CN116636891A - Convenient detachable continuous reciprocating motion laparoscope stitching instrument with curved needle - Google Patents

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

A continuous reciprocating motion laparoscopic stapler with convenient detachable curved needle

technical field

The invention relates to the technical field of laparoscopic staplers, in particular to a laparoscopic stapler with convenient detachable curved needles and continuous reciprocating motion.

Background technique

Laparoscopic surgery is a newly developed minimally invasive method, which is mainly used for intra-abdominal examination and treatment. When suturing the postoperative human tissue during the operation, the doctor continuously pulls and loosens the wire rope through the stapler, drives the front end to swing the head and drives the suture needle to continuously rotate, pierces the human tissue and sutures. In laparoscopic surgery, the suture needle of the stapler usually adopts an arc-shaped structure, and the rotation of the suture needle is realized through the excitation of the stapler to drive the suture for suturing. During laparoscopic suturing, performing instruments including suture needles are easily damaged by wear or fatigue due to frequent actions and stress. Therefore, designing a stapler that can be easily disassembled and replaced by performing instruments will help improve the efficiency of suture needle replacement. Improve the safety and reliability of the device and reduce the overall cost of suturing. In addition, in the prior art, the suture needle usually rotates 360 degrees. The main disadvantage of this method is that the suture needle rotates continuously in one direction during the 360-degree rotation, and it is easy to get stuck in the human body tissue, causing the suture needle to be stuck and unable to continue. suture.

Contents of the invention

The purpose of the present invention is: to solve the problems existing in the above-mentioned background technology, to provide a stapler with a convenient and quick disassembly and replacement of the curved needle module, so as to improve the replacement efficiency of the curved needle (suture needle), thereby improving the safety and reliability of the device Sex, reduce the overall cost of suturing.

In order to achieve the above purpose, the present invention provides a laparoscopic stapler with convenient detachable curved needle and continuous reciprocating motion, which includes a control body, a curved needle module and a curved needle module support body;

The curved needle module includes a curved needle installation block, the first end of the curved needle installation block is movably provided with a curved needle, and the second end of the curved needle installation block can be connected to the first end of the curved needle module support body. The connection is disassembled, and the second end of the curved needle module support body is connected to the control body by transmission;

Both the curved needle installation block and the curved needle module support body are provided with a positioning assembly and a locking assembly; the positioning assembly includes a guide positioning groove provided on the curved needle installation block, and a The guide positioning boss on the support body of the needle module, the guide positioning boss is matched with the guide positioning groove; the locking assembly includes a locking pin hole arranged on the curved needle mounting block, and a locking pin hole arranged on the curved needle mounting block. The locking pin on the support body of the curved needle module is matched with the locking pin hole.

Further, the first end of the curved needle module support body is provided with a card slot, the second end of the curved needle installation block is inserted into the card slot, the guide positioning boss, the locking pin are all located in the card slot.

Further, the curved needle module support body is provided with a main driving wheel for sewing, and the curved needle installation block is provided with a secondary driving wheel for sewing, and the driving wheel for sewing is provided with a transmission groove, and the main driving wheel for sewing is provided with a transmission block, and the transmission block cooperates with the transmission groove, so that the sewing slave driving wheel rotates synchronously with the sewing main driving wheel.

Further, the curved needle mounting block is provided with a driving wheel opening corresponding to the sewing slave driving wheel, and the driving wheel opening communicates with the guide positioning groove. When the curved needle mounting block is installed, the sewing main The driving block of the driving wheel first moves along the guide positioning groove, and then enters the driving groove of the sewing slave driving wheel.

Further, a control connecting rod is provided between the curved needle module support body and the control body, and a plurality of control steel wires are passed through the control connecting rod, and the control steel wires are used to connect the control body and the control body. The curved needle module support body is controlled by the control body.

Further, the first end of the curved needle installation block is provided with a curved needle groove, and a curved needle is movably arranged in the curved needle groove, and the curved needle performs a curved movement along the curved needle groove, and the sewing is driven from the A curved needle transmission assembly is arranged between the wheel and the curved needle, and the sewing drive wheel drives the curved needle to reciprocate through the curved needle transmission assembly.

Further, the curved needle transmission assembly includes a curved needle transmission link and a guide link, the first end of the curved needle transmission link is hinged to the curved needle, and the second end of the curved needle transmission link is connected to the The stitching is hinged from the non-rotating center position of the driving wheel, the first end of the guide link is hinged with the curved needle drive link, the second end of the guide link is hinged with the curved needle mounting block, The connecting rod of the curved needle transmission link and the hinge point of the sewing drive wheel to the rotation center of the sewing drive wheel is always parallel to the guide link, and the guide link is installed with the curved needle The connecting line from the hinge point of the block to the rotation center of the sewing drive wheel is always parallel to the curved needle transmission connecting rod, forming a double parallelogram transmission.

