Intelligent suturing device for gastrointestinal anastomosis

Abstract

The invention relates to the technical field of medical apparatus and instruments, in particular to an intelligent suturing device for gastrointestinal anastomosis, which comprises an anastomat main body used for moving in an intestinal tract, and a clamping titanium nail and a compression assembly for forming girdling are arranged on one side of the anastomat main body; the anastomat is characterized in that the anastomat body comprises a holding handle used for a doctor to hold and move, one side of the holding handle is communicated with a conveying pipe, and a rotating mechanism used for continuously adjusting the rotating angle is arranged in the conveying pipe; the pressing assembly comprises a fixed end and a movable end, the end, away from the holding handle, of the conveying pipe is fixedly connected with the fixed end, a telescopic mechanism used for being connected with the movable end is arranged in the conveying pipe, and an adapting mechanism used for adjusting the height of the titanium nail is arranged in the conveying pipe. On the premise of reducing leakage of the anastomosis surface, the nail height change can be automatically adjusted according to the tissue thickness, the stable effect of the anastomosis surface is guaranteed, and wound healing is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an intelligent suturing device for gastrointestinal anastomosis. Background Art

[0002] A gastrointestinal stapler is a medical device that simulates the principle of a stapler. Its core mechanism is to separate or staple tissues through titanium staples. Purse-string suture is usually required before titanium staple anastomosis to form a circular closed surface and ensure the subsequent anastomosis effect.

[0003] During stapler use, due to the common tortuosity of the intestine and the structural variability of existing intestinal structures, some tubular staplers can only adjust the tip angle between 0 and 30 degrees for bending, but cannot achieve continuous angle adjustment. During subsequent titanium nail fixation, excessive pressure from the titanium nails can easily lead to tissue tearing, while insufficient pressure can cause anastomosis failure or leakage, leading to the risk of post-operative leakage due to uneven anastomotic tension.

[0004] However, due to the individual and site differences in the thickness of the various layers of the human gastrointestinal wall (mucosa, submucosa, muscularis, serosa), there may be inconsistencies even in different areas of the anastomosis. However, traditional staplers usually apply a preset, uniform stapling pressure or staple height when firing, which makes it impossible to adapt to the heterogeneity of tissue thickness, and easily causes excessive local tension at the anastomosis (tissue is over-squeezed) or insufficient tension (stapling is not tight), which becomes an important cause of postoperative anastomotic leakage, bleeding or stenosis. Therefore, the present invention provides an intelligent suturing device for gastrointestinal anastomosis, which can automatically adjust the staple height according to the thickness of the tissue while reducing leakage at the anastomotic surface, thereby ensuring the stability of the anastomotic surface and facilitating wound healing. Summary of the Invention

[0005] To solve the above problems, the present invention provides an intelligent suturing device for gastrointestinal anastomosis, which is used to automatically adjust the height of the nail according to the thickness of the tissue while reducing leakage of the anastomotic surface, thereby ensuring the stability of the anastomotic surface and facilitating wound healing.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent suturing device for gastrointestinal anastomosis, comprising a stapler body for movement within the intestine, one side of which is provided with a compression assembly for clamping titanium staples and forming a ring cut; the stapler body includes a gripping handle for a physician to grip and move, one side of which is connected to a delivery tube, and the delivery tube is provided with a rotation mechanism for continuously adjusting the rotation angle;

[0007] The compression assembly includes a fixed end and a movable end. The end of the delivery tube away from the gripping handle is fixedly connected to the fixed end. A telescopic mechanism for connecting the movable end is provided in the delivery tube. An adaptable mechanism for adjusting the height of the titanium nail is provided in the delivery tube.

[0008] Furthermore, the rotation mechanism includes an adjustment rod that rotates with the stapler body and a connecting rod located inside the delivery tube, and a universal module for adjusting the rotation direction is provided between the adjustment rod and the connecting rod;

[0009] The universal joint module includes a first connecting block, a second connecting block, and a universal joint. The first connecting block and the second connecting block are arranged with the universal joint as the center, and the first connecting block and the second connecting block are respectively rotatably engaged with the universal joint in the X-axis and Y-axis directions. The side of the first connecting block away from the universal joint is fixedly connected to the adjustment rod, and the side of the second connecting block away from the universal joint is fixedly connected to the connecting rod.

[0010] The universal module also includes a hydraulic pipe, which is located in the adjusting rod, the connecting rod and the universal joint. One end of the hydraulic pipe is connected to a hydraulic tank for accumulating hydraulic oil, and the hydraulic tank is connected to a hydraulic oil pump for pumping hydraulic oil. The other end of the hydraulic pipe is connected to a first hydraulic group and a second hydraulic group. The output end of the first hydraulic group is used to drive the rotation direction of the universal joint in the X-axis direction, and the second hydraulic group is used to drive the rotation direction of the universal joint in the Y-axis direction. A hydraulic drive mechanism for controlling the flow direction of the hydraulic oil is provided between the first hydraulic group, the second hydraulic group and the hydraulic pipe, and the hydraulic drive mechanism is electrically connected to a control panel.

[0011] Furthermore, a side of the fixed end away from the movable end is fixedly connected to the second connecting block, the telescopic mechanism includes a docking shaft, the docking shaft is located between the fixed end and the movable end, the docking shaft and the fixed end are slidably matched, and a sleeve is fixedly connected to the center of the fixed end, the sleeve is connected to the hydraulic pipe, an infusion solenoid valve is connected between the sleeve and the hydraulic pipe, and the infusion solenoid valve is electrically connected to the control panel;

[0012] A piston is slidably fitted in the sleeve, and the piston is fixedly connected to the docking shaft; a corresponding matching hole is opened at the center of the movable end, and the docking shaft and the matching hole are fully fitted.

