CN113648005A

CN113648005A - Sound control operation suturing equipment

Info

Publication number: CN113648005A
Application number: CN202111002387.0A
Authority: CN
Inventors: 常龙飞; 饶曼婷; 胡颖
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2021-11-16
Anticipated expiration: 2041-08-30
Also published as: CN113648005B

Abstract

The invention discloses a voice-activated surgical suturing device, which relates to the technical field of surgical suture equipment. The invention includes a needle-changing arm, a surgical arm, a voice-controlled device and a moving device; the needle-changing arm and the surgical arm are located on the moving device, and the movement of the moving device causes the needle to be changed The arm and surgical arm are moved closer to or away from the surgical suture. The needle changing arm includes a first driving mechanism, a first bending mechanism, a second housing, a needle changing mechanism and a first grabbing mechanism; the beneficial effects of the present invention are: The second driving mechanism and the second bending mechanism complete the rotation, extension and bending of the needle exchange arm and the operation arm, and have multiple degrees of freedom, and complete the needle exchange and suture of different parts of the human body during the operation.

Description

Sound control operation suturing equipment

Technical Field

The invention relates to the technical field of surgical suture equipment, in particular to sound control surgical suture equipment.

Background

In surgical suture, a doctor generally holds forceps with the left hand to clamp a tissue to be sutured, holds a suture needle with the right hand, rotates the wrist to enable the suture needle to penetrate through the tissue, releases the tissue with the forceps with the left hand, clamps the suture needle and pulls out the suture needle, and the suture process is completed. In the suturing process, the stability of the hands of a doctor is greatly tested by long-time operation.

Currently, the robotic arm used in medical procedures is most concerned about how to perform the surgical incision, and less concerned about the suturing process. Moreover, the manipulator mostly adopts a rigid structural member, and the rotation, bending and stretching actions are achieved through the structural design and the use of a motor. The utility model with publication number CN208926600U discloses a surgical manipulator capable of universal bending. The flexible shaft is made of elastic parts such as springs, and different parts of the flexible shaft are stretched to drive the flexible shaft to bend in all directions. The stretching of the pull rod is realized by driving a gear through a motor. Although the manipulator can bend in all directions, the manipulator is difficult to rotate and stretch, and the manipulator is heavy by adopting a motor and a gear transmission. Patent No. CN2614044Y discloses a medical manipulator imitating the shape of a human hand. The palm and the arm of the manipulator are made of steel wire ropes, and the palm and the arm are connected by a circular structural member so as to achieve the purpose of bending the palm in all directions. The steel wire ropes of the finger parts are pulled by the tail end screw rods, so that the palm is bent and straightened. The method has long transmission distance and large rigidity of the steel wire rope, so that the force required by palm bending is large. In addition, neither of these manipulators is considered for the surgical suturing procedure. The patent with publication number CN208274590U discloses a suture device for minimally invasive mammary gland surgery, which utilizes the transmission of gears and shafts to make the suture needle move freely and rotate to complete the surgical suture process. But the transmission route is complex and the efficiency is low.

With the progress of science and technology, the requirement of flexible mechanisms is increasing. Electrically actuated polymer materials such as IPMC are popular in the field of biomimetic manipulators as a flexible material that can be driven at low voltage. The motions to be performed by the IPMC-based flexible manipulator are roughly classified into three types, i.e., telescopic, rotational, and bending. Publication No. CN103963066A discloses an IPMC based robot having six first IPMC pieces arranged circumferentially, and six artificial muscles bent simultaneously upon application of electricity to drive the rotation of the rotating disk. But this structure cannot accomplish a large rotation of the manipulator and the manipulator cannot accomplish a telescopic motion. The robot of the design of the patent publication CN107253188A utilizes a vertical circumferential array of four IPMCs to accomplish the rotational motion. And two ends of the four IPMCs are fixed together, and the IPMCs are outwards bulged by electrifying to complete the expansion and contraction of the manipulator. However, the structure cannot complete 360-degree continuous rotation, and the telescopic length is limited. Patent publication No. CN104842345A discloses a manipulator designed by using pneumatic muscle (PAM), Shape Memory Alloy (SMA) and IPMC as actuators, and using motors and gears for transmission. But the manipulator has a complex structure and a large volume. Patent No. CN208697479U discloses a mechanical joint based on an ionic polymer metal composite material drive. The IPMC rotation driving component is used for respectively driving the up-down swinging ring and the left-right swinging ring to swing, and then the driving shaft controls the driven shaft to rotate through the ball gear. The transmission chain with the structure is complex and has lower transmission effect.

When the IPMC flexible sensor deforms under the action of external stress, the expansion of one side of the membrane and the contraction of the other side of the membrane occur, and the hydrated cations can diffuse to the expanded side of the membrane under the action of density difference, so that potential difference is formed on two sides of the electrode. The sensing mechanism of IPMC can be applied to various flexible sensing fields such as wearable devices, for example, it has been used to invent a wearable Glove for detecting Pulse (IPMC Sensor Integrated Smart Glove for Pulse Diagnosis, Braille Recognition and Human-Computer interaction, advanced Materials Technologies, 2018, 3 (12)). When a person speaks, the vibration of vocal cords of the person is different when the person pronounces sound, and the frequency of generated sound waves is different. Therefore, the IPMC as a sensor with higher sensitivity can generate different signals according to different pronunciations.

Based on the above analysis, the present invention proposes to design a voice-activated surgical stapling device using the flexible driving and sensing characteristics of electroactive polymers. The method can complete the voice control needle changing and suturing processes in the suturing operation, and has important significance for promoting operation automation and reducing the dependence of the operation on doctors.

Disclosure of Invention

The invention aims to provide a sound-control surgical suture device which can complete rotation, stretching and bending actions and has multiple degrees of freedom.

The invention solves the technical problems through the following technical means:

the invention provides sound control surgical suture equipment which comprises a needle changing arm, a surgical arm, a sound control device and a moving device, wherein the needle changing arm is connected with the surgical arm through a connecting rod; the needle changing arm and the operation arm are positioned on a mobile device, and the mobile device moves to cause the needle changing arm and the operation arm to move close to or far away from a surgical suture;

the needle changing arm comprises a first driving mechanism, a first bending mechanism, a second shell, a needle changing mechanism and a first grabbing mechanism; the needle changing mechanism is positioned in the second shell, and one end of the second shell is provided with a needle outlet; the first driving mechanism comprises a first spiral telescopic component and a first rotary driving component; the first spiral telescopic assembly, the first rotary driving assembly, the first bending mechanism and the needle changing mechanism are sequentially connected;

the needle changing mechanism comprises a second rotating assembly, a linear driving assembly and a suture needle assembly, wherein a suture needle is arranged on the suture needle assembly, the second rotating assembly rotates to enable the suture needle to rotate to a needle outlet, and the linear driving assembly drives the suture needle to extend out of the needle outlet;

the first spiral telescopic group stretches to cause the first rotary driving assembly to move back and forth along the axis of the first rotary driving assembly; the first rotary driving component rotates to cause the first grabbing mechanism to rotate, and the first grabbing mechanism rotates and the first bending mechanism bends to cause the first grabbing mechanism to extend into the position to be sutured; the first grabbing mechanism is used for grabbing a suture needle or a position to be sutured;

the surgical arm comprises a second driving mechanism, a second bending mechanism and a second grabbing mechanism; the second driving structure comprises a second spiral telescopic component and a second rotary driving component, and the second spiral telescopic component, the second rotary driving component and the second bending mechanism are sequentially connected; the second spiral telescopic group stretches to cause the second rotary driving assembly to move back and forth along the axis of the second rotary driving assembly; the second rotary driving component rotates to enable the second grabbing mechanism to rotate, and the second grabbing mechanism rotates and the second bending mechanism bends to enable the second grabbing mechanism to extend into the position to be sutured; the second grabbing mechanism is used for grabbing the suture needle or the position to be sutured;

the voice control device is in communication connection with the needle changing arm and the operation arm, and controls the frequency of the voice signal to control the needle changing arm and the operation arm to realize bending and linear motion.