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 end of the curved needle slot, and the second opening is provided with a detachable wire guide , the thread guide is used to connect the end of the suture thread, the second opening is provided with a thread guide reciprocating disengagement mechanism, and the thread guide reciprocating disengagement mechanism is used to fix the thread guide or make the thread The guide head disengages with the curved needle.

Further, the first end of the wire guide is provided with a tapered clamping groove, and the tapered clamping groove corresponds to the piercing tip of the curved needle.

Further, behind the second opening of the curved needle installation block, a disengagement mechanism installation groove is provided. The reciprocating disengagement mechanism of the thread guide includes a rotating buckle and a rotating buckle base, and the rotating buckle and the rotating buckle base are both arranged on In the installation groove of the disengagement mechanism, the rotary buckle is located at the first end of the installation groove of the disengagement mechanism, and the base of the rotation buckle is located at the second end of the installation groove of the disengagement mechanism. The bases are all provided with wedge-shaped teeth that cooperate with each other. When the rotating buckle moves toward the base of the rotating buckle, it rotates along the wedge-shaped teeth at a preset angle. There is also a reset device between the base of the rotating buckle and the rotating buckle A spring, the second end of the wire guide head is provided with a double-sided cutting flange, and the rotary buckle is provided with an end hole, and the double-sided cutting flange can pass through the The end hole of the rotary buckle, when the two-sided cutting flange is at the second angle position relative to the rotary buckle, it cannot be disengaged from the rotary buckle.

Said scheme of the present invention has following beneficial effect:

In the continuous reciprocating laparoscopic suturing device provided by the present invention, the curved needle module can be replaced as a whole as a consumable, and the curved needle module and the curved needle module support body can be quickly, conveniently and reliably completed through the setting of the guide assembly and the positioning assembly. The disassembly and replacement of the needle module can ensure the installation of the curved needle module in place and the stability of the connection, ensuring the stability and reliability of the stapler during use;

In the present invention, the continuous reciprocating motion of the curved needle is stitched through the double parallelogram transmission mechanism, so that the transmission link of the curved needle moves in translation, and the driving force of the curved needle always maintains the direction along the tangent line, that is, the direction of the maximum effective force, which can ensure the rationality of the transmission. Reliability, improve the stability of the curved needle movement;

In the present invention, through the setting of the thread guide head reciprocating detachment mechanism on the curved needle module, the thread guide moves with the curved needle in an orderly manner to pass through the puncture hole of the human tissue during the surgical suturing process, or is separated from the curved needle, and automatically forms a The detachment every other time ensures the orderliness of the suture thread routing when the stapler performs surgical suture, further improving the reliability and convenience of suture;

In the present invention, the curved needle adopts the continuous reciprocating suturing movement mode, which is more smooth than the 360-degree circular rotation movement mode, and better avoids the stagnation phenomenon with the human tissue during the curved needle suture process;

Other beneficial effects of the present invention will be described in detail in the following specific embodiments.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the explosion of the curved needle mounting block and the curved needle module support body of the present invention;

Fig. 3 is another explosion schematic diagram of the curved needle mounting block and the curved needle module support body of the present invention;

Fig. 4 is a schematic diagram of the connection between the curved needle module support body and the control connecting rod of the present invention;

Fig. 5 is a schematic diagram of the structure of the control body of the present invention;

Fig. 6 is the schematic diagram of the double parallelogram transmission mechanism of the curved needle of the present invention;

Fig. 7 is a schematic diagram of the internal structure of the curved needle mounting block of the present invention;

Fig. 8 is a schematic diagram of the wire guide and the reciprocating detachment mechanism of the wire guide according to the present invention;

Fig. 9 is a schematic diagram of cooperation between a double-sided cut flange and a rotary buckle according to the present invention.

[Description of Reference Signs]

100-control body; 101-swing driving steel wire; 102-sewing driving steel wire; 103-swinging driving roller; 104-sewing driving roller; 105-swinging knob; 106-sewing driving rocker; Curved needle module; 201-curved needle installation block; 202-curved needle; 203-guide positioning groove; 204-locking pin hole; 205-suture driven wheel; 1st opening; 209-second opening; 210-curved needle drive link; 211-guiding link; 300-curved needle module support body; 301-card slot; 302-guiding positioning boss; 303-locking pin; 304 -Removal hole; 305-sewing main drive wheel; 306-transmission block; 307-hinge block; 400-control connecting rod; 401-hinge seat; 402-wire limit spring tube; 403-rotation knob; 501-wire guide ;502-conical clamping groove; 503-rotary buckle; 504-rotary buckle base; 505-disengagement mechanism installation groove;

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments. Apparently, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

As shown in Figures 1 to 3, the embodiment of the present invention provides a laparoscopic stapler with convenient detachable curved needles and continuous reciprocating motion. The stapler as a whole includes an actuator body and a control body 100. The control body 100 is used It is used to control the action of the main body of the actuator. The main body of the actuator includes a curved needle module 200 and a curved needle module support body 300. The curved needle module 200 is used as a whole to replace the consumables, and is detachably connected to the curved needle module support body 300. Therefore, when the curved needle module 200 needs to be replaced, directly replace the curved needle module The needle module 200 is removed from the curved needle module support body 300, and then replaced with a new curved needle module 200 for the next suture, which improves the convenience of operation.

