Search

CN-122004973-A - Skin suturing device and robot

CN122004973ACN 122004973 ACN122004973 ACN 122004973ACN-122004973-A

Abstract

The invention provides a skin suturing device and a robot, and relates to the technical field of medical appliances, wherein the skin suturing device comprises a shell main body, a nail bin, a nail pushing mechanism and a quick-changing mechanism; the quick-change mechanism is fixedly arranged on the shell main body, the quick-change mechanism is provided with an accommodating cavity for accommodating the nail bin in an adapting mode, the quick-change mechanism is further provided with a limiting piece, the pluggable part of the nail bin is inserted into the accommodating cavity, the limiting piece is detachably connected with the nail bin to fix the nail bin relative to the accommodating cavity, the limiting piece can be separated from the nail bin under the action of external force to release limiting constraint on the nail bin, the nail pushing mechanism is fixedly arranged on the shell main body, the power output end of the nail pushing mechanism corresponds to the nail outlet of the nail bin, and a plurality of stitching nails are arranged in the nail bin. Compared with the related art, the skin suturing device provided by the invention has the advantages that the device main body can be reused, only the consumable staple cartridge needs to be replaced, the medical waste production amount in each operation is obviously reduced, and the medical waste treatment pressure is reduced.

Inventors

  • CHEN KAI
  • LIAN JIE
  • SHI GUANGZHI
  • LI YING
  • SUN DAHAI

Assignees

  • 首都医科大学附属北京天坛医院

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. A skin suturing device is characterized by comprising a shell main body (1), a nail bin (2), a nail pushing mechanism (3) and a quick-change mechanism (4), wherein the quick-change mechanism (4) is fixedly arranged on the shell main body (1), the quick-change mechanism (4) is provided with a containing cavity (411) for accommodating the nail bin (2) in an adapting mode, the quick-change mechanism (4) is further provided with a movable limiting piece, the nail bin (2) is inserted into the containing cavity (411) in a pluggable mode, the limiting piece is used for being detachably connected with the nail bin (2) to enable the nail bin (2) to be fixed relative to the containing cavity (411), the limiting piece can be separated from the nail bin (2) under the action of external force to release limiting constraint on the nail bin (2), the nail pushing mechanism (3) is fixedly arranged on the shell main body (1), an output end of the nail pushing mechanism (3) is used for pushing out of the nail bin (2) corresponding to a plurality of staples (21) one by one, and the nail bin (2) is arranged in the position corresponding to the position (21).
  2. 2. The skin suturing device according to claim 1, wherein the nail bin (2) is of a cuboid structure, a cavity for accommodating the suturing nails is formed in the nail bin (2), the nail outlet (21) is formed in one end of the nail bin (2), and the nail outlet (21) is communicated with the cavity.
  3. 3. The skin suturing device according to claim 2, wherein a nail pushing assembly is arranged in the nail bin (2), the nail pushing assembly comprises a nail pushing block (23), a push rod (24), a first spring (25) and a fixed block (26), the nail pushing block (23) is movably arranged in the nail bin (2), the nail pushing block (23) is used for pushing the suturing nail towards a direction close to the nail outlet (21), the fixed block (26) is fixedly connected in the nail bin (2), one end of the push rod (24) is connected with the nail pushing block (23), the other end of the push rod penetrates through the fixed block (26) along the length direction of the nail bin (2), the first spring (25) is sleeved on the periphery of the push rod (24), one end of the first spring (25) is abutted against the nail pushing block (23), and the other end of the first spring is abutted against the fixed block (26).
  4. 4. The skin suturing device according to claim 1, wherein the quick-change mechanism (4) comprises a quick-change shell (41), the accommodating cavity (411) is formed in the quick-change shell (41), an internal threaded hole (27) is formed in one end of the accommodating cavity (411) through which the nail bin (2) is inserted, the limiting piece is a screw rod (42), the screw rod (42) is rotationally connected to the quick-change shell (41), one end of the screw rod (42) extends into the accommodating cavity (411) and is in threaded fit connection with the internal threaded hole (27) of the nail bin (2), so that the nail bin (2) is fixed with the accommodating cavity (411), and the other end of the screw rod (42) extends to the outer side of the quick-change shell (41) and is used for being driven to rotate by external force.