The working principle is as follows: the sound control device controls the frequency of sound signals and is used for controlling the needle changing arm and the operation arm to realize bending and linear motion, the second rotating component rotates to enable the suture needle to rotate to the needle outlet, the linear driving component drives the suture needle to extend out of the needle outlet, the first spiral telescopic component drives the first rotary driving component to move along the axis of the first rotary driving component, the second grabbing mechanism clamps and grabs the suture needle, the second spiral telescopic component drives the second rotary driving component to move along the axis of the second rotary driving component, so that the suture needle is pulled out, the first spiral telescopic component drives the first grabbing mechanism to move towards the operation suture position, the first grabbing mechanism clamps tissues to be sutured, the second rotary driving component rotates to enable the second grabbing mechanism to rotate, the second spiral telescopic component stretches to enable the second rotary driving component to move back and forth along the axis of the second rotary driving component, the second grabbing mechanism rotates, the second bending mechanism bends to enable the second grabbing mechanism to stretch into the position to be sutured, meanwhile, the first grabbing mechanism loosens the position to be sutured, the first grabbing mechanism clamps the suture needle again, and the like, and the moving device adjusts the movement of the operation arm and the needle changing arm to complete the operation suturing process.

Has the advantages that: the invention completes the rotation, the extension and the bending of the needle changing arm and the operation arm through the first driving mechanism, the first bending mechanism, the second driving mechanism and the second bending mechanism, has multiple degrees of freedom, and completes the needle changing and sewing of different parts of a human body in the operation process.

Preferably, the first driving mechanism is located in the first housing, and the first spiral telescopic assembly includes a first rotary driving unit, a first base, a second base, a first gripper, a second gripper, a first screw, and a first nut;

the first rotary driving unit comprises a first elastic film and first IPMC sheets, the first IPMC sheets are respectively positioned on two sides of the first elastic film and are arranged in a crossed mode, the first base and the second base are respectively positioned at two ends of the first elastic film, and the first IPMC sheets are electrified to enable the first elastic film to be spiral;

the first gripper is positioned at one end of the first base, the second gripper is positioned at one end of the second base, the first gripper grips the first base, and the first elastic film is spiral to enable the second base to rotate; the second base is grabbed by the second hand grip, and the second elastic film is in a spiral shape to enable the first base to rotate;

one end of the first screw rod is connected with one end of the second base, the other end of the first screw rod penetrates through the first nut and is in threaded connection with the first nut, and the first nut is fixedly connected with the first shell.

Preferably, the first rotary drive assembly comprises a second rotary drive unit, a third base, a fourth base, a third gripper, a fourth gripper and a connecting rod;

the second rotary driving unit comprises a second elastic film and second IPMC sheets, the second IPMC sheets are respectively positioned on two sides of the second elastic film and are arranged in a crossed mode, the third base and the fourth base are respectively positioned at two ends of the second elastic film, and the second IPMC sheets are electrified to enable the second elastic film to be in a spiral shape;

the third gripper is positioned at one end of the third base, the fourth gripper is positioned at one end of the fourth base, the third gripper grips the third base, and the second elastic film is spiral to cause the third base to rotate; the fourth base is grabbed by the fourth grab hand, and the second elastic film is in a spiral shape to enable the fourth base to rotate;

one end of the connecting rod is connected with one end of the fourth base, and the other end of the connecting rod is connected with the first bending mechanism.

Preferably, the first bending mechanism comprises a first base, a second base, a third base, a first IPMC bending unit, and a second IPMC bending unit; the first IPMC bending unit is a third IPMC strip, the second IPMC bending unit is a fourth IPMC strip, and two ends of the third IPMC strip are respectively connected with one end of the first base and one end of the second base; and two ends of the fourth IPMC strip are respectively connected with the other end of the second base and one end of the third base.

Preferably, the plane of the end of said third IPMC bar is perpendicular to the plane of the end of said fourth IPMC bar.

Has the advantages that: the bending force is increased and the front-back left-right bending of the first bending mechanism is completed.

Preferably, the second rotating assembly includes a third rotation driving unit, a fifth hand grip, a sixth hand grip, a fifth base and a sixth base;

the third rotary driving unit comprises a third elastic film and a third IPMC sheet, the third IPMC sheet is respectively positioned on two sides of the third elastic film and is arranged in a crossed manner, the fifth base and the sixth base are respectively positioned at two ends of the third elastic film, and the third IPMC sheet is electrified to enable the third elastic film to be in a spiral shape;

the fifth gripper is positioned at one end of the fifth base, the sixth gripper is positioned at one end of the sixth base, the fifth gripper grips the fifth base, and the third elastic film is spiral to enable the fifth base to rotate; the sixth base is grabbed by the sixth gripper, and the third elastic film is in a spiral shape to enable the sixth base to rotate.

Preferably, the linear driving assembly includes an electromagnetic relay, a first elastic member, a magnetic sheet, and a mounting plate; the iron sheet is positioned on the fifth base, the first elastic piece is wrapped on the outer side wall of the electromagnetic relay, and one end of the first elastic piece is connected with the mounting plate;

the electromagnetic relay is powered on to enable the magnetic sheet to attract the first elastic piece, so that the first elastic piece is in a compressed state, and the electromagnetic relay is powered off to enable the first elastic piece to stretch out, so that the fifth base, the third rotary driving unit, the sixth base and the sixth gripper move towards the needle outlet, and therefore the sewing needle stretches out of the needle outlet.

Preferably, the suture needle assembly further comprises a winding unit, a connecting column and a second elastic member; the spliced pole is inside cavity, the wire winding unit is located inside the spliced pole, the top of spliced pole is equipped with the fifth through-hole, the one end of elastic component is located the fifth through-hole, the other end of second elastic component is inserted to the pinhole end of sewing needle, the other end of sewing needle supports roof in the second casing.

Has the advantages that: the ejection of the suture needle is facilitated by the second elastic member.

Preferably, the first gripping mechanism comprises a first fixed disc, a fourth elastic film and a seventh IPMC strip; the fourth elastic film is two, a fifth groove is formed in one end of the first fixing disc, the other end of the first fixing disc is installed at the end portion of the second shell, the end portions of the two fourth elastic films are fixed in the fifth groove, three seventh IPMC strips are respectively stuck to the outer sides of the two fourth elastic films, and the three seventh IPMC strips are respectively located in the middle and on two sides of the fourth elastic film.

The working principle is as follows: and applying different voltages to each seventh IPMC strip on the fourth elastic film, enabling the seventh IPMC strip to generate different bending degrees, enabling the seventh IPMC strips on the two fourth elastic films to bend relatively to form a clamping state, powering off the seventh IPMC strips, and removing the clamping state of the two fourth elastic films.

Preferably, the second driving mechanism is located in the third housing, and the second spiral telescopic assembly includes a fourth rotary driving unit, a seventh base, an eighth base, a seventh gripper, an eighth gripper, a second screw, and a second nut;

the fourth rotary driving unit comprises a fifth elastic film and a fourth IPMC sheet, the fourth IPMC sheet is respectively positioned on two sides of the fifth elastic film and is arranged in a crossed manner, the seventh base and the eighth base are respectively positioned at two ends of the fifth elastic film, and the fourth IPMC sheet is electrified to enable the fifth elastic film to be in a spiral shape;

the seventh gripper is positioned at one end of the seventh base, the eighth gripper is positioned at one end of the eighth base, the seventh gripper grips the seventh base, and the fifth elastic film is spiral to cause the eighth base to rotate; the eighth base is grabbed by the eighth gripper, and the seventh base rotates as the fifth elastic film is in a spiral shape;

one end of the second screw rod is connected with one end of the eighth base, the other end of the second screw rod penetrates through the second nut and is in threaded connection with the second nut, and the second nut is fixedly connected with the third shell.