Wherein, the curved needle module 200 includes a curved needle installation block 201, the curved needle 202 is arranged on the first end of the curved needle installation block 201, and adopts a flexible connection method to perform arc-shaped and continuous reciprocating motions on a preset track , to drive the suture thread to complete the suture of human tissue, etc. The second end of the curved needle mounting block 201 is provided with a positioning assembly and a locking assembly, and the curved needle module support body 300 is also correspondingly provided with a positioning assembly and a locking assembly. By setting the positioning assembly and the locking assembly, the curved needle module The 200 can be quickly installed in place by the positioning component during installation, and then locked and fixed by the locking component, so that a firm and reliable connection is formed between the curved needle module 200 and the curved needle module support body 300 .

Please refer to Fig. 2 and Fig. 3 again. In this embodiment, the end of the curved needle module support body 300 is provided with a card slot 301, and the second end of the curved needle mounting block 201 is inserted into the card slot 301, and its size is matched. , so that the curved needle mounting block 201 will not shake relative to the curved needle module support body 300 during the suturing process.

The positioning assembly includes a guiding and positioning slot 203 provided on the curved needle mounting block 201 , and a guiding and positioning boss 302 provided in the slot 301 of the curved needle module support body 300 . The width of the guide positioning boss 302 matches the guide positioning groove 203, so during the installation process of the curved needle module 200, when the curved needle installation block 201 is pushed into the card groove 301, the guide positioning groove 203 can be aligned with the guide positioning boss. 302 alignment, now the curved needle mounting block 201 and the draw-in groove 301 also form a preliminary alignment, and then push to the draw-in groove 301 so that the guide positioning groove 203 gradually engages the guide positioning boss 302, and the curved needle mounting block 201 and the curved needle mounting block 201 are completed. Assembly of Needle Module Support 300 . As a preferred embodiment, the guiding and positioning boss 302 is set in an L shape, so that the curved needle mounting block 201 can be positioned from both sides, and the degree of fitting between the curved needle mounting block 201 and the curved needle module support body 300 after installation can be further improved.

The locking assembly includes a locking pin hole 204 provided on the curved needle mounting block 201 and a locking pin 303 provided on the curved needle module support body 300 . Wherein, the locking pin 303 is in the form of a spring pin and is located in the slot 301 . After the curved needle mounting block 201 is installed in place, the locking pin 303 is aligned with the locking pin hole 204, and the locking pin 303 is inserted in the locking pin hole 204 under the action of the spring, so that the curved needle mounting block 201 is relatively opposite to the curved needle mounting block 204. The needle module support body 300 is further locked so that it cannot move relative to the curved needle module support body 300, especially forward and backward movement, which ensures the accuracy of the position of the curved needle module 200 during the surgical suturing process.

When disassembling the curved needle module 200 , the locking pin 303 needs to be ejected from the locking pin hole 204 , and then the curved needle mounting block 201 is withdrawn from the slot 301 . Therefore, in this embodiment, the curved needle module support body 300 is also provided with a disassembly hole 304, which is also located in the slot 301 and connected to the outside of the curved needle module support body 300, and is distributed on different sides relative to the locking pin 303, Specifically, it is located at the back of the curved needle module support body 300 . When disassembling, directly insert a tool or a finger into the disassembly hole 304 and the locking pin hole 204 to eject the locking pin 303, and then remove the curved needle module 200, which is convenient to operate. In addition, it should be noted that when installing the curved needle module 200, it is also necessary to press the locking pin 303 first, so that the curved needle mounting block 201 can be smoothly inserted into the slot 301. When the curved needle mounting block 201 is about to pass through the locking When the pin 303 is in position, the tool or finger can be removed, and the locking pin 303 contacts with the surface of the curved needle mounting block 201 first, and then inserted into the locking pin hole 204, indicating that the curved needle module 200 has been installed in place at this time.

As a preferred embodiment, in this embodiment, the positioning assembly is arranged in the middle of the curved needle installation block 201 and the curved needle module support body 300, and two sets of locking assemblies are arranged on both sides, so that the locking force on both sides is even. distribution, and it is also more convenient to install and disassemble.