[0013] Furthermore, the fixed end is provided with a plurality of puncture holes for placing titanium nails, and the puncture holes are arranged in an arc shape with the fixed end as the center; the movable end is provided with a guide groove corresponding to the puncture holes, and the side of the guide groove close to the center of the fixed end is higher than the side of the guide groove away from the center of the fixed end;

[0014] A plurality of excitation mechanisms corresponding to the puncture holes are provided on a side of the fixed end away from the movable end. The excitation mechanism includes an excitation tube. A first electromagnet, a third spring, and a striker are provided in the excitation tube in order from left to right on the side close to the universal joint. The first electromagnet is electrically connected to the control panel, the first electromagnet is fixedly connected to the excitation tube, one end of the third spring is fixedly connected to the excitation tube, and the other end of the third spring is fixedly connected to the striker. The side of the striker away from the center of the fixed end is higher than the side of the striker close to the center of the fixed end.

[0015] When the firing pin is in the longest extended state, the third spring is in the extended state, the firing pin is located in the puncture hole, and the titanium nail is located outside the puncture hole.

[0016] Furthermore, a plurality of placement blocks are fixedly connected to the outside of the docking shaft. The placement blocks are located between the second connection block and the fixed end. A plurality of accommodating cavities corresponding to the puncture holes are opened in the placement blocks. The accommodating cavities are used to place titanium nails with different nail heights.

[0017] The adapting mechanism includes a contact block that slides with the fixed end, the contact block is located on the outside of the fixed end, and a limit plate is fixedly connected to the side of the contact block away from the movable end. A mounting groove is fixedly connected between the limit plate and the fixed end, and the mounting groove is located above the placement block; the top of the mounting groove corresponds to the top of the puncture hole, and the bottom of the mounting groove is located above the accommodating cavity;

[0018] The titanium nail is arranged in an arc shape with the accommodating cavity as the center. An iron ring is provided on the titanium nail outer shell. The iron ring is in clearance fit with the titanium nail, and the diameter of the iron ring is larger than the diameter of the puncture hole. A spring sheet is provided between the iron ring and the placement block.

[0019] Several moving blocks are slidably fitted in the accommodating cavity. The moving blocks are located between the titanium nail and the mounting slot, and are located on the side of the titanium nail away from the fixed end. The distance between each moving block and the fixed end matches the length of the titanium nail. A magnet block for adsorbing the moving blocks is fixedly connected to the bottom of the mounting slot; a third electromagnet for adsorbing the iron ring on the titanium nail is also provided in the accommodating cavity. A switch is provided on the top of the moving block. The switch is used to control the third electromagnet corresponding to the length of the titanium nail when the length of the titanium nail corresponding to the current moving block is less than the length of the titanium nail. The third electromagnet is electrically connected to the control panel.

[0020] A second electromagnet is fixedly connected to the top of the mounting slot, and the second electromagnet is electrically connected to the control panel; when the moving block is against the titanium nail, the titanium nail is located between the moving block and the spring sheet; when the moving block is separated from the titanium nail, the switch is against the mounting slot, and the titanium nail is separated from the spring sheet.

[0021] Furthermore, a cutting groove is provided on a side of the fixed end close to the movable end, a cutting block is fixedly connected to a side of the movable end close to the fixed end, a plurality of clamping blocks are fixedly connected to a side of the cutting block away from the center of the movable end, and the clamping blocks are located between adjacent guide grooves; a plurality of blocking blocks are slidably fitted in the fixed end, and the positions of the blocking blocks and the clamping blocks correspond; an injection cavity for storing liquid medicine is provided in the fixed end, an isosceles trapezoidal slider is slidably fitted in the injection cavity, a Y-shaped spraying channel is provided on the slider, and clamping blocks fixedly connected to the fixed end are provided on both sides of the injection cavity, and the shapes of the blocking blocks match those of the two sides of the slider;

[0022] A sliding groove is provided at the center of the blocking block, and the sliding groove is slidably engaged with the slider. A first spring is fixedly connected to the side of the slider away from the blocking block, and a spray hole connected to the injection cavity is provided on the fixed end. The blocking block is located between the spray hole and the injection cavity.

[0023] When the blocking block is in normal state, the blocking block is against the slider, the first spring is in a compressed state, the slider is against the card block, and the card block blocks the spraying channel; when the blocking block is against the clamping block, the slider is located in the slide groove, the first spring is in normal state, the slider is separated from the card block, and the spraying channel is connected to the injection chamber.

[0024] Furthermore, one side of the cutting groove is connected to a ring-shaped movable cavity, which is located between the edge of the cutting groove and the puncture hole, and a reinforcement film is slidably fitted in the movable cavity;

[0025] A stop block is slidably fitted in the movable cavity, the stop block abuts against the reinforcement membrane, a second spring is provided at the end of the stop block away from the reinforcement membrane, the end of the reinforcement membrane away from the stop block is located in the cutting groove, and a slit is provided on the side of the clamping block away from the movable end.

[0026] Furthermore, the contact block includes a plurality of separate contact plates, the contact plates correspond to the positions of the puncture holes, and gaps are provided between adjacent contact plates.