Preferably, the second rotary drive assembly includes a fifth rotary drive unit, a ninth base, a tenth base, a ninth hand grip, and a tenth hand grip;

the third rotary driving five unit comprises a sixth elastic film and fifth IPMC sheets, the fifth IPMC sheets are respectively positioned on two sides of the sixth elastic film and are arranged in a crossed mode, the ninth base and the tenth base are respectively positioned on two ends of the sixth elastic film, and the fifth IPMC sheet is electrified to enable the sixth elastic film to be spiral;

the ninth hand grip is positioned at one end of the ninth base, the tenth hand grip is positioned at one end of the tenth base, the ninth hand grip grips the ninth base, and the sixth elastic film is in a spiral shape to enable the tenth base to rotate; the tenth base is grabbed by the tenth grab hand, and the ninth base is rotated due to the spiral shape of the sixth elastic film.

Preferably, the second bending mechanism comprises a fourth base, a fifth base, a sixth base, a third IPMC bending unit and a fourth IPMC bending unit;

the third IPMC bending unit is a twelfth IPMC strip, the fourth IPMC bending unit is a thirteenth IPMC strip, two ends of the twelfth IPMC strip are respectively connected with one end of the fourth base and one end of the fifth base, two ends of the thirteenth IPMC strip are respectively connected with the other end of the fifth base and one end of the sixth base, and the other end of the fourth base is connected with one end of the tenth installation seat.

Preferably, the second grabbing mechanism comprises a second fixed disc, a seventh elastic film and a fourteenth IPMC strip; the seventh elastic film is two, a sixth groove is formed in one end of the second fixing disc, the other end of the second fixing disc is installed at the end of the sixth base, the end portions of the two seventh elastic films are fixed in the sixth groove, and three fourteenth IPMC strips are respectively adhered to the outer sides of the two seventh elastic films.

Preferably, the surgical suture apparatus further comprises a controller, and the sound control device comprises a microphone, a signal transmission line and an IPMC patch; the IPMC patch comprises an IPMC vocal cord patch, an IPMC face patch and an IPMC chin patch, the IPMC pieces are pasted in the middle of the microphone, the number of the signal transmission lines is three, the rectangular IPMC pieces are pasted in front of the three signal transmission lines, the microphone is electrically connected with the IPMC vocal cord patch, the IPMC face patch and the IPMC chin patch through the signal transmission lines, and the controller is connected with the first driving mechanism, the first bending mechanism, the needle changing mechanism, the second driving mechanism and the second bending mechanism.

The working principle is as follows: speaker voice is collected by the microphone and is transmitted to the circular IPMC piece, the IPMC vocal cord patch, the IPMC face patch and the IPMC chin patch are respectively pasted on the vocal cord, the cheek and the chin of a speaker, due to the fact that different voices are generated, the frequencies of the voice are different, the energy received by the IPMC patches are different, different electric signals can be generated, the signals are transmitted to the controller through the signal transmission line, the controller sends out a motion command, and the first driving mechanism, the first bending mechanism, the needle changing mechanism, the second driving mechanism and the second bending mechanism are controlled to move.

The working principle of the invention is as follows: the sound control device controls the frequency of sound signals and is used for controlling the needle changing arm and the operation arm to realize bending and linear motion, the second rotating component rotates to enable the suture needle to rotate to the needle outlet, the linear driving component drives the suture needle to extend out of the needle outlet, the first spiral telescopic component drives the first rotary driving component to move along the axis of the first rotary driving component, the second grabbing mechanism clamps and grabs the suture needle, the second spiral telescopic component drives the second rotary driving component to move along the axis of the second rotary driving component, so that the suture needle is pulled out, the first spiral telescopic component drives the first grabbing mechanism to move towards the operation suture position, the first grabbing mechanism clamps tissues to be sutured, the second rotary driving component rotates to enable the second grabbing mechanism to rotate, the second spiral telescopic component stretches to enable the second rotary driving component to move back and forth along the axis of the second rotary driving component, the second grabbing mechanism rotates, the second bending mechanism bends to enable the second grabbing mechanism to stretch into the position to be sutured, meanwhile, the first grabbing mechanism loosens the position to be sutured, the first grabbing mechanism clamps the suture needle again, and the like, and the moving device adjusts the movement of the operation arm and the needle changing arm to complete the operation suturing process.

The invention has the advantages that: the invention completes the rotation, the extension and the bending of the needle changing arm and the operation arm through the first driving mechanism, the first bending mechanism, the second driving mechanism and the second bending mechanism, has multiple degrees of freedom, and completes the needle changing and sewing of different parts of a human body in the operation process.

The first rotation driving unit, the second rotation driving unit, the third rotation driving unit, the fourth rotation driving unit and the fifth rotation driving unit can complete clockwise and anticlockwise multi-circle rotation, so that the degree of freedom of rotation is greatly improved; the first spiral telescopic assembly and the second spiral telescopic assembly can precisely regulate and control the telescopic distance of the manipulator according to the rotation number of the screw.

The invention has the advantages of light weight, low-voltage driving, high transmission efficiency, environmental protection and the like by adopting IPMC materials for all the driving units.

Drawings

FIG. 1 is a schematic view of a voice activated surgical stapling apparatus in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a needle changing arm of the needle changing arm according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a first helical expansion/contraction component according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a first rotary drive assembly according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a first rotary driving unit according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a first gripper according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a first bending mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram illustrating the first rotary driving unit when the first rotary driving unit is not rotated according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a needle changing mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic view of the construction of a suturing needle assembly of an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a first grasping mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic view of a surgical arm according to an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a voice control apparatus according to an embodiment of the present invention;

in the figure: a needle changing arm 1; a first housing 11; a first helical expansion assembly 121; a first rotation driving unit 1211; a first elastic film 12111; a first IPMC sheet 12112; a first base 1212; a second base 1213; a first gripper 1214; a first mount 12141; a first IPMC strip 12142; a second groove 12143; a second grip 1215; a first screw 1216; a first nut 1217; a first rotary drive assembly 122; a second rotation driving unit 1221; a third base 1222; a fourth base 1223; a third grip 1224; a third mount 12241; a third IPMC strip 12242; a fourth grip 1225; a fourth mount 12251; a fourth IPMC strip 12252; a connecting rod 1226; a first bending mechanism 13; a first base 131; a second base 132; a third base 133; a third IPMC bar 134; a fourth IPMC bar 135; a second housing 14; a needle outlet 141; a needle changing mechanism 15; a second rotating assembly 151; a third rotation driving unit 1511; a fifth gripper 1512; a fifth mount 15121; a fifth IPMC strip 15122; a sixth grip 1513; a sixth mount 15131; a sixth IPMC strip 15132; a fifth base 1514; a sixth pedestal 1515; a linear drive assembly 152; an electromagnetic relay 1521; a first spring 1522; a mounting plate 1523; a suture needle assembly 153; a suture needle 1531; a winding unit 1532; a connecting post 1533; a second spring 1534; a positioning block 1535; a first gripping mechanism 16; a first fixed disk 161; a fourth elastic film 162; a seventh IPMC strip 163;

an operation arm 2; a third housing 21; a second helical telescoping assembly 221; a fourth rotation driving unit 2211; a seventh base 2212; an eighth base 2213; a seventh grip 2214; an eighth grip 2215; a second screw 2216; a second nut 2217; a second rotary drive assembly 222; a fifth rotary drive unit 2221; a ninth base 2222; a tenth base 2223; a ninth grip 2224; a tenth grip 2225; a second bending mechanism 23; a fifth base 232; a sixth base 233; a twelfth IPMC strip 234; a thirteenth IPMC strip 235; a second grasping mechanism 24; a voice control means 3; a microphone 31; IPMC patch 32; a signal transmission line 33; a circular IPMC sheet 34; a controller 4; a moving device 5; a first moving guide 51; a second moving guide 52; a lifting mechanism 53; the body to be sutured 6.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

An acoustic control surgical suture apparatus, as shown in fig. 1-13, comprises a needle changing arm 1, a surgical arm 2, an acoustic control device 3, a controller 4 and a moving device 5.