  5. 5. The skin suturing device according to claim 4, wherein the quick-change mechanism (4) further comprises a transfer frame (43) and a first motor (44), the transfer frame (43) is fixedly mounted on the housing main body (1), the quick-change shell (41) is connected to the transfer frame (43), one end of the screw (42) extends into the accommodating cavity (411), the other end of the screw (42) extends into the transfer frame (43), a driven bevel gear (45) is arranged at the end of the screw (42) located in the transfer frame (43), the first motor (44) is fixedly mounted on the transfer frame (43), a driving bevel gear (46) is arranged at the output end of the first motor (44), and the driving bevel gear (46) is in transmission connection with the driven bevel gear (45).
  6. 6. The skin suturing device according to claim 5, wherein the quick-change mechanism (4) further comprises a push-out assembly, the push-out assembly comprises a quick-change push block (47), a round rod (48) and a second spring (49), the quick-change push block (47) is movably arranged in the accommodating cavity (411), the screw rod (42) penetrates through the quick-change push block (47), one end of the round rod (48) stretches into the accommodating cavity (411) and is connected with the quick-change push block (47), the other end of the round rod (48) extends into the adapter frame (43), the second spring (49) is sleeved on the round rod (48), one end of the second spring (49) is abutted to the quick-change push block (47), the other end of the second spring (49) is abutted to the inner wall of the accommodating cavity (411), and when the screw rod (42) is in threaded disengagement with the nail bin (2), the quick-change push block (47) is used for automatically pushing out the elastic reset spring (411) under the action of the second spring (49) to the accommodating bin (2).
  7. 7. Skin suturing device according to claim 1, characterized in that the staple pushing mechanism (3) comprises a second motor (31), a fixed bracket (32), a movable block (33), a push plate (34) and an anti-rotation guide rod (35), wherein the fixed bracket (32) is fixedly arranged on the shell main body (1), the second motor (31) is fixedly arranged on the fixed bracket (32), the movable block (33) is in threaded connection with the rotating shaft of the second motor (31), the push plate (34) is connected with the movable block (33), the push plate (34) is used for pushing out staples in the staple cartridge (2) from the staple outlet (21), the anti-rotation guide rod (35) is connected with the fixed bracket (32), and the anti-rotation guide rod (35) penetrates through the movable block (33) and is used for limiting synchronous rotation of the movable block (33) along with the rotating shaft of the second motor (31).
  8. 8. Skin suturing device according to claim 7, characterized in that the staple outlet (21) is provided with a spring plate structure (22), wherein during the pushing of the staples from the staple outlet (21) by the push plate (34), the staples are arranged to be pressed against the spring plate structure (22) and deformed, and the spring plate structure (22) is arranged to be deformed when the pushing force born by the staples is larger than the elastic resistance of the spring plate structure (22), so that the staples after the preset deformation are smoothly pulled out from the staple outlet (21).
  9. 9. The skin suturing device according to claim 1, wherein the housing body (1) comprises two oppositely arranged plate-shaped structures (11), the two plate-shaped structures (11) are fixedly connected through a connecting piece to form an installation space, the nail pushing mechanism (3) and the quick-change mechanism (4) are fixedly arranged in the installation space between the two plate-shaped structures (11), and a connecting hole is formed in the outer side wall of the plate-shaped structure (11) and used for being detachably connected with the execution tail end of the robot.
  10. 10. A robot comprising a skin suturing device according to any one of claims 1 to 9, said skin suturing device being connected to an execution end of said robot via a housing body (1), said robot being adapted to drive said skin suturing device to a skin site to be sutured and to control it to perform suturing operations.