[0027] Furthermore, the first hydraulic group includes a first hydraulic rod and a second hydraulic rod arranged with the universal joint in the X-axis direction as the center, a first solenoid valve is connected between the first hydraulic rod and the hydraulic pipe, and a second solenoid valve is connected between the second hydraulic rod and the hydraulic pipe; the second hydraulic group includes a third hydraulic rod and a fourth hydraulic rod arranged with the universal joint in the Y-axis direction as the center, a third solenoid valve is connected between the third hydraulic rod and the hydraulic pipe, and a fourth solenoid valve is connected between the fourth hydraulic rod and the hydraulic pipe, the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve are respectively connected to corresponding control buttons, and the control buttons are electrically connected to the control panel;

[0028] Several indicator lights are fixedly connected to the main body of the anastomosis device, which are used to display the current universal joint rotation position, and the indicator lights are electrically connected to the control button; the control panel is used to record the association between the universal joint rotation position and the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve, and is also used to record the front and rear position relationship of the universal joint rotation position, record and store the control timing corresponding to the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve of the front section of the universal joint rotation position, and obtain the control timing based on the front and rear position relationship of the universal joint rotation position to send a start instruction to the corresponding first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve.

[0029] Furthermore, the control button is also used to start the first electromagnet, and the control panel is also used to record the third electromagnet corresponding to the current switch; the control panel is also used to record the start time of the adjacent switches, and determine the start time with the set standard time. If the start time is greater than the standard time, a delayed start instruction is sent to the first electromagnet, and a close instruction is sent to the third electromagnet corresponding to the current switch, and a start instruction is sent to the second electromagnet; if the start time is less than the standard time, a standby instruction is sent to the first electromagnet, and a standby instruction is sent to the third electromagnet corresponding to the current switch, and a start instruction is sent to the second electromagnet.

[0030] The above scheme has the following beneficial effects:

[0031] 1. This solution utilizes the adaptive rotation of the rotating mechanism to adapt to the different curvature directions of the intestine, solving the operational difficulties of traditional instruments in narrow spaces. This allows the stapler body to be inserted deeper into the lower pelvic cavity to be anastomosed. The continuous bending design reduces the need for repeated instrument adjustments, especially in narrow spaces, shortening the operation time and improving surgical efficiency.

[0032] 2. This solution uses an adaptive mechanism to adjust and control the height of the titanium nail so that it can be adaptively adjusted according to changes in tissue thickness, thereby ensuring the reinforcement effect of the anastomotic surface and reducing damage to the tissue anastomosis process.

[0033] 3. This program accelerates the patient's postoperative recovery through the spraying of liquid medicine and the reinforcement of the membrane, thereby reducing the wound healing time.

[0034] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a top view of an embodiment of an intelligent suturing device for gastrointestinal anastomosis according to the present invention;

[0036] Figure 2 for Figure 1 Schematic diagram of the cross section along the AA axis and the installation diagram of the delivery pipe;

[0037] Figure 3 for Figure 2 A magnified schematic diagram of the local D in the middle;

[0038] Figure 4 for Figure 1 Schematic diagram of the local connection of the middle connecting rod;

[0039] Figure 5 for Figure 1 Schematic diagram of the structure of the fixed end;

[0040] Figure 6 for Figure 1 A cross-sectional diagram of the fixed end;

[0041] Figure 7 for Figure 6 Schematic cross-section in the CC direction;

[0042] Figure 8 for Figure 6 A magnified schematic diagram of the local E in the middle;

[0043] Figure 9 for Figure 7 A magnified schematic diagram of the local F in the middle.

[0044] The reference numerals in the drawings of the specification include: 1. stapler body; 11. gripping handle; 12. adjusting rod; 13. connecting rod; 14. indicator light; 15. control button; 2. delivery tube; 3. fixed end; 30. puncture hole; 31. contact block; 32. limit plate; 33. docking shaft; 34. cutting groove; 35. mounting groove; 36. magnet block; 37. second electromagnet; 4. movable end; 41. cutting block; 42. guide groove; 43. clamping block; 5. universal joint ;51. First connecting block; 52. Second connecting block; 53. First hydraulic group; 54. Second hydraulic group; 55. Hydraulic pipe; 6. Excitation pipe; 61. Placement block; 62. Accommodating chamber; 63. Moving block; 64. Third electromagnet; 65. Iron collar; 7. Blocking block; 71. Injection chamber; 72. Spraying channel; 73. Slider; 74. Slide groove; 8. Reinforcement membrane; 81. Block; 82. Second spring; 9. First electromagnet; 91. Third spring; 92. Firing pin. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] The following is further described in detail through specific implementation methods:

[0047] As attached Figures 1 to 9 As shown: An intelligent suturing device for gastrointestinal anastomosis, including a stapler body 1 for moving in the intestine, a compression assembly for clamping titanium nails and forming a ring cut is provided on one side of the stapler body 1; the stapler body 1 includes a gripping handle 11 for the physician to grip and move, a delivery tube 2 is connected to one side of the gripping handle 11, and a rotating mechanism for continuously adjusting the rotation angle is provided in the delivery tube 2; the compression assembly includes a fixed end 3 and a movable end 4, an end of the delivery tube 2 away from the gripping handle 11 is fixedly connected to the fixed end 3, a telescopic mechanism for connecting to the movable end 4 is provided in the delivery tube 2, and an adaptation mechanism for adjusting the height of the titanium nail is provided in the delivery tube 2.

[0048] The rotation mechanism includes an adjusting rod 12 that rotates with the anastomosis device body 1 and a connecting rod 13 located inside the delivery tube 2. A universal module for adjusting the rotation direction is provided between the adjusting rod 12 and the connecting rod 13; the universal module includes a first connecting block 51, a second connecting block 52 and a universal joint 5. The first connecting block 51 and the second connecting block 52 are arranged with the universal joint 5 as the center, and the first connecting block 51 and the second connecting block 52 rotate with the X-axis and Y-axis directions of the universal joint 5 respectively; the side of the first connecting block 51 away from the universal joint 5 is fixedly connected to the adjusting rod 12, and the side of the second connecting block 52 away from the universal joint 5 is fixedly connected to the connecting rod 13.