As shown in fig. 2, the needle changing arm 1 includes a first housing 11, a first driving mechanism, a first bending mechanism 13, a second housing 14, a needle changing mechanism 15, and a first grasping mechanism 16. The first driving mechanism is positioned in the first shell 11, the needle changing mechanism 15 is positioned in the second shell 14, and the first grabbing mechanism 16 is positioned on the needle changing mechanism 15. The first drive mechanism includes a first helical retraction assembly 121 and a first rotary drive assembly 122. The first bending mechanism 13 is located between the first drive configuration and the needle changing mechanism 15.

The first casing 11 and the second casing 14 are both hard casings made of one or more of lightweight materials harmless to human body, such as polyvinyl chloride, polycarbonate, polyethylene, polystyrene, thermoplastic polyurethane, polytetrafluoroethylene, polyether ether ketone, and the first spiral telescopic assembly 121 and the first rotary driving assembly 122 are coaxially arranged.

As shown in fig. 2 and 3, the first helical telescopic assembly 121 includes a first rotary driving unit 1211, a first base 1212, a second base 1213, a first grip 1214, a second grip 1215, a first screw 1216, and a first nut 1217.

As shown in fig. 2, 3, 5 and 8, the first rotary drive unit 1211 includes a first elastic film 12111 and at least four first IPMC sheets 12112, the first elastic film 12111 is made of silicon rubber or other materials harmless to the human body and deformable and recoverable, the first IPMC sheets 12112 are four sheets, and the first IPMC sheets 12112 are made of a Nation IPMC sheet, which is a conventional art and can be bent in a certain direction when power is applied. The first IPMC sheet 12112 is a parallelogram, four IPMCs are adhered to the surface of the first elastic film 12111 by an insulating tape, wherein two IPMCs are adhered to one surface of the first elastic film 12111, the other two IPMCs are adhered to the other surface of the first elastic film 12111, the IPMCs on the two surfaces are arranged in a crossing manner, and the IPMCs on the same surface are symmetrically arranged along the length direction of the first elastic film 12111. The side of each IPMC is parallel to the longer side of the first elastic film 12111, and for increasing force, the first elastic film 12111 is two pieces in this embodiment, and the shadows of the two pieces of the first elastic film 12111 are overlapped.

The first IPMC sheet 12112 at the diagonal angle is energized, and the first IPMC sheet 12112 at the diagonal angle is bent in the same direction, so that the rotation drive unit is rotated clockwise in a spiral shape. The other pair of diagonally opposite first IPMC sheets 12112 are energized, the diagonally opposite IPMC is bent, and the rotary drive unit is rotated counterclockwise in a spiral shape.

The first base 1212 and the second base 1213 are respectively located at two ends of the first elastic membrane 12111, and the first base 1212 and the second base 1213 are both cylindrical. One end of the first base 1212 is fixedly installed with four clamping blocks, a gap is formed between the two clamping blocks, and one end of the first elastic film 12111 is clamped in the gap. A plurality of first grooves are formed in the side wall of the first base 1212, the first grooves are uniformly arranged along the circumferential direction of the first bottom wall, and the length direction of the first grooves is axially parallel to the first base 1212.

One end of the second base 1213 is fixedly provided with four clamping blocks, a gap is arranged between the two clamping blocks, and the other end of the first elastic film 12111 is clamped in the gap. The side wall of the second base 1213 is provided with a plurality of first grooves which are uniformly arranged along the circumferential direction of the second bottom wall, and the length direction of the first grooves is axially parallel to the second base 1213.

As shown in FIGS. 3 and 6, first grip 1214 includes a first mount 12141 and a first IPMC strip 12142, and second grip 1215 includes a second mount (not shown) and a second IPMC strip (not shown).

The outer diameter of the first installation seat 12141 is greater than the outer diameter of the first base 1212, the outer side wall of the first installation seat 12141 is provided with sliders (not shown), the number of the sliders is set according to actual needs, the inner side wall of the first housing 11 is provided with corresponding sliding grooves (not shown), the first installation seat 12141 can slide along the inner side wall of the first housing 11, the first IPMC strips 12142 are distributed around the first installation seat 12141, in this embodiment, the number of the first IPMC strips 12142 is four, but not limited to four, one end of each first IPMC strip 12142 is fixedly connected with one end of the first installation seat 12141, the other end of each first IPMC strip 12142 is provided with a second groove, when the first IPMC strips 12142 are energized, the end of each first IPMC strip 12142 with the second groove is bent, and the other end of each first IPMC strip 12142 is fastened to the side wall of the first base 1212. After the first IPMC strip 12142 is engaged, the friction between the first IPMC strip 12142 and the outer sidewall of the first base 1212 is increased by the first groove, further restricting the rotation of the first base 1212.

First through-hole is seted up at second mount pad center, the external diameter of second mount pad is greater than the external diameter of second base 1213, second mount pad lateral wall is equipped with the slider, first casing 11 inside wall is equipped with corresponding spout, the second mount pad can be followed 11 inside walls of first casing and slided, the rectangular distribution of second IPMC is around the second mount pad, the rectangular number of second IPMC is four in this embodiment, but not only be limited to four, the rectangular one end of second IPMC and the one end fixed connection of second mount pad, the second recess is seted up to the rectangular other end of second IPMC, when rectangular circular telegram to second IPMC, the rectangular tip of second IPMC that has the second recess is crooked, the rectangular other end block of second IPMC is at second base 1213 lateral wall. After the second IPMC strip is clamped, the friction between the second IPMC strip and the outer side wall of the first base 1212 is increased through the first groove, and the rotation of the second base 1213 is further limited.

One end of the first screw 1216 penetrates through the first through hole and is fixedly connected with one end of the second base 1213, the other end of the first screw 1216 penetrates through the first nut 1217 and is in threaded connection with the first nut 1217, and the side wall of the first nut 1217 is fixedly connected with the side wall of the first housing 11. The first screw 1216 is able to rotate relative to the first nut 1217 with less friction between the two.

As shown in fig. 2 and 4, the first rotary drive assembly 122 includes a second rotary drive unit 1221, a third base 1222, a fourth base 1223, a third grip 1224, a fourth grip 1225, and a connecting rod 1226.

The second rotation driving unit 1221 includes a second elastic film (not shown) and at least four second IPMC sheets (not shown), and the structure of the second elastic film and the second IPMC sheets, and the connection relationship between the second elastic film and the second IPMC sheets are the same as the first elastic film 12111 and the first IPMC sheets 12112, and are not described in detail herein.

The third base 1222 and the fourth base 1223 are respectively located at two ends of the second elastic film, and the third base 1222 and the fourth base 1223 are both columnar. One end of the third base 1222 is fixedly installed with four clamping blocks, a gap is arranged between the two clamping blocks, and one end of the second elastic film is clamped in the gap. A plurality of first grooves (not shown) are formed in a sidewall of the third base 1222, the first grooves are uniformly arranged along a circumferential direction of the third base 1222, and a length direction of the first grooves is axially parallel to the third base 1222.

