocating unit comprises a second belt wheel, a second driving belt, a screw rod and a guide post; the second belt pulley is rotatably installed in the device main body; the second transmission belt is sleeved outside the second belt pulley and is used for acquiring power to drive the second belt pulley to rotate; the screw rod and the second belt wheel are connected into a coaxial rotating structure, and the screw rod is connected into the threaded pipe in a threaded manner; the guide post is fixed to the inside of the device body, and is slidably inserted into the guide tube.
7. A surgical device according to claim 1, wherein, The tensioning mechanism comprises a tensioning needle, an elastic unit and a limiting strip; The tensioning needle is rotatably connected to the loosening and tightening unit, and a torsion spring is arranged at the rotary connection part of the tensioning needle; the tightness unit is used for controlling the tensioning needle to move towards and away from the needle outlet; The limit strip is arranged on the moving track of the tensioning needle; when the tensioning needle moves to be in abutting connection with the limit strip, the limit strip is used for pushing the tensioning needle to rotate to a non-thread hanging state; When the tensioning needle is separated from the limit strip, the torsion spring is used for restoring the tensioning needle to a wire hanging state.
8. A surgical device according to claim 7, wherein, The elastic unit comprises a fixed block, a sliding rod, a sliding block and a spring; The two fixing blocks are fixedly arranged in the device main body in a separated and opposite mode; The sliding rod is connected between the two fixed blocks, and is arranged in an extending way along the length direction of the device main body; The sliding block is slidably arranged on the sliding rod, the tensioning needle is rotationally connected to the sliding block, and the moving power of the sliding block is provided for the rope driving force structure; the spring is sleeved outside the sliding rod, and is compressed between the sliding block and the fixed block far away from the needle outlet.
9. A surgical device according to claim 1, wherein, The needle outlet is provided with a cutting mechanism which is used for cutting the suture line.
10. A surgical device according to claim 1, wherein, The cutting mechanism comprises a cutter guiding groove, a cutter and a reset pressure spring; the two knife guiding grooves are respectively arranged on two opposite sides of the needle outlet; the cutters are slidably arranged in the two cutter guide grooves, and the cutters are of a rope-driven structure capable of controlling movable cutting; the reset pressure spring is arranged in the cutter guiding groove in a pressing mode and is used for pushing the cutter to reset.

Description

Full-automatic operation device for continuously suturing and forming knots in abdominal cavity Technical Field The invention relates to the technical field of surgical suture knot tying, in particular to a full-automatic surgical device for continuously suturing and tying abdominal cavity. Background In minimally invasive surgical operations such as laparoscopes, thoracoscopes and the like, reliable suturing and knotting of internal tissues is one of the key steps for successful operation. Currently, this procedure relies primarily on the surgeon holding a long-rod instrument to perform manual suturing and freehand knotting in a small body cavity space. The method has extremely high dependence on the operation skills and experience of operators, so that a learning curve is long, the operation is time-consuming, the stability is difficult to ensure, and the method becomes a main technical bottleneck for restricting the operation efficiency and the quality uniformity. In order to overcome the limitation of manual operation, the prior art mainly develops along two paths of in-vitro automation and in-vivo manual assistance, but has obvious defects. In an in vitro automation scheme, such as an automatic stitching instrument (patent number CN 112914637B), although the automation of stitching and knotting is realized by a mechanical arm, the structure is complex and the size is huge, and the suture instrument cannot enter a body cavity through a standard minimally invasive channel, is only suitable for open surgery, and cannot solve the in vivo automation problem. Manual instruments in the body, such as needle holding forceps commonly used in clinic and a knotter for suture of a laparoscopic minimally invasive surgery (patent number CN 120078464A), can enter the body, but the former knotting is completely dependent on doctor manipulations, and the latter is only a semi-automatic auxiliary tool, so that the tensile strength and the anti-slip property of the knot reaching expert level are difficult to ensure. In view of the foregoing, the prior art has core defects of "automatic implementation of in vivo access" and "automatic completion of high-quality knotting after in vivo access", and there is a need for an integrated device capable of directly performing high-quality automatic suturing and reliable knotting in vivo through a standard minimally invasive channel. Disclosure of Invention The invention aims to provide a full-automatic operation device for continuously suturing and knotting in an abdominal cavity, which solves the problem that the prior art cannot enter a body to realize high-quality automatic knotting. The invention provides a full-automatic surgical device for continuously suturing and forming knots in an abdominal cavity, which comprises an arc-shaped suture needle, wherein the tail end of the arc-shaped suture needle is connected with a suture thread, a needle outlet communicated with the inside of the device body is arranged outside the device body, a suture needle driving mechanism, a knotting mechanism and a tensioning mechanism are arranged inside the device body, the suture needle driving mechanism is of a structure for driving the arc-shaped suture needle to circularly rotate so that the needle tip of the arc-shaped suture needle is circularly in a state of penetrating out through the needle outlet and penetrating through the needle outlet, the suture thread is wound on the knotting mechanism, a plurality of coils are formed around the suture thread, the knotting mechanism is of a structure capable of controlling the movement of the coils so that the arc-shaped suture needle drives the suture thread to penetrate through the coils to be knotted, and the tensioning mechanism is of a structure for adjusting the tensioning force of the suture thread. In one embodiment, the arcuate suture needle is a major arc. In one embodiment, the suture needle driving mechanism comprises friction wheels and a connecting rod unit, wherein the two friction wheels are arranged in the device main body in a autorotation mode, the arc suture needles are stretched out of the two friction wheels, the autorotation of the two friction wheels is used for driving the arc suture needles to circularly rotate, the connecting rod unit is connected with the two friction wheels in a connecting rod transmission mode, and the connecting rod unit is used for controlling the two friction wheels to synchronously rotate. In one embodiment, the connecting rod unit comprises a first belt wheel, a first driving belt, an asymmetric V-shaped rod and a driving rod, wherein the first belt wheel is installed in the device main body in a autorotation mode, an eccentric shaft is arranged on the first belt wheel, the first driving belt is sleeved outside the first belt wheel and used for acquiring power to drive the first belt wheel to rotate, the asymmetric V-shaped rod is of an asymmetric V-shaped structure formed by connecting long and s