Description

Skin suturing device and robot Technical Field The invention relates to the technical field of medical instruments, in particular to a skin suturing device and a robot. Background In general surgery, thoracic surgery, abdominal surgery, skin grafting in burn department, and other operations, the suturing operation of the skin incision is a key link for postoperative recovery. Although the traditional manual suture method is widely applied, the traditional manual suture method has the defects of complex operation, long time consumption, strong technical dependence on doctors and the like, and is easy to cause unstable suture quality and delayed postoperative recovery. With the progress of medical technology, skin stitching devices (also called skin anastomat) are becoming popular, and have the advantages of high stitching efficiency, convenient operation, less postoperative complications and capability of effectively improving the surgical effect and the patient experience. However, the mainstream products in the market currently adopt an integral disposable structural design, i.e. the whole device must be discarded as medical waste after a single use. This design results in some components that are still functional not being reused, not only greatly increasing the throughput and disposal difficulty of medical waste, but also creating an increased environmental burden. Meanwhile, the frequent replacement of the whole set of device increases the production cost and the clinical use cost, so that the medical institution faces continuous economic pressure, and the reasonable distribution of medical resources is indirectly influenced. This waste phenomenon is more prominent especially in medical scenarios with extensive surgery or limited resources, highlighting the serious drawbacks of the related art in terms of sustainability and economy. Disclosure of Invention The invention aims to provide a skin suturing device, which has the advantages of reducing medical waste, reducing use cost and improving sustainability and economy of the device. The invention provides a skin suturing device which comprises a shell main body, a nail bin, a nail pushing mechanism and a quick-changing mechanism, wherein the quick-changing mechanism is fixedly arranged on the shell main body and is provided with a containing cavity for accommodating the nail bin in an adapting mode, the quick-changing mechanism is further provided with a movable limiting piece, the nail bin can be inserted into the containing cavity in a pluggable mode, the limiting piece is used for being detachably connected with the nail bin to achieve fixation of the nail bin relative to the containing cavity, the limiting piece can be separated from the nail bin under the action of external force to remove limiting constraint on the nail bin, the nail pushing mechanism is fixedly arranged on the shell main body, the power output end of the nail pushing mechanism corresponds to a nail outlet of the nail bin, and a plurality of suturing nails are arranged in the nail bin and are used for pushing the suturing nails in the nail bin out of the nail outlet one by one to be sutured on skin. Optionally, the nail storehouse is the cuboid structure, have in the nail storehouse and be used for holding the cavity of staple, go out the nail mouth and open in the one end of nail storehouse, just go out the nail mouth with the cavity intercommunication. Optionally, be provided with in the nail storehouse and push away the nail subassembly, it includes to push away nail piece, push rod, first spring and fixed block to push away the nail piece activity set up in the nail storehouse, it is used for with the nail to be close to push away the nail mouth direction, fixed block fixed connection in the nail storehouse, the one end of push rod connect in it pushes away the nail piece, the other end is followed the length direction of nail storehouse runs through the fixed block, first spring housing is located the periphery of push rod, just the one end butt of first spring in it pushes away the nail piece, the other end butt in the fixed block. Optionally, the quick change mechanism includes quick change casing, the holding chamber is seted up on the quick change casing, the nail storehouse is used for inserting the internal thread hole has been seted up to the one end in holding chamber, the locating part is the screw rod, the screw rod rotate connect in the quick change casing, just the one end of screw rod stretches into the holding intracavity, be used for with the nail storehouse the internal thread hole screw-thread fit connection, in order to realize the nail storehouse with the fixing in holding chamber, the other end of screw rod extends to the outside of quick change casing is used for supplying external force drive its rotation. Optionally, the quick change mechanism still includes switching frame and first motor, switching frame fixed mounting in on the shell main part, quick