One end of the fourth base 1223 is fixedly provided with four clamping blocks (not shown), a gap is formed between the two clamping blocks, and the other end of the second elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the fourth base 1223, the plurality of first grooves are uniformly arranged along the circumferential direction of the fourth base 1223, and the length direction of the first grooves is axially parallel to the fourth base 1223.

Third hand grip 1224 includes a third mount 12241 and a third IPMC strip 12242, and fourth hand grip 1225 includes a fourth mount 12251 and a fourth IPMC strip 12252. The third mounting seat 12241 is disposed adjacent to the first nut 1217, and the structures of the third mounting seat 12241 and the third IPMC strip 12242, and the connection relationship between the third mounting seat 12241 and the third IPMC strip 12242 are the same as those of the first mounting seat 12141 and the first IPMC strip 12142, and therefore, the description thereof is omitted.

The side wall of the third mounting seat 12241 is slidably connected to the inner side wall of the first housing 11 through a sliding block and a sliding slot. A second through hole is formed in the center of the fourth mounting base 12251, and the structures of the fourth mounting base 12251 and the fourth IPMC strip 12252, and the connection relationship between the fourth mounting base 12251 and the fourth IPMC strip 12252 are the same as those of the first mounting base 12141 and the first IPMC strip 12142. The side wall of the fourth mounting seat 12251 is slidably connected to the inner side wall of the first housing 11 through a sliding block and a sliding slot.

One end of the connecting rod 1226 penetrates through the second through hole and is fixedly connected with one end of the fourth base 1223, and the other end of the connecting rod 1226 penetrates through the end of the first housing 11.

As shown in fig. 2 and 7, the first bending mechanism 13 includes a first base 131, a second base 132, a third base 133, a first IPMC bending unit, and a second IPMC bending unit; the first IPMC flexure unit may be located between the first base 131 and the second base 132, and the second IPMC flexure unit may be located between the second base 132 and the third base 133.

The first IPMC bending unit is a third IPMC strip 134, the second IPMC bending unit is a fourth IPMC strip 12252, two ends of the third IPMC strip 134 are respectively and fixedly connected to one end of the first base 131 and one end of the second base 132, the number of the third IPMC strips 134 is plural, in this embodiment, four, and two ends of the fourth IPMC strip 12252 are respectively and fixedly connected to the other end of the second base 132 and one end of the third base 133. The number of the fourth IPMC strips 12252 is plural, and four strips in this embodiment, and the other end of the first base 131 is fixedly connected to the end portion of the connecting rod 1226 located outside the first housing 11.

To increase the bending force and complete the front-to-back, left-to-right bending of the first bending mechanism 13, the plane in which the ends of the third IPMC bar 134 lie is perpendicular to the plane in which the ends of the fourth IPMC strip 12252 lie.

As shown in fig. 2, 9 and 10, the needle changing mechanism 15 includes a second rotary assembly 151, a linear drive assembly 152 and a suture needle assembly 153. The second rotating assembly 151 includes a third rotation driving unit 1511, a fifth hand grip 1512, a sixth hand grip 1513, a fifth base 1514, and a sixth base 1515.

The third rotation driving unit 1511 includes a third elastic film (not shown) and at least four third IPMC sheets (not shown), and the structure of the third elastic film and the third IPMC sheets, and the connection relationship between the third elastic film and the third IPMC sheets are the same as the first elastic film 12111 and the first IPMC sheets 12112, and will not be described in detail herein.

The fifth base 1514 and the sixth base 1515 are respectively located at both ends of the third elastic film, and both the fifth base 1514 and the sixth base 1515 are columnar. One end of the fifth base 1514 is provided with a third groove, the other end of the fifth base 1514 is fixedly provided with four clamping blocks, a gap is formed between the two clamping blocks, and one end of a third elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the fifth base 1514, the first grooves are uniformly arranged in the circumferential direction of the fifth base 1514, and the length direction of the first grooves is axially parallel to the fifth base 1514.

A fourth groove (not shown) is formed in the center of one end of the sixth base 1515, four clamping blocks are fixedly mounted at the other end of the sixth base 1515, a gap is formed between the two clamping blocks, and the other end of the third elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the sixth base 1515, the plurality of first grooves are uniformly arranged in the circumferential direction of the tenth bottom wall, and the length direction of each first groove is axially parallel to the sixth base 1515.

Fifth hand grip 1512 includes a fifth mount 15121 and a fifth IPMC strip 15122, and sixth hand grip 1513 includes a sixth mount 15131 and a sixth IPMC strip 15132.

A third through hole is formed in the center of the fifth installation seat 15121, the structures of the fifth installation seat 15121 and the fifth IPMC strip 15122, and the connection relationship between the fifth installation seat 15121 and the fifth IPMC strip 15122 are the same as those of the first installation seat 12141 and the first IPMC strip 12142, and the side wall of the fifth installation seat 15121 is slidably connected with the inner side wall of the second housing 14 through a slider and a sliding groove. A fourth through hole is formed in the center of the sixth mounting seat 15131, the structures of the sixth mounting seat 15131 and the sixth IPMC strip 15132, and the connection relationship between the sixth mounting seat 15131 and the sixth IPMC strip 15132 are the same as those of the first mounting seat 12141 and the first IPMC strip 12142, and the side wall of the sixth mounting seat 15131 is slidably connected with the inner side wall of the second housing 14 through a slider and a sliding groove.

The linear driving assembly 152 comprises an electromagnetic relay 1521, a first elastic member, an iron sheet (not shown in the figure) and a mounting plate 1523, the iron sheet is located at the bottom wall of a third groove of the fifth base 1514, the first elastic member is a first spring 1522, the first spring 1522 is wrapped on the outer side wall of the electromagnetic relay 1521, one end of the first spring 1522 is fixedly connected with one end of the mounting plate 1523, the other end of the first spring 1522 extends into a third through hole of the fifth mounting plate 1523, the electromagnetic relay 1521 is fixedly mounted at one end of the mounting plate 1523, the mounting plate 1523 is in interference fit with the second housing 14, the electromagnetic relay 1521 generates magnetic force after being electrified and attracts the fifth base 1521514, and at the moment, the first spring 2 is in a compressed state.

The suture needle assembly 153 includes a suture needle 1531, a thread winding unit 1532 and a connecting column 1533, wherein the first base 1212, the second base 1213, the third base 1222, the fourth base 1223, the fifth base 1514, the sixth base 1515, the first mounting seat 12141, the second mounting seat, the third mounting seat 12241, the fourth mounting seat 12251, the fifth mounting seat 15121 and the sixth mounting seat 15131 are coaxially arranged, since the number of the suture needles 1531 required by a field of surgical operation is generally 2-3, in this embodiment, three suture needles 1531 with different types are provided, the number of the thread winding unit 1532 is matched with the number of the suture needles 1531, and the thread winding unit 1532 is the prior art.

The bottom end of the connection post 1533 extends into the fourth through hole of the sixth mounting seat 15131, the bottom end of the connection post 1533 is fixedly connected with the inner bottom wall of the sixth base 1515, the connection post 1533 is hollow, the winding unit 1532 is fixedly mounted inside the connection post 1533, the top end of the connection post 1533 is provided with a fifth through hole, a second elastic member is arranged in the fifth through hole, in this embodiment, the second elastic member is a second spring 1534, one end of the second spring 1534 is just clamped in the fifth through hole, the needle hole end of the suture needle 1531 is inserted into the other end of the second spring 1534, the second spring 1534 is compressed, the needle hole end of the suture needle 1531 abuts against the second spring 1534, the other end of the suture needle 1531 extends out of the fifth through hole and abuts against the inner top wall of the second housing 14, and the needle hole of the suture needle 1531 is connected with the winding unit 1532 through a surgical thread.