[0049] The universal module also includes a hydraulic pipe 55, which is a retractable rubber pipe. The hydraulic pipe 55 is located in the adjusting rod 12, the connecting rod 13 and the universal joint 5. One end of the hydraulic pipe 55 is connected to a hydraulic tank for accumulating hydraulic oil, and the hydraulic tank is connected to a hydraulic oil pump for pumping hydraulic oil. In this embodiment, the hydraulic oil pump includes but is not limited to a common gear pump. In another embodiment, the hydraulic pipe 55 passes through the adjusting rod 12 and is connected to the outside world. The hydraulic oil pump of the outside world is connected through the hydraulic pipe 55 to realize the infusion and discharge of hydraulic oil. The hydraulic pipe 55 is connected to the first hydraulic group 53 and the second hydraulic group 54. The first hydraulic group 53 and, the output end of the first hydraulic group 53 is used to drive the rotation direction of the universal joint 5 in the X-axis direction, the second hydraulic group 54 is used to drive the rotation direction of the universal joint 5 in the Y-axis direction, a hydraulic drive mechanism for controlling the flow direction of the hydraulic oil is provided between the first hydraulic group 53, the second hydraulic group 54 and the hydraulic pipe 55, and the hydraulic drive mechanism is electrically connected to a control panel.

[0050] The side of the fixed end 3 away from the movable end 4 is fixedly connected to the second connecting block 52. The telescopic mechanism includes a docking shaft 33, which is located between the fixed end 3 and the movable end 4. The docking shaft 33 slides with the fixed end 3, and a sleeve is fixedly connected to the center of the fixed end 3. The sleeve is connected to the hydraulic pipe 55. An infusion solenoid valve is connected between the sleeve and the hydraulic pipe 55, and the infusion solenoid valve is electrically connected to the control panel; a piston slides in the sleeve, and the sleeve and the piston constitute a hydraulic rod mechanism, and the piston is fixedly connected to the docking shaft 33; a corresponding matching hole is opened at the center of the movable end 4, and the docking shaft 33 is fully matched with the matching hole.

[0051] The fixed end 3 is provided with a plurality of puncture holes 30 for placing titanium nails, and the puncture holes 30 are arranged in an arc shape with the fixed end 3 as the center; the movable end 4 is provided with a guide groove 42 corresponding to the puncture holes 30, and the side of the guide groove 42 close to the center of the fixed end 3 is higher than the side of the guide groove 42 away from the center of the fixed end 3; the side of the fixed end 3 away from the movable end 4 is provided with a plurality of excitation mechanisms corresponding to the puncture holes 30, and the excitation mechanism includes an excitation tube 6, and the excitation tube 6 is provided with a first electromagnet 9, a third spring 91 and a striker 92 in sequence from left to right from the side close to the universal joint (5). The electromagnet 9 is electrically connected to the control panel, the first electromagnet 9 is fixedly connected to the excitation tube 6, one end of the third spring 91 is fixedly connected to the excitation tube 6, and the other end of the third spring 91 is fixedly connected to the firing pin 92; the side of the firing pin 92 away from the center of the fixed end 3 is higher than the side of the firing pin 92 close to the center of the fixed end 3; when the firing pin 92 is in the longest extended state, the third spring 91 is in an extended state, the firing pin 92 is located in the puncture hole 30, and the titanium nail is located outside the puncture hole 30, and when the third spring 91 is attracted by the first electromagnet 9 and is in a compressed state, the firing pin 92 is located in the excitation tube 6.

[0052] The docking shaft 33 is fixedly connected to a plurality of placement blocks 61 outside. The placement block 61 is located between the second connection block 52 and the fixed end 3. A plurality of accommodating cavities 62 corresponding to the puncture holes 30 are opened in the placement block 61. The accommodating cavities 62 are used to place titanium nails with different nail heights. In this embodiment, the titanium nails stored in the accommodating cavities 62 are placed in a preoperative storage manner. The adjustment strategy of the titanium nail height is that the physician pre-places them according to the thickness of the patient's surgical part tissue to reduce the contamination of excess titanium nails during use during the operation and reduce waste of resources.

[0053] The adaptation mechanism includes a contact block 31 that slides with the fixed end 3. The contact block 31 includes several separate contact plates. The contact plates correspond to the positions of the puncture holes 30, and there are gaps between adjacent contact plates. The contact block 31 is located on the outside of the fixed end 3. The side of the contact block 31 away from the movable end 4 is fixedly connected to the limit plate 32. A mounting groove 35 is fixedly connected between the limit plate 32 and the fixed end 3. The mounting groove 35 is located above the placement block 61. The top of the mounting groove 35 corresponds to the top of the puncture hole 30, and the bottom of the mounting groove 35 is located above the accommodating cavity 62. The titanium nail is arranged in an arc shape with the accommodating cavity 62 as the center. The outer sleeve of the titanium nail is provided with an iron ring 65. The iron ring 65 is in clearance with the titanium nail, and the diameter of the iron ring 65 is larger than the diameter of the puncture hole 30. A spring sheet (not shown in the figure) is provided between the iron ring 65 and the placement block 61. Several moving blocks 63 are slidably fitted in the accommodating cavity 62. The moving block 63 is located between the titanium nail and the mounting groove 35, and the moving block 63 is located away from the titanium nail. On one side of the fixed end 3, the distance between each moving block 63 and the fixed end 3 matches the length of the titanium nail, and a magnet block 36 for adsorbing the moving block 63 is fixedly connected to the bottom of the mounting groove 35; a third electromagnet 64 for adsorbing the iron ring 65 on the titanium nail is also provided in the accommodating cavity 62, and a switch is provided on the top of the moving block 63. The switch is used to control the third electromagnet 64 corresponding to the length of the titanium nail corresponding to the current moving block 63 to be less than the length of the titanium nail, and the third electromagnet 64 is electrically connected to the control panel; a second electromagnet 37 is fixedly connected to the top of the mounting groove 35, and the second electromagnet 37 is electrically connected to the control panel; when the moving block 63 is against the titanium nail, the titanium nail is located between the moving block 63 and the spring sheet; when the moving block 63 is separated from the titanium nail, the switch is against the mounting groove 35, and the titanium nail is separated from the spring sheet.