It has been mentioned above that the curved needle 202 needs to perform continuous reciprocating motion during suturing, that is, it needs to continuously reciprocate along a preset track, so it is necessary to drive and control the curved needle 202 to reciprocate through the control body 100 . In this embodiment, a main sewing driving wheel 305 is provided in the curved needle module support body 300, and a sewing slave driving wheel 205 is provided in the curved needle installation block 201. When the curved needle installation block 201 and the curved needle module support body 300 are installed in place Afterwards, the sewing slave driving wheel 205 and the sewing main driving wheel 305 form transmission cooperation, and based on the sewing main driving wheel 305 being controlled by the control body 100 to rotate, it can drive the sewing slave driving wheel 205 to rotate, thereby further driving the curved needle 202 to move.

Based on this, in this embodiment, the sewing is extended from one side of the driving wheel 205, specifically the top surface, out of the curved needle mounting block 201, and a transmission groove 206 is provided, and one side of the main driving wheel 305, specifically the bottom surface, is also sutured. It extends out of the curved needle module support body 300 and is located in the card slot 301. At the same time, it is provided with a transmission block 306. The transmission block 306 is arranged in a long strip shape, and is preferably distributed along the diameter of the suture main driving wheel 305. When the curved needle installation block After the 201 and the curved needle module support body 300 are installed in place, the transmission block 306 is inserted into the transmission groove 206, so the sewing slave driving wheel 205 can rotate synchronously with the sewing main driving wheel 305, so that the curved needle 202 can be pressed according to the predetermined speed under the control of the control body 100. Movement in a set way.

It can be understood that the corresponding positions of the curved needle mounting block 201 and the curved needle module support body 300 need to open a drive wheel opening, so that the transmission groove 206 and the transmission block 306 can extend to the outside. In addition, when the curved needle installation block 201 is removed from the curved needle module support body 300, it is obvious that the orientation of the transmission block 306 and the transmission groove 206 is consistent with the withdrawal direction of the curved needle installation block 201, that is, it is consistent with the direction of the guide positioning groove 203 and the guide positioning groove 203. The direction of the boss 302 is consistent, and now the curved needle 202 is set to be in the initial position, and the sewing slave driving wheel 205 and the sewing main driving wheel 305 are also in the initial position. Therefore, when the curved needle mounting block 201 needs to be replaced, the main sewing driving wheel 305 can be adjusted to the initial position through the control body 100, and of course a reset mechanism can be provided to automatically reset the main sewing driving wheel 305 to the initial position in the non-operating state , to facilitate the removal of the curved needle module 200 .

As a preferred embodiment, in this embodiment, the driving wheel opening of the curved needle installation block 201 is arranged adjacent to the guide positioning groove 203, and communicates with the first end of the guide positioning groove 203, so during the pushing process of the curved needle installation block 201 The transmission block 306 of the sewing main driving wheel 305 can move along the guide positioning groove 203 first, and then enter the driving groove 206 of the sewing slave driving wheel 205, which can ensure the smoothness of pushing. When the transmission block 306 is in place, under the locking effect of the locking pin 303, it will not re-enter the guide positioning groove 203, thereby maintaining the synchronous rotation with the sewing main driving wheel 305.

In this embodiment, a control connecting rod 400 is provided between the curved needle module support body 300 and the control body 100, and the first end of the curved needle module support body 300 and the control connecting rod 400 is hinged so that the curved needle module The module support body 300 and the curved needle module 200 can swing relative to the control connecting rod 400 , and have a swing degree of freedom, so as to facilitate the adjustment of the pitch angle of the curved needle module 200 for sewing.

Wherein, the swing of the curved needle module support body 300 is controlled by the swing driving steel wire 101 . Specifically as shown in Figure 4, the second end of the curved needle module support body 300 is provided with a hinge block 307, the first end of the control connecting rod 400 is provided with a hinge seat 401, and the hinge block 307 and the hinge seat 401 are formed by a hinge hinged. The swing driving steel wire 101 is connected with the hinge block 307, and the swing drive steel wire 101 is two circularly conveyed, and the first ends of the two swing drive steel wires 101 are fixedly connected with two positions of the hinge block 307 respectively (or the swing drive steel wire 101 is closed single, the first end of which is fixedly wound on the hinge block 307), when one of the swing driving steel wires 101 is shortened toward the control body 100, and the other swing driving steel wire 101 is lengthened by the control body 100, then Control the hinge block 307 to rotate around the hinge base 401 to complete the swinging action.

Similarly, the suture main drive wheel 305 is controlled by the suture drive steel wire 102, and the suture drive steel wire 102 is two circularly conveyed, and the first ends of the two suture drive steel wires 102 are respectively fixed to two positions of the suture main drive wheel 305 connection (or the suture driving steel wire 102 is a single closed one, and its first end is fixedly wound on the suture main driving wheel 305), when one of the suture driving steel wires 102 is shortened toward the control body 100, the other suture driving steel wire 102 is extended by the control main body 100, can control the rotation of the sewing main driving wheel 305, and the two sewing driving steel wires 102 are reciprocally retracted to control the reciprocating rotation of the sewing main driving wheel 305, and drive the curved needle 202 to reciprocate for sewing.