In order to ensure the pop-up path of the suture needle 1531 during the pop-up, the suture needle 153further includes positioning blocks 1535, the number of the positioning blocks 1535 is set according to the number of the suture needles 1531, the positioning block 1535 is fixedly installed at the top end of the fifth through hole, a sixth through hole is formed in the center of the positioning block 1535, and the other end of the suture needle 1531 extends out of the sixth through hole.

The second housing 14 has a needle outlet 141 at an end thereof, and has a number of needle holes, which are provided at positions corresponding to the rotational positions of the suture needle 1531, so that the suture needle 1531 can be ejected from the needle holes after being rotated.

As shown in fig. 2 and 11, the first grasping mechanism 16 includes a first fixed disk 161, a fourth elastic film 162 and a seventh IPMC strip 163, the fourth elastic film 162 is two pieces, a fifth groove is formed at one end of the first fixed disk 161, the other end of the first fixed disk 161 is fixedly mounted at the end of the second housing 14, the end of the two pieces of the fourth elastic film 162 are fixed in the fifth groove, three seventh IPMC strips 163 are respectively adhered to the outer sides of the two pieces of the fourth elastic film 162, the three seventh IPMC strips 163 are respectively located at the middle and two sides of the fourth elastic film 162, and the inner side of the fourth elastic film 162 is rough for increasing the friction force when clamping the suture needle 1531.

As shown in fig. 1 and 12, the surgical arm 2 includes a third housing 21, a second driving mechanism, a second bending mechanism 23, and a second grasping mechanism 24. The second driving mechanism is located in the third housing 21, the second driving mechanism includes a second spiral telescopic assembly 221 and a second rotary driving assembly 222, the second spiral telescopic assembly 221 is connected with the second rotary driving assembly 222, the second rotary driving assembly 222 is connected with one end of the second bending mechanism 23, the second grabbing mechanism 24 is connected with the other end of the second bending mechanism 23, the second spiral telescopic assembly 221 drives the second rotary driving assembly 222 to move along the axis of the third housing 21, and the second rotary driving assembly 222 drives the second bending mechanism 23 to be in a bending state.

The second grasping mechanism 24 is connected to the other end of the second bending mechanism 23.

One end of the third casing 21 is open, the third casing 21 is a hard casing made of one or more light materials harmless to human body, such as polyvinyl chloride, polycarbonate, polyethylene, polystyrene, thermoplastic polyurethane, polytetrafluoroethylene, polyether ether ketone, etc. The second helical telescoping assembly 221 is coaxially disposed with the second rotary drive assembly 222.

The second helical telescoping assembly 221 comprises a fourth rotary drive unit 2211, a seventh base 2212, an eighth base 2213, a seventh grip 2214, an eighth grip 2215, a second screw 2216 and a second nut 2217.

The fourth rotary driving unit 2211 includes a fifth elastic film (not shown) and at least four fourth IPMC sheets (not shown), and the structures of the fifth elastic film and the fourth IPMC sheets and the connection relationship between the fifth elastic film and the fourth IPMC sheets are the same as those of the first elastic film 12111 and the first IPMC sheet 12112, and are not described in detail herein.

The seventh base 2212 and the eighth base 2213 are respectively located at two ends of the fifth elastic film, and the seventh base 2212 and the eighth base 2213 are both columnar. One end of the seventh base 2212 is fixedly provided with four clamping blocks, a gap is formed between the two clamping blocks, and one end of the fifth elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the seventh base 2212, the plurality of first grooves are uniformly arranged along the circumferential direction of the seventh base 2212, and the length direction of the first grooves is axially parallel to the seventh base 2212.

One end of the eighth base 2213 is fixedly provided with four clamping blocks, a gap is formed between the two clamping blocks, and the other end of the fifth elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the eighth base 2213, the plurality of first grooves are uniformly arranged in the circumferential direction of the eighth base 2213, and the length direction of the first grooves is axially parallel to the eighth base 2213.

Seventh grip 2214 includes a seventh mount (not shown) and an eighth IPMC strip (not shown), and eighth grip 2215 includes an eighth mount (not shown) and a ninth IPMC strip (not shown). The structures of the seventh mounting seat and the eighth IPMC strip, and the connection relationship between the seventh mounting seat and the eighth IPMC strip are the same as those of the first mounting seat 12141 and the first IPMC strip 12142, and the description thereof is omitted. The structure of the eighth and ninth IPMC strip, and the connection relationship between the eighth and ninth IPMC strips are the same as those of the first mounting seat 12141 and the first IPMC strip 12142, and are not further described here.

The side wall of the seventh mounting seat is connected with the inner side wall of the third shell 21 in a sliding mode through a sliding block and a sliding groove, and the seventh mounting seat cannot rotate while sliding along the axis of the third shell 21. The seventh through hole is seted up at the center of eighth mount pad, and the lateral wall of eighth mount pad passes through slider and spout sliding connection with third casing 21 inside wall, and the eighth mount pad can not produce the rotation when gliding along third casing 21 axis.

One end of the second screw 2216 passes through the seventh through hole and is fixedly connected with one end of the eighth base 2213, the other end of the second screw 2216 is in threaded connection with the second nut 2217, and the side wall of the second nut 2217 is fixedly connected with the side wall of the third shell 21.

The second rotary drive assembly 222 includes a fifth rotary drive unit 2221, a ninth base 2222, a tenth base 2223, a ninth hand grip 2224, and a tenth hand grip 2225.

The fifth rotary driving unit 2221 includes a sixth elastic film (not shown) and at least four fifth IPMC sheets, and the structures of the sixth elastic film and the fifth IPMC sheets, and the connection relationship between the sixth elastic film and the fifth IPMC sheets are the same as those of the first elastic film 12111 and the first IPMC sheet 12112, and thus, detailed descriptions thereof are omitted.

The ninth base 2222 and the tenth base 2223 are respectively located at two ends of the sixth elastic membrane, and the ninth base 2222 and the tenth base 2223 are both cylindrical. One end of the ninth base 2222 is fixedly provided with four clamping blocks, a gap is formed between the two clamping blocks, and one end of the sixth elastic membrane is clamped in the gap. A plurality of first grooves are formed in the side wall of the ninth base 2222, the first grooves are uniformly arranged along the circumferential direction of the ninth base 2222, and the length direction of the first grooves is axially parallel to the ninth base 2222.

One end of the tenth base 2223 is fixedly provided with four clamping blocks, a gap is formed between the two clamping blocks, and the other end of the sixth elastic film is clamped in the gap. A plurality of first grooves are formed in the side wall of the tenth base 2223, the plurality of first grooves are uniformly arranged along the circumferential direction of the tenth base 2223, and the length direction of the first grooves is axially parallel to the tenth base 2223.

Ninth finger 2224 includes a ninth mounting base (not shown) and a tenth IPMC strip (not shown), tenth finger 2225 includes a tenth mounting base and an eleventh IPMC strip, and the structure of the ninth mounting base and the tenth IPMC strip, and the connection relationship between the ninth mounting base and the tenth IPMC strip are the same as those of first mounting base 12141 and first IPMC strip 12142, and therefore, the description thereof is omitted. The structure of the tenth and eleventh IPMC strip, and the connection relationship between the tenth and eleventh IPMC strips are the same as those of the first mounting seat 12141 and the first IPMC strip 12142, and are not described herein again.

The lateral wall of ninth mount pad passes through slider and spout sliding connection with the third casing 21 inside wall, and the ninth mount pad can not produce the rotation when gliding along third casing 21 axis. The side wall of the tenth mounting seat is connected with the inner side wall of the third shell 21 through a sliding block and a sliding groove in a sliding mode, and the tenth mounting seat cannot rotate while sliding along the axis of the third shell 21.