[0054] A cutting groove 34 is formed on a side of the fixed end 3 close to the movable end 4 , and a cutting block 41 is fixedly connected to a side of the movable end 4 close to the fixed end 3 .

[0055] The specific implementation process is as follows:

[0056] During use, the adjusting rod 12 is used to drive the connecting rod 13 and the universal module to rotate in a circle with the anastomosis device body 1 as the center, so that after penetrating into the intestine outside the body, the doctor can adjust the delivery tube 2 to match the direction of the intestine while keeping the position of the gripping handle 11 unchanged, so as to improve the convenience of subsequent adjustment of the delivery tube 2 to penetrate deep into the intestine.

[0057] The cross-shaped universal joint 5 then allows for multi-directional rotational adjustment at the intersection of the adjustment rod 12 and the connecting rod 13. The first hydraulic group 53 drives the universal joint 5 in the X-axis direction, causing the connecting rod 13 on one side to rotate about the universal joint 5 to adjust the orientation of the connecting rod 13 in the rotational direction of the universal joint 5. Because the universal joint 5 is limited in the X-axis direction by the first hydraulic group 53, the subsequent position of the universal joint 5 in the X-axis direction remains unchanged. Similarly, the second hydraulic group 54 drives the universal joint 5 in the Y-axis direction to flexibly adjust the subsequent propulsion direction of the fixed end 3 to adapt to the curvature of the intestine, thereby reducing potential damage to the intestine. The adaptive rotation of the rotating mechanism is utilized to adapt to different bending directions inside the intestine, thereby solving the operation difficulties of traditional instruments (usually only 45°-60°) in narrow spaces, so that the anastomosis device body 1 can be inserted deeper into the part to be anastomosed in the lower position of the pelvic cavity. The continuous bending design reduces the need for repeated adjustment of the instrument, especially in narrow spaces, shortening the operation time and improving the efficiency of the operation.

[0058] The control button 15 is manually pressed to operate, and the working condition of the infusion solenoid valve is controlled through the control panel, so as to control the working condition of the hydraulic oil pump for delivering hydraulic oil based on the control panel, so as to push the piston to move accordingly based on the volume change of the hydraulic oil inside the sleeve, thereby causing the piston to drive the docking shaft 33 to extend or retract inside the fixed end 3, thereby controlling the connection between the docking shaft 33 and the movable end 4.

[0059] After the docking shaft 33 is engaged with the movable end 4, the docking shaft 33 is retracted through the connection of the infusion solenoid valve and the hydraulic oil pump sucks the hydraulic oil to drive the movable end 4 to move closer to the fixed end 3, so that the movable end 4 presses the intestine at the anastomosis, facilitating the subsequent titanium nail fixation process.

[0060] When the movable end 4 is fixed to the docking shaft 33, the control panel is used to control the working condition of the first electromagnet 9 to control the first electromagnet 9 to release the adsorption fixation of the striker 92. The compressed third spring 91 is used to release the elastic force to quickly push the striker 92 to squeeze the titanium nail. During the contact between the titanium nail and the guide groove 42, the titanium nail is bent outward along the bending direction of the guide groove 42 to achieve a clamping effect on the anastomosis. At the same time, when the titanium nail is restricted by the movable end 4, the inclined surface of the striker 92 is used to contact the other end of the titanium nail. With the support of the striker 92 and the guide groove 42 at both ends, the end of the titanium nail close to the striker 92 is conveniently bent and clamped toward the anastomosis, achieving clamping and fixation of both ends of the anastomosis. The clamping effect of the annularly arranged titanium nails is used to achieve uniform clamping and fixation of the anastomosis surface, thereby ensuring uniform force on the anastomosis surface and reducing possible leakage. In another embodiment, the excitation mechanism is a hydraulic rod structure or an electric push rod mechanism.

[0061] As the fixed end 3 and the movable end 4 move toward the center, the squeezing between them causes the tissue between them to move toward the empty space. Thicker tissue fills the surrounding gap more, causing the contact between the squeezed tissue and the contact block 31 to change with the tissue thickness. Using a separate contact block 31 to contact the surrounding tissue facilitates the movement of the contact block 31 based on tissue thickness in different locations, thereby improving the matching of titanium nail length with tissue thickness.

[0062] In the subsequent process of the contact block 31 driving the installation slot 35 to move through the limit plate 32, the magnet block 36 at the bottom of the installation slot 35 is used to adsorb the moving block 63. When the moving block 63 no longer resists the top of the titanium nail, the extended spring sheet pushes the titanium nail to fall toward the center. When the magnet block 36 at the bottom of the installation slot 35 continues to drive the moving block 63 corresponding to the next titanium nail length to be adsorbed and moved, the corresponding switch on the current moving block 63 is started to control the third electromagnet 64 corresponding to the previous titanium nail to start processing, so that the third electromagnet 64 fixes the iron ring 65 on the titanium nail corresponding to the previous titanium nail length.

[0063] Then, the control panel is used to control the activation of the second electromagnet 37, so that the second electromagnet 37 adsorbs the iron ring 65, thereby fixing the titanium nail on the top of the mounting groove 35, making it easier for the titanium nail to dock with the puncture hole 30, thereby achieving the adaptive adjustment demand of the height of the titanium nail according to the tissue thickness, and improving the stability and adaptability during the anastomosis fixation process.