Obviously, when the curved needle module support body 300 swings, the main sewing driving wheel 305 will swing accordingly, and the sewing driving steel wire 102 will be bent under the conventional connection, which will cause its length to change, causing the main sewing driving wheel 305 to drive the curved needle 202 abnormal movements. Therefore, in order to ensure that the degree of freedom of swinging and the degree of freedom of the sewing motion of the curved needle 202 are independent of each other, a steel wire limit spring is also arranged between the curved needle module support body 300 and the first end of the control connecting rod 400 in this embodiment. The tube 402, the part of the suturing driving steel wire 102 from the control connecting rod 400 to the curved needle module support body 300 is located in the steel wire limit spring tube 402, and the steel wire limit spring tube 402 can move between the curved needle module support body 300 relative to the control connecting rod When the 400 swings, its internal length is always consistent, so the length of the suturing driving steel wire 102 inside is also kept constant during the swinging process, and will not drive the main suturing driving wheel 305 to rotate abnormally. Relying on the setting of the steel wire limit spring tube 402, the decoupling of the swing degree of freedom and the sewing degree of freedom of the curved needle module 200 is ensured, and the reliability and safety of the operation are further improved.

Meanwhile, as shown in FIG. 5 , in this embodiment, the control body 100 is set in a shape that is convenient to hold, and has a handle. At the same time, the control body 100 is provided with a swing driving roller 103 and a stitching driving roller 104 , which are both rotatably connected with the control body 100 . Among them, the second ends of the two swing driving steel wires 101 pass through the control connecting rod 400 and then enter the control body 100, and are respectively fixedly connected to two positions of the swing driving roller 103 (or fixedly wound by a single wire), and the swing driving roller 103 is connected to the swing knob 105 through a connecting shaft, and the swing knob 105 is arranged outside the control body 100 . Therefore, the rotation of the swing knob 105 can be controlled by fingers to control the swing precisely.

Similarly, the second ends of the two suture driving steel wires 102 enter the control body 100 after passing through the control connecting rod 400 , and are respectively fixedly connected to two positions of the suture driving roller 104 (or fixedly wound around a single wire). The control body 100 is also provided with a suture driving rocker 106, which is hinged with the control body 100, and the first end of the suture driving rocker 106 extends into the control body 100, and connects with the second end of the two suture driving steel wires 102. end position connection. When the stitching driving rocker 106 is drawn closer to the handle, one of the stitching driving steel wires 102 can be shortened towards the stitching driving roller 104, and the other is elongated relative to the stitching driving roller 104, thereby allowing the curved needle 202 to complete a stitching action. When the sewing driving rocker 106 reverses, the curved needle 202 is allowed to complete a reset action. Therefore, in the actual operation process, the curved needle 202 completes a sewing action when holding the control body 100 and clamping the sewing driving rocker 106 and the handle, which is more suitable for operating habits.

It can be understood that, based on the operation inconvenience of the reverse rotation of the sewing driving rocker 106, a reset torsion spring can be set on the hinge shaft of the sewing driving rocker 106, and the sewing driving rocker 106 can be automatically reset by means of the reset torsion spring, that is, when the sewing drive rocker 106 is loosened The curved needle 202 automatically completes a reset action after driving the rocker 106 for suturing, which ensures that the operator only needs to press when the suture operation is continuously operated, which is convenient for rhythm control during the suture operation.

In addition, the control body 100 is also provided with a steel wire guide roller set 107. The swing driving steel wire 101 and the suture driving steel wire 102 that enter the control main body 100 from the control connecting rod 400 first bypass the corresponding guide rollers of the steel wire guide roller set 107 and then respectively connect with them. The swing driving roller 103 and the stitching driving roller 104 are connected so that the distribution of the control steel wires in the control body 100 is more orderly without interfering with each other.

As a further improvement, in this embodiment, the control connecting rod 400 is also rotationally connected to the control body 100 to adjust the rotation angle of the entire actuator body. Wherein, the second end of the control connecting rod 400 is also provided with a rotation knob 403, which is also located outside the control body 100, and the rotation of the rotation knob 403 can be controlled by fingers to adjust the rotation angle of the control connecting rod 400 precisely. It should be noted that this degree of freedom adjustment is only a fine adjustment, because it cannot be completely decoupled from the swing degree of freedom and sewing degree of freedom.

Simultaneously as shown in Fig. 6, Fig. 7, in the present embodiment, the first end of curved needle mounting block 201 is provided with curved needle groove 207, and curved needle 202 is movably arranged in curved needle groove 207, and its shape and curved needle groove 207 is consistent and can perform curved movement along the curved needle slot 207 . As a preferred embodiment, both the curved needle groove 207 and the curved needle 202 are arc-shaped, so the curved needle 202 reciprocates on a circle, so as to facilitate control and smoother force transmission.