The second bending mechanism 23 includes a fourth base (not shown), a fifth base 232, a sixth base 233, a third IPMC bending unit, and a fourth IPMC bending unit; the third IPMC bending unit may be located between the fourth base and the fifth base 232, and the fourth IPMC bending unit may be located between the fifth base 232 and the sixth base 233.

The third IPMC bending unit is a twelfth IPMC strip 234, the fourth IPMC bending unit is a thirteenth IPMC strip 235, two ends of the twelfth IPMC strip 234 are respectively and fixedly connected with one end of the fourth base and one end of the fifth base 232, the number of the twelfth IPMC strips 234 is multiple, in this embodiment, four, and two ends of the thirteenth IPMC strip 235 are respectively and fixedly connected with the other end of the fifth base 232 and one end of the sixth base 233. The number of the thirteenth IPMC strips 235 is plural, four in this embodiment, and the other end of the fourth base is fixedly connected to one end of the tenth mounting base.

To increase the bending force and complete the front-to-back, left-to-right bending of second bending mechanism 23, the plane of the end of twelfth IPMC strip 234 is perpendicular to the plane of the end of thirteenth IPMC strip 235.

The structure of the second grabbing mechanism 24 is the same as that of the first grabbing mechanism 16, the second grabbing mechanism 24 includes a second fixing disk (not shown), a seventh elastic film (not shown) and a fourteenth IPMC strip (not shown), the seventh elastic film is two, a sixth groove is formed in one end of the second fixing disk, the other end of the second fixing disk is fixedly installed at the end of the sixth base 233, the ends of the two seventh elastic films are fixed in the sixth groove, three fourteenth IPMC strips are respectively adhered to the outer sides of the two seventh elastic films, and the inner side of the seventh elastic film is a rough surface for increasing the friction force when the suture needle is clamped.

The moving device 5 includes a first moving rail 51, a second moving rail 52, and a lifting mechanism 53, wherein an axis of the first moving rail 51 is perpendicular to an axis of the second moving rail 52, and one end of the second moving pipe is slidably connected to the first moving rail 51. The lifting mechanism 53 is an air cylinder or a hydraulic cylinder, and the telescopic end of the lifting mechanism 53 is fixedly connected with the side wall of one end of the first movable guide rail 51. The volume of the entire apparatus can be reduced by the elevating mechanism 53.

The ground is taken as a horizontal plane, and the axis of the telescopic end of the lifting mechanism 53 is perpendicular to the ground in this embodiment, but is not limited thereto.

The end of the first housing 11 remote from the needle changing mechanism 15 is fixedly or detachably provided with a slider, and the slider is slidably connected with the first moving guide 51. The end of the third housing 21 remote from the second gripper mechanism 24 is fixedly or detachably provided with a slide block, which is slidably connected to the second moving rail 52.

In order to control the sliding of the sliding block and drive the movement of the surgical arm 2 and the needle changing arm 1, the present embodiment further includes a controller 4, where the controller 4 is in the prior art, the controller 4 includes an electronic controller 4 and a wireless transmission module, and the controller 4 is electrically connected to the IPMC strip or IPMC sheet in the surgical arm 2 and the needle changing arm 1, so as to control the movement of the first driving mechanism, the first bending mechanism 13, the needle changing mechanism 15, the second driving mechanism, and the second bending mechanism 23.

As shown in fig. 1 and 13, the voice control apparatus 3 is electrically connected to the controller 4, the voice control apparatus 3 includes a microphone 31, a signal transmission line 33 and an IPMC patch 32, in order to distinguish different voices more accurately, the IPMC patch 32 includes an IPMC band patch, an IPMC face patch and an IPMC chin patch, a circular IPMC sheet 34 is adhered to the middle of the microphone 31, three signal transmission lines 33 are adhered, rectangular IPMC sheets are adhered to the front sides of the three signal transmission lines 33, the microphone 31 is electrically connected to the IPMC band patch, the IPMC face patch and the IPMC chin patch through the signal transmission lines 33, speaker voices are collected by the microphone 31 and transmitted to the circular IPMC sheet 34, the IPMC band patch, the IPMC face patch and the IPMC chin patch are adhered to the voice band, cheek and chin of a speaker, respectively, because of different voices generated at different frequencies, different energies received by the IPMC patch 32, different electric signals are generated, these signals are transmitted to the controller 4 through the signal transmission line 33, and the controller 4 sends out a movement command to control the first driving mechanism, the first bending mechanism 13, the needle changing mechanism 15, the second driving mechanism and the second bending mechanism 23 to move.

The working principle of the embodiment is as follows:

movement of the first helical retraction assembly 121: electrifying the first IPMC strip 12112 and the first IPMC strip 12142 at the diagonal angle, electrifying the first IPMC strip 12142 to bend inwards, clamping the end of the first IPMC strip 12142 on the side wall of the first base 1212 to fasten the first base 1212, bending the first IPMC strip 12112 at the diagonal angle in the same direction, electrifying the first rotary driving unit 1211 in an electrifying spiral state to drive the second base 1213 to rotate, and simultaneously powering off the first IPMC strip 12142, at this time, uncoiling the first IPMC strip 12142 and increasing the length in the axial direction to rotate the first screw 1216 in the nut, moving the first screw 1216 towards the third mounting seat 12241 while rotating, and driving the third mounting seat 12241 to move along the axis of the first housing 11 due to the rigid state of the IPMC strip after electrifying, so as to drive the first bending mechanism 13, the pin changing mechanism 15 and the first grabbing mechanism 16 to move.

After the first screw advance is finished, the second IPMC strip is electrified to be bent inwards to fix the second base 1213, meanwhile, the first IPMC strip 12142 is electrified to move spirally, the first IPMC strip 12142 is powered off, the first elastic film 12111 is shortened, at this time, the first mounting seat 12141 slides axially along the first shell 11, the operation is repeated, the first screw 1216 continuously rotates and advances, the first nut 1217 is fixed with the first shell 11, and the pushing length of the screw is controlled by controlling the number of rotation turns due to the determined screw pitch. The first screw 1216 is rotated backward by the reverse screw rotation.

The second helical bellows assembly 221 operates on the same principle as the first helical bellows assembly 121.

Movement of first rotary drive assembly 122: the third IPMC strip 12242 and the second IPMC piece at the diagonal angle are energized, the third IPMC strip 12242 is bent inward, the third base 1222 is fixed, the second IPMC piece at the diagonal angle is bent in the same direction, the first rotary drive unit 1211 is in an energized spiral state, and drives the fourth base 1223 to rotate, since the IPMC piece is difficult to rotate at a large angle at a time, after the fourth base 1223 is rotated for the first time, the second IPMC piece at the diagonal angle is de-energized, the fourth IPMC strip 12252 and the second IPMC piece at a different diagonal angle are energized, the end of the fourth IPMC strip 12252 close to the fourth base 1223 is bent, the end of the fourth IPMC strip 12252 is engaged with the side wall of the fourth base 1223, the fourth base 1223 is fastened, and the IPMC piece at the diagonal angle is bent in the same direction, so that the first rotary drive unit 1211 rotates spirally and drives the third base 1222 to rotate.

Then, the rotation process of the fourth base 1223 and the third base 1222 is repeated, so that the first rotation driving unit 1211 completes multiple clockwise and counterclockwise rotations, and the degree of freedom of rotation is greatly improved.

The second rotary drive assembly 222 operates on the same principle as the first rotary drive assembly 122.

Movement of the first bending mechanism 13: the first base 131, the second base 132, and the third base 133 of the first bending mechanism 13 are coaxial, and the third IPMC bar 134 and the fourth IPMC bar 135 are energized according to the motion command, thereby achieving the bending in the three-dimensional space.