[0064] In another embodiment, a plurality of clamping blocks 43 are fixedly connected to one side of the cutting block 41 away from the center of the movable end 4, and the clamping blocks 43 are located between adjacent guide grooves 42; a plurality of blocking blocks 7 are slidably fitted in the fixed end 3, and the positions of the blocking blocks 7 and the clamping blocks 43 correspond; an injection cavity 71 for storing liquid medicine is provided in the fixed end 3, and the liquid medicine includes but is not limited to biological protein glue, thrombin and other drugs used for wound healing; an isosceles trapezoidal slider 73 is slidably fitted in the injection cavity 71, and a Y-shaped spray channel 72 is provided on the slider 73; card blocks fixedly connected to the fixed end 3 are provided on both sides of the injection cavity 71, and the shapes of the card blocks and the two sides of the slider 73 match; the center of the blocking block 7 When the locking cam 73 is in the closed position, the locking cam 73 is in the closed position, and the block 7 is in the closed position, so that the block 7 can be locked.

[0065] First, the guide groove 42 on the cutting block 41 is manually aligned with the puncture hole 30 on the fixed end 3. The movable end 4 is then fixed via the docking shaft 33. While the movable end 4 and the fixed end 3 are not in contact, the blocking block 7 is used to restrict the slider 73, thereby maintaining the sealed storage of the high-pressure liquid medicine within the injection chamber 71 and compressing the first spring. After the cutting block 41 on the movable end 4 fully enters the cutting groove 34 within the fixed end 3, the cutting block 41 and the cutting groove 34 are squeezed together to form an annular incision, which facilitates the neatness of the wound during the subsequent anastomosis process and reduces the risk of leakage.

[0066] At this time, the clamping block 43 pushes the blocking block 7 to move. In this embodiment, the width of the clamping block 43 is greater than the width of the blocking block 7. When the slide groove 74 on the blocking block 7 coincides with the slider 73, the compressed first spring pushes the slider 73 into the slide groove 74, so that the slider 73 is separated from the block, and the spray channel 72 on the slider 73 is connected to the inside of the injection cavity 71. The high-pressure liquid medicine inside the injection cavity 71 is sprayed out through the spray channel 72 and the spray hole, so that the liquid medicine is sprayed on the wound, thereby facilitating the healing of the wound, accelerating the healing speed of the wound, and improving the patient's postoperative recovery effect.

[0067] In another embodiment, one side of the cutting groove 34 is connected to a movable cavity arranged in an annular shape, and the movable cavity is located between the edge of the cutting groove 34 and the puncture hole 30. A reinforcing membrane 8 is slidably fitted in the movable cavity, and the reinforcing membrane 8 includes but is not limited to biological patches such as bovine pericardium, porcine small intestine submucosa, and porcine bladder basement membrane; a stop block 81 is slidably fitted in the movable cavity, and the stop block 81 is abutted against the reinforcing membrane 8. A second spring 82 is provided at the end of the stop block 81 away from the reinforcing membrane 8, and one end of the second spring 82 is fixedly connected to the stop block 81, and the other end of the second spring 82 is fixedly connected to the fixed end 3. The end of the reinforcing membrane 8 away from the stop block 81 is located in the cutting groove 34, and a gap is opened on the side of the clamping block 43 away from the movable end 4.

[0068] When the cutting block 41 on the movable end 4 is located within the cutting groove 34 on the fixed end 3, the clamping block 43 on the outer edge of the cutting block 41 pushes the blocking block 7 and contacts one end of the reinforcement film 8. At this time, the slider 73 is located within the slide groove 74 to maintain the fixed processing of the blocking block 7, reducing the impact of the subsequent extension of the blocking block 7 on the reinforcement film 8. When the cutting block 41 is completely within the cutting groove 34, the clamping block 43 squeezes the reinforcement film 8, causing the squeezed reinforcement film 8 to enter the inner gap and cause partial damage to the edge of the reinforcement film 8. When the docking shaft 33 subsequently drives the movable end 4 away from the fixed end 3, the clamping block 43 pulls the reinforcement film 8 out to the outside, so that the reinforcement film 8 covers the wound area.

[0069] During the subsequent anastomosis of the titanium nails to the center, the movement distance of the docking shaft 33 is maintained so that there is a certain gap between the fixed end 3 and the movable end 4 (i.e., the longest pushing distance of the striker 92), and the striker 92 is used to push the titanium nail for anastomosis. By placing the reinforcement film 8 between the titanium nail and the intestinal tissue, the wound site is wrapped with the reinforcement film 8 to improve the sealing performance. At the same time, a protective layer is raised between the titanium nail and the wound site to reduce the damage to the tissue caused by the titanium nail directly pressing the wound site when the pressure is too high, so that the titanium nail can press the reinforcement film 8 to the wound site to form a sealing layer, reducing the risk of leakage at the anastomosis. At the same time, in the process of wrapping the wound site (i.e., the anastomosis site) with the reinforcement film 8, it is convenient to apply the drug to the wound site, reduce the dispersion of the drug, and facilitate the continuous treatment of the wound site by the drug, thereby improving the therapeutic effect of the drug.

[0070] The first hydraulic group 53 includes a first hydraulic rod and a second hydraulic rod arranged with the universal joint 5 in the X-axis direction as the center, a first solenoid valve is connected between the first hydraulic rod and the hydraulic pipe 55, and a second solenoid valve is connected between the second hydraulic rod and the hydraulic pipe 55; the second hydraulic group 54 includes a third hydraulic rod and a fourth hydraulic rod arranged with the universal joint 5 in the Y-axis direction as the center, a third solenoid valve is connected between the third hydraulic rod and the hydraulic pipe 55, and a fourth solenoid valve is connected between the fourth hydraulic rod and the hydraulic pipe 55, the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve are respectively connected to corresponding control buttons 15, and the control buttons 15 are electrically connected to the control panel.