It should be noted that, in this embodiment, the curved needle groove 207 is not provided on a complete circle (360 degrees), but is an 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 , and the first opening 208 is located at the end of the curved needle slot 207 . When the curved needle 202 performs a suturing action, the puncture point of the curved needle 202 passes through the first opening 208, passes through the human body tissue and then enters the second opening 209. At this time, the position of the second opening 209 is provided with a thread guide 501, The wire guide 501 is connected with the suture. When the curved needle 202 resets and retreats, its puncture tip drives the thread guide 501 to return from the puncture opening of the human tissue and then returns to the first opening 208. The thread guide 501 passes through the puncture opening of the human tissue with the suture and stays at the first Opening 208. The curved needle performs the second suture action again, and does not puncture human tissue at this time, so that the wire guide head 501 returns to the position of the second opening 209 . Repeat the above steps to perform the second puncture, and then complete the suturing of the human tissue in turn. Therefore, the curved needle 202 adopts a continuous reciprocating suturing movement, which is more smooth than the 360-degree circular movement, and better avoids the stagnation phenomenon between the curved needle 202 and human tissue during the suture process.

As mentioned above, in this embodiment, the curved needle 202 is driven to reciprocate by the sewing slave driving wheel 205. The first end of the rod 210 is hinged with one point of the curved needle 202, and the second end of the curved needle transmission link 210 is hinged with the non-rotating center position of the sewing slave driving wheel 205, so when the sewing slave driving wheel 205 rotates, it can drive the curved needle. The second end of the needle transmission link 210 rotates, so that the first end of the curved needle transmission link 210 drives the curved needle 202 to move along the curved needle slot 207 to complete the action of suturing or reset.

Since the curved needle 202 needs to move along the arc-shaped curved needle slot 207, in order to further improve the stability of the curved needle transmission link 210 driving the curved needle 202 and adapt to the precision operation of surgical suture, a guide connection is also provided in this embodiment. Rod 211, the first end of guide connecting rod 211 is hinged with curved needle drive link 210, and the second end of guide link 211 is hinged with curved needle mounting block 201, and meanwhile, curved needle drive link 210 is articulated with sewing slave drive wheel 205 The connecting line from the center of rotation of the drive wheel 205 to the hinge point of the stitching is always parallel to the guide link 211, and the link from the hinge point of the guide link 211 and the curved needle mounting block 201 to the stitching from the center of rotation of the drive wheel 205 It is always parallel to the curved needle transmission link 210, thus forming a double parallelogram transmission mechanism.

Specifically as shown in Figure 6, the first parallelogram mechanism is a parallelogram formed by the guide link 211, the curved needle drive link 210, the sewing drive wheel 205 and the curved needle mounting block 201. This parallelogram ensures that the curved needle drive link The rod 210 keeps moving in translation, and the driving force to the curved needle 202 always keeps the direction along the tangent (the direction of the maximum effective force). The second parallelogram is a large parallelogram formed from the drive wheel 205, the curved needle transmission link 210, the curved needle 202 and the curved needle mounting block 201. The curved needle 202 is limited in the curved needle groove 207 and can only surround the curved needle The needle groove 207 rotates centrally. The sewing slave drive wheel 205 is eccentrically connected with the crank drive link 210 to form the drive crank of the double parallelogram transmission mechanism. By controlling the rotation angle θ of the crank, the crank drive link 210 can move in translation, thereby pushing the crank 202 to reciprocate The movement realizes suturing and reset, and the continuous stability of the curved needle movement can be improved under the restriction of the curved needle slot 207 and the driving force remains tangential.

It has been mentioned above that the wire guide head 501 is used to connect the end of the suture, and it can be transferred from the second opening 209 of the curved needle mounting block 201 to the first opening 208 along with the piercing tip of the curved needle 202, and from the second opening 208 to the first opening 208 of the curved needle mounting block 201. One opening 208 transitions back to a second opening 209 . After the wire guide head 501 is transferred from the first opening 208 back to the second opening 209, the puncture tip of the curved needle needs to be separated from the wire guide head 501, so that the wire guide head 501 remains at the second opening 209 for human tissue Next piercing.