The working principle of the needle changing mechanism 15 is as follows: the electromagnetic relay 1521 is started, magnetic force is generated after the electromagnetic relay 1521 is electrified, the iron sheet on the fifth base 1514 is attracted, at the moment, the first spring 1522 is in a compressed state, and the suture needle is not ejected out. Before closing electromagnetic relay 1521, a fifth IPMC strip 15122 and a third IPMC sheet at an oblique angle are electrified, the specific electrifying position and electrifying mode are the prior art, the end part of the fifth IPMC strip 15122 close to the fifth mounting seat 15121 is bent, the end part of the fifth IPMC strip 15122 is clamped on the side wall of the fifth base 1514, the fifth base 1514 is fastened, the IPMC sheet at the oblique angle is bent towards the same direction, so that the rotary driving unit rotates clockwise to form a spiral shape and simultaneously drives the sixth base 1515 to rotate, the connecting column 1533 is driven to rotate by a certain angle, and the sewing needle on the connecting column 1533 is driven to rotate to the needle outlet 141, and the state is maintained.

Then the electromagnetic relay 1521 is closed, after the electromagnetic relay 1521 is powered off, the magnetic force disappears, the first spring 1522 pops up, one end of the first spring 1522 abuts against the bottom wall of the fifth base 1514, the fifth base 1514 is driven to move towards the needle outlet 141, the fifth mounting seat 15121 slides relative to the inner side wall of the shell, the suture needle extends out, and the suture needle pops up out of the needle outlet 141 due to the elasticity of the second spring 1534.

After the suture needle is ejected, if the needle needs to be changed, the steps are repeated, after the operation is finished, if the suture needle needs to be returned to the needle changing equipment, the steps are repeated, the connecting column 1533 rotates to the needle outlet 141, the electromagnetic relay 1521 is started, then the suture end of the suture needle is inserted into the second spring 1534, the first spring 1522 is compressed, the iron sheet on the fifth base 1514 is sucked again, then the fifth IPMC strip 15122 and the third IPMC sheet at the oblique angle are electrified to drive the connecting column 1533 to rotate for a certain angle, the positioning block 1535 without the suture needle is aligned to the needle outlet 141, and other suture needles are continuously put in.

Movement of the first gripper mechanism 16: different voltages are respectively applied to the seventh IPMC strip 163 on the fourth elastic film 162, the seventh IPMC strip 163 generates different bending degrees, the seventh IPMC strips 163 on the two fourth elastic films 162 are bent relatively to form a clamping state, the seventh IPMC strips 163 are powered off, and the two fourth elastic films 162 are removed from the clamping state.

The second gripper mechanism 24 operates on the same principle as the first gripper mechanism 16.

The general working principle is as follows: during surgical suture, the axis of the needle changing arm 1 is perpendicular to the axis of the first moving guide rail 51, the axis of the surgical arm 2 is perpendicular to the axis of the second moving guide rail 52, the positions of the needle changing arm 1 and the surgical arm 2 on the first moving guide rail 51 and the second moving guide rail 52 are adjusted through the controller 4, after the suture needle is ejected, the second grabbing mechanism 24 clamps the suture needle, the second spiral telescopic assembly 221 rotates and retreats to pull the suture needle out, meanwhile, the first grabbing mechanism 16 clamps the tissue to be sutured of the body 6 to be sutured, the second bending unit and the second rotary driving assembly 222 of the surgical arm 2 move to enable the suture needle to be sutured into the tissue, meanwhile, the first grabbing mechanism 16 loosens the tissue to clamp the suture needle, and the like. The needle changing arm 1 and the operation arm 2 are controlled by the controller 4 to synchronously and horizontally move in the first moving guide rail 51 and the second moving guide rail 52, and the operation sewing process is completed.

The speaker voice is collected by the microphone 31 and transmitted to the circular IPMC sheet 34, the IPMC vocal cord patch, IPMC face patch and IPMC chin patch are respectively attached to the vocal cord, the cheek and the chin of the speaker, the frequencies of voice generation are different due to different voices, and the energy received by the IPMC patch 32 is different, so that different electric signals are generated and transmitted to the controller 4 through the signal transmission line 33, and the controller 4 gives a movement command to control the first driving mechanism, the first bending mechanism 13, the needle changing mechanism 15, the second driving mechanism and the second bending mechanism 23 to move.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A voice activated surgical stapling device, comprising: comprises a needle changing arm, an operation arm, a voice control device and a moving device; the needle changing arm and the operation arm are positioned on a mobile device, and the mobile device moves to cause the needle changing arm and the operation arm to move close to or far away from a surgical suture;

2. The voice activated surgical stapling apparatus of claim 1, wherein: the first spiral telescopic assembly comprises a first rotary driving unit, a first base, a second base, a first gripper, a second gripper, a first screw and a first nut;

3. The voice activated surgical stapling apparatus of claim 1, wherein: the first rotary driving component comprises a second rotary driving unit, a third base, a fourth base, a third gripper, a fourth gripper and a connecting rod;

4. The voice activated surgical stapling apparatus of claim 1, wherein: the first bending mechanism comprises a first base, a second base, a third base, a first IPMC bending unit, and a second IPMC bending unit; the first IPMC bending unit is a third IPMC strip, the second IPMC bending unit is a fourth IPMC strip, and two ends of the third IPMC strip are respectively connected with one end of the first base and one end of the second base; and two ends of the fourth IPMC strip are respectively connected with the other end of the second base and one end of the third base.

5. The voice activated surgical stapling apparatus of claim 4, wherein: the plane of the end of the third IPMC bar may be perpendicular to the plane of the end of the fourth IPMC bar.

6. The voice activated surgical stapling apparatus of claim 1, wherein: the second rotating assembly comprises a third rotating driving unit, a fifth gripper, a sixth gripper, a fifth base and a sixth base;

7. The voice activated surgical stapling apparatus of claim 1, wherein: the linear driving assembly comprises an electromagnetic relay, a first elastic piece, a magnetic sheet and a mounting plate; the iron sheet is positioned on the fifth base, the first elastic piece is wrapped on the outer side wall of the electromagnetic relay, and one end of the first elastic piece is connected with the mounting plate;

8. The voice activated surgical stapling apparatus of claim 1, wherein: the suture needle assembly further comprises a winding unit, a connecting column and a second elastic piece; the spliced pole is inside cavity, the wire winding unit is located inside the spliced pole, the top of spliced pole is equipped with the fifth through-hole, the one end of elastic component is located the fifth through-hole, the other end of second elastic component is inserted to the pinhole end of sewing needle, the other end of sewing needle supports roof in the second casing.

9. The voice activated surgical stapling apparatus of claim 1, wherein: the first grabbing mechanism comprises a first fixed disc, a fourth elastic film and a seventh IPMC strip; the fourth elastic film is two, a fifth groove is formed in one end of the first fixing disc, the other end of the first fixing disc is installed at the end portion of the second shell, the end portions of the two fourth elastic films are fixed in the fifth groove, three seventh IPMC strips are respectively stuck to the outer sides of the two fourth elastic films, and the three seventh IPMC strips are respectively located in the middle and on two sides of the fourth elastic film.

10. The voice activated surgical stapling apparatus of claim 1, wherein: the second driving mechanism is positioned in the third shell, and the second spiral telescopic assembly comprises a fourth rotary driving unit, a seventh base, an eighth base, a seventh gripper, an eighth gripper, a second screw and a second nut;

11. The voice activated surgical stapling apparatus of claim 1, wherein: the second rotary driving assembly comprises a fifth rotary driving unit, a ninth base, a tenth base, a ninth gripper and a tenth gripper;