[0071] In another embodiment, a plurality of indicator lights 14 are fixedly connected to the anastomosis device body 1, and the indicator lights 14 are used to display the current rotation position of the universal joint 5, and the indicator lights 14 are electrically connected to the control button 15; the control panel is used to record the association between the rotation position of the universal joint 5 and the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve, and is also used to record the front and rear position relationship of the rotation position of the universal joint 5, record and store the control timing corresponding to the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve of the front section of the rotation position of the universal joint 5, and obtain the control timing based on the front and rear position relationship of the rotation position of the universal joint 5 to send a start instruction to the corresponding first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve.

[0072] For example, the indicator light 14 is used to display the current rotation position of the universal joint 5 to facilitate the determination of the current adjustment position, and then the manual adjustment changes of the current position are recorded to automatically perform pre-adjustment control on the subsequent delivery process of the delivery tube 2 to automatically adapt to the changes in the intestinal curvature, thereby reducing the manual control process and improving the convenience of the device during use.

[0073] In another embodiment, the control button 15 is also used to start the first electromagnet 9, and the control panel is also used to record the third electromagnet 64 corresponding to the current switch; the control panel is also used to record the start time of the adjacent switches, and determine the start time with the set standard time. If the start time is greater than the standard time, a delayed start instruction is sent to the first electromagnet 9, and a close instruction is sent to the third electromagnet 64 corresponding to the current switch, and a start instruction is sent to the second electromagnet 37; if the start time is less than the standard time, a standby instruction is sent to the first electromagnet 9, and a standby instruction is sent to the third electromagnet 64 corresponding to the current switch, and a start instruction is sent to the second electromagnet 37.

[0074] For example, when the installation slot 35 drives the contact block 31 to move, since the position of the installation slot 35 may drive the moving block 63 to continue to maintain the position limit of the titanium nail, and the docking shaft 33 is pushed by the hydraulic pressure at a consistent rate, the start-up time is recorded and compared to ensure that the previous titanium nail can stably enter the installation slot 35, thereby ensuring the continuous anastomosis.

[0075] In other embodiments, a first change block is slidably fitted on the fixed end 3, the puncture hole 30 is located on the first change block, a second change block is slidably fitted on the movable end 4, the second change block corresponds to the first change block, the guide groove 42 is located on the second change block, a second electric push rod is provided between the first change block and the fixed end 3, a third electric push rod is provided between the second change block and the movable end 4, the second electric push rod and the third electric push rod are communicatively connected to the control panel; and the contact block 31 corresponds to the position of the first change block respectively, and the extended outer diameters of the first change block and the second change block are changed in the commonly used tube sleeve diameters of 21mm, 25mm and 29mm in the clinic. The first change block is pushed to move by the second electric push rod, and the second change block is pushed to move by the third electric push rod to adjust the corresponding connection between the puncture hole 30 and the guide groove 42, so as to achieve changes according to the changes in the diameter of the digestive tract and meet the temporary diameter adjustment needs during use.

[0076] In another embodiment, the puncture hole 30 on the fixed end 3 and the corresponding guide groove 42 on the movable end 4 are arranged linearly, and the movable end 4 is located above the fixed end 3. During use, the movable end 4 and the fixed end 3 are used to press the intestine up and down to achieve linear clamping along the length direction of the intestine, thereby achieving linear anastomosis of the intestine.

[0077] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An intelligent suturing device for gastrointestinal anastomosis, comprising a stapler body (1) for moving in the intestine, a compression assembly for clamping titanium staples and forming a ring cut being provided on one side of the stapler body (1); characterized in that: The stapler body (1) is provided with a gripping handle (11) for a physician to grip and move the stapler. One side of the gripping handle (11) is connected to a delivery tube (2). A rotation mechanism for continuously adjusting the rotation angle is provided in the delivery tube (2). The compression assembly comprises a fixed end (3) and a movable end (4); an end of the delivery tube (2) away from the gripping handle (11) is fixedly connected to the fixed end (3); a telescopic mechanism for connecting to the movable end (4) is provided in the delivery tube (2); and an adaption mechanism for adjusting the height of the titanium nail is provided in the delivery tube (2).

2. The intelligent suturing device for gastrointestinal anastomosis according to claim 1, characterized in that: The rotation mechanism comprises an adjusting rod (12) that is rotationally matched with the anastomosis device body (1) and a connecting rod (13) located inside the delivery tube (2); a universal module for adjusting the rotation direction is provided between the adjusting rod (12) and the connecting rod (13); The universal module comprises a first connecting block (51), a second connecting block (52) and a universal joint (5); the first connecting block (51) and the second connecting block (52) are arranged with the universal joint (5) as the center, and the first connecting block (51) and the second connecting block (52) are respectively rotatably matched with the X-axis and Y-axis directions of the universal joint (5); a side of the first connecting block (51) away from the universal joint (5) is fixedly connected to the adjusting rod (12), and a side of the second connecting block (52) away from the universal joint (5) is fixedly connected to the connecting rod (13); The universal module further comprises a hydraulic pipe (55), which is located in the adjusting rod (12), the connecting rod (13) and the universal joint (5). One end of the hydraulic pipe (55) is connected to a hydraulic tank for accumulating hydraulic oil, and the hydraulic tank is connected to a hydraulic oil pump for pumping hydraulic oil. The other end of the hydraulic pipe (55) is connected to a first hydraulic group (53) and a second hydraulic group (54). The output end of the first hydraulic group (53) is used to drive the universal joint (5) in the X-axis direction, and the second hydraulic group (54) is used to drive the universal joint (5) in the Y-axis direction. A hydraulic drive mechanism for controlling the flow direction of the hydraulic oil is provided between the first hydraulic group (53), the second hydraulic group (54) and the hydraulic pipe (55), and the hydraulic drive mechanism is electrically connected to a control panel.