Therefore, in this embodiment, the second opening 209 of the curved needle mounting block 201 is also provided with a wire guide reciprocating detachment mechanism for detaching the wire guide 501 from the puncture tip of the curved needle 202 . At the same time, as shown in Figure 8, the first end of the wire guide head 501 is provided with a tapered clamping groove 502 corresponding to the piercing tip of the curved needle 202, when the piercing tip of the curved needle 202 is inserted into the tapered clamping groove 502, it can pass through The tapered surface of the tapered clamping groove 502 guides and inserts quickly and smoothly. After insertion, the stepped surface at the rear of the puncture tip can engage with the stepped surface of the tapered clamping groove 502, so that the wire guide 501 moves out of the second opening 209 with the curved needle 202 when it is not restricted by the wire guide reciprocating disengagement mechanism. . When the wire guide 501 is restricted by the reciprocating detachment mechanism, the curved needle 202 can deform the step surface during the withdrawal process (the wire guide 501 is made of elastic material and has grooves on the surface, which can expand as a whole), so that the curved needle 202 The needle 202 moves away relative to the wire guide head 501 , and the wire guide head 501 remains at the position of the second opening 209 .

In this embodiment, the thread guide reciprocating detachment mechanism includes a rotating buckle 503 and a rotating buckle base 504, both of which are set in the detachment mechanism installation groove 505 behind the second opening 209 of the curved needle installation block 201 . The swivel buckle 503 is located at the first end of the disengagement mechanism installation slot 505 , and the swivel buckle base 504 is located at the second end of the disengagement mechanism installation slot 505 , with wedge-shaped teeth 506 cooperating between them. At the same time, a return spring 507 is disposed between the rotary buckle base 504 and the rotary buckle 503 , and its two ends are respectively located inside the cylindrical rotary buckle 503 and the rotary buckle base 504 .

At the same time, as shown in Figure 9, the second end of the wire guide head 501 is provided with a double-sided cutting flange 508, and its opposite two sides have been cut to a certain extent. The shape of the flange 508 is similar, and the inner side of the end hole is provided with a limit step 509, so that when the two-sided cutting flange 508 is in the first angular position relative to the rotation buckle 503, it passes through the end hole of the rotation buckle 503 and enters the inside of the rotation buckle 503. When the two-sided cutting flange 508 is in the second angular position (preferably rotated 90 degrees) relative to the rotary buckle 503 after the rotation of the rotary buckle 503, the ends of the double-sided cutting flange 508 are in conflict with the limit step 509, and cannot be removed from the rotary buckle. 503 comes out, so the curved needle 202 can be separated from the thread guide head 501 smoothly when withdrawing.

When the two-sided cutting flange 508 enters the swivel buckle 503, the wire guide 501 as a whole also moves toward the disengagement mechanism installation groove 505, and can push the swivel buckle 503 toward the swivel buckle base 504, so that the wedge-shaped teeth 506 of both Cooperate so that the rotary buckle 503 is pushed and rotated by a preset angle along the helical tooth surface (at this time, the double-sided cutting flange 508 is at the second angular position relative to the rotary buckle 503 ). After the curved needle 202 withdraws, under the action of the return spring 507, the rotary buckle 503 resets to the first end of the mounting groove 505 of the disengaging mechanism. At this time, the double-sided cutting flange 508 cannot be disengaged from the rotary buckle 503 at the second angle position. Therefore, the curved needle 202 can be smoothly separated from the wire guide head 501 when withdrawing. When the curved needle 202 is inserted into the thread guide head 501 again, under the cooperation of the wedge-shaped teeth 506, the rotating buckle 503 rotates a preset angle until the double-sided cutting flange 508 becomes the first angular position relative to the rotating buckle 503, and the curved needle 202 exits. Finally, under the action of the back-moving spring 507, the rotary buckle 503 resets to the first end of the disengagement mechanism installation groove 505. At this time, the double-sided cutting flange 508 can be disengaged from the rotary buckle 503 at the first angle position, so when the curved needle 202 withdraws Drive the wire guide head 501 to leave the position of the rotating buckle 503 and the second opening 209 smoothly.

It can be understood that when the rotation angle of the rotation buckle 503 is 90 degrees each time, the rotation buckle 503 and the wedge-shaped teeth 506 on the rotation buckle base 504 are provided with four pairs and are evenly distributed around, so the rotation mode of the rotation buckle 503 is sequentially Rotate 90 degrees, when it is at 0 degree and 180 degree phase, the two-sided cutting flange 508 is in the first angular position relative to the rotary buckle 503, when it is at 90 degree and 270 degree phase, the two-sided cutting flange 508 is relative to the rotary buckle 503 It is at the second angle position, so that the wire guide head 501 and the curved needle 202 can be disengaged even times during the suturing process.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A laparoscopic stapler with convenient detachable curved needles for continuous reciprocating motion, characterized in that it comprises a control body, a curved needle module and a curved needle module support body; The curved needle module includes a curved needle installation block, the first end of the curved needle installation block is movably provided with a curved needle, and the second end of the curved needle installation block can be connected to the first end of the curved needle module support body. The connection is disassembled, and the second end of the curved needle module support body is connected to the control body by transmission; Both the curved needle installation block and the curved needle module support body are provided with a positioning assembly and a locking assembly; the positioning assembly includes a guide positioning groove provided on the curved needle installation block, and a The guide positioning boss on the support body of the needle module, the guide positioning boss is matched with the guide positioning groove; the locking assembly includes a locking pin hole arranged on the curved needle mounting block, and a locking pin hole arranged on the curved needle mounting block. The locking pin on the support body of the curved needle module is matched with the locking pin hole. 2. A laparoscopic stapler with convenient detachable curved needles according to claim 1, characterized in that, the first end of the curved needle module support body is provided with a card slot, and the curved needle The second end of the mounting block is inserted into the slot, and the guiding and positioning boss and the locking pin are all located in the slot. 3. A kind of curved needle detachable type continuous reciprocating laparoscopic suture device according to claim 1, characterized in that, the curved needle module support body is provided with a suture main driving wheel, and the curved needle mounting block A sewing slave driving wheel is provided, and the sewing driving wheel is provided with a transmission groove, and 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 slave driving wheel follows the The sewing main drive wheels rotate synchronously. 4. A curved needle detachable convenient continuous reciprocating laparoscopic stapler according to claim 3, characterized in that, the curved needle mounting block is provided with a driving wheel corresponding to the sewing slave driving wheel Opening, the opening of the driving wheel communicates with the guide positioning groove. When the curved needle installation block is installed, the transmission block of the sewing main driving wheel first moves along the guide positioning groove, and then enters the sewing slave driving wheel. in the drive slot. 5. A curved needle detachable convenient continuous reciprocating laparoscopic stapler according to claim 1, characterized in that a control connecting rod is arranged between the curved needle module support body and the control main body, A plurality of control steel wires are threaded through the control connecting rod, and the control steel wires are used to connect the control body and the support body of the curved needle module so as to be controlled by the control body. 6. A curved needle detachable type continuous reciprocating laparoscopic stapler according to claim 1, characterized in that, the first end of the curved needle mounting block is provided with a curved needle slot, and the curved needle A curved needle is movable in the slot, and the curved needle moves along the curved needle groove. A curved needle transmission assembly is arranged between the sewing drive wheel and the curved needle, and the sewing drive wheel passes through the curved needle. The curved needle transmission assembly drives the curved needle to reciprocate. 7. A laparoscopic stapler with convenient detachable curved needles according to claim 6, characterized in that, the curved needle transmission assembly includes a curved needle transmission link and a guide link, and the curved needle The first end of the needle transmission link is hinged with the curved needle, the second end of the curved needle transmission link is hinged with the non-rotational center position of the sewing slave drive wheel, and the first end of the guide link is hinged with the The curved needle transmission connecting rod is hinged, the second end of the guide connecting rod is hinged with the curved needle installation block, the curved needle transmission connecting rod is connected with the hinge point of the sewing slave driving wheel to the sewing slave driving The line of the rotation center of the wheel is always parallel to the guide link, and the line from the hinge point of the guide link and the curved needle mounting block to the sewing center of rotation of the driving wheel is connected to the curved needle transmission. The connecting rods are always parallel, forming a double parallelogram transmission. 8. A laparoscopic stapler with convenient detachable curved needles according to claim 6, characterized in that 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 end of the curved needle groove, the second opening is provided with a detachable thread guide head, and the thread guide head is used to connect the end of the suture thread, and the second opening is provided with a thread guide A head reciprocating disengagement mechanism, the wire guide head reciprocating disengagement mechanism is used to fix the wire guide head, or make the wire guide head disengage with the curved needle. 9. A laparoscopic stapler with convenient detachable curved needle and continuous reciprocating motion according to claim 8, characterized in that, the first end of the thread guide is provided with a tapered clamping groove, and the tapered The shaped locking groove corresponds to the puncture tip of the curved needle. 10. A curved needle detachable continuous reciprocating laparoscopic stapler according to claim 8, characterized in that, behind the second opening of the curved needle installation block, a disengagement mechanism installation groove is arranged, and the The reciprocating detachment mechanism of the wire guide includes a rotating buckle and a rotating buckle base, the rotating buckle and the rotating buckle base are both arranged in the installation groove of the separation mechanism, and the rotation buckle is located at the first end of the installation groove of the separation mechanism , the rotating buckle base is located at the second end of the disengagement mechanism installation groove, the rotating buckle and the rotating buckle base are both provided with wedge-shaped teeth that cooperate with each other, and the rotating buckle moves along the The wedge-shaped tooth rotates at a preset angle, a return spring is provided between the base of the rotary buckle and the rotary buckle, the second end of the wire guide head is provided with a double-sided cutting flange, and the rotary buckle is set having an end hole through which the double cut flange can pass through the turn buckle when it is in a first angular position relative to the turn buckle, and where the double cut flange is in a second angular position relative to the turn buckle It cannot be released from the rotary buckle.