3. The intelligent suturing device for gastrointestinal anastomosis according to claim 2, characterized in that: The side of the fixed end (3) away from the movable end (4) is fixedly connected to the second connecting block (52), the telescopic mechanism includes a docking shaft (33), the docking shaft (33) is located between the fixed end (3) and the movable end (4), the docking shaft (33) and the fixed end (3) are slidably matched, and a sleeve is fixedly connected to the center of the fixed end (3), the sleeve is connected to the hydraulic pipe (55), an infusion solenoid valve is connected between the sleeve and the hydraulic pipe (55), and the infusion solenoid valve is electrically connected to the control panel; A piston is slidably fitted in the sleeve, and the piston is fixedly connected to the docking shaft (33); a corresponding matching hole is opened at the center of the movable end (4), and the docking shaft (33) is fully fitted with the matching hole.

4. The intelligent suturing device for gastrointestinal anastomosis according to claim 3, characterized in that: The fixed end (3) is provided with a plurality of puncture holes (30) for placing titanium nails, and the puncture holes (30) are arranged in an arc shape with the fixed end (3) as the center; the movable end (4) is provided with a guide groove (42) corresponding to the puncture holes (30), and the side of the guide groove (42) close to the center of the fixed end (3) is higher than the side of the guide groove (42) away from the center of the fixed end (3); A plurality of excitation mechanisms corresponding to the puncture holes (30) are provided on a side of the fixed end (3) away from the movable end (4), the excitation mechanism comprising an excitation tube (6), a first electromagnet (9), a third spring (91) and a striker (92) being provided in the excitation tube (6) in sequence from left to right on a side close to the universal joint (5), the first electromagnet (9) being electrically connected to the control panel, the first electromagnet (9) being fixedly connected to the excitation tube (6), one end of the third spring (91) being fixedly connected to the excitation tube (6), and the other end of the third spring (91) being fixedly connected to the striker (92); a side of the striker (92) away from the center of the fixed end (3) being higher than a side of the striker (92) close to the center of the fixed end (3); When the firing pin (92) is in the longest extended state, the third spring (91) is in the extended state, the firing pin (92) is located in the puncture hole (30), and the titanium nail is located outside the puncture hole (30).

5. The intelligent suturing device for gastrointestinal anastomosis according to claim 4, characterized in that: A plurality of placement blocks (61) are fixedly connected to the outside of the docking shaft (33), and the placement blocks (61) are located between the second connection block (52) and the fixed end (3). A plurality of accommodating cavities (62) corresponding to the puncture holes (30) are opened in the placement blocks (61), and the accommodating cavities (62) are used to place titanium nails with different nail heights; The adapting mechanism comprises a contact block (31) that is slidably engaged with the fixed end (3), the contact block (31) being located outside the fixed end (3), a side of the contact block (31) away from the movable end (4) being fixedly connected to a limiting plate (32), a mounting groove (35) being fixedly connected between the limiting plate (32) and the fixed end (3), the mounting groove (35) being located above the placement block (61); the top of the mounting groove (35) corresponding to the top of the puncture hole (30), and the bottom of the mounting groove (35) being located above the accommodating cavity (62); The titanium nail is arranged in an arc shape with the accommodating cavity (62) as the center. An iron ring (65) is provided on the titanium nail outer shell. The iron ring (65) is clearance-matched with the titanium nail, and the diameter of the iron ring (65) is larger than the diameter of the puncture hole (30). A spring sheet is provided between the iron ring (65) and the placement block (61); A plurality of moving blocks (63) are slidably fitted in the accommodating cavity (62), the moving blocks (63) are located between the titanium nail and the mounting groove (35), and the moving blocks (63) are located on the side of the titanium nail away from the fixed end (3), the distance between each moving block (63) and the fixed end (3) matches the length of the titanium nail, and a magnet block (36) for adsorbing the moving blocks (63) is fixedly connected to the bottom of the mounting groove (35); a third electromagnet (64) for adsorbing the iron ring (65) on the titanium nail is also provided in the accommodating cavity (62), and a switch is provided on the top of the moving block (63), and the switch is used to control the third electromagnet (64) corresponding to the length of the titanium nail when the length of the titanium nail corresponding to the current moving block (63) is smaller than the length of the titanium nail; the third electromagnet (64) is electrically connected to the control panel; A second electromagnet (37) is fixedly connected to the top of the mounting groove (35), and the second electromagnet (37) is electrically connected to the control panel; when the moving block (63) abuts against the titanium nail, the titanium nail is located between the moving block (63) and the spring sheet; when the moving block (63) is separated from the titanium nail, the switch abuts against the mounting groove (35), and the titanium nail is separated from the spring sheet.

6. The intelligent suturing device for gastrointestinal anastomosis according to claim 4, characterized in that: A cutting groove (34) is formed on a side of the fixed end (3) close to the movable end (4); a cutting block (41) is fixedly connected to a side of the movable end (4) close to the fixed end (3); a plurality of clamping blocks (43) are fixedly connected to a side of the cutting block (41) away from the center of the movable end (4); and the clamping blocks (43) are located between adjacent guide grooves (42). A plurality of blocking blocks (7) are slidably engaged in the fixed end (3), and the positions of the blocking blocks (7) and the clamping blocks (43) correspond to each other. An injection cavity (71) for storing liquid medicine is provided in the fixed end (3), and an isosceles trapezoidal slider (73) is slidably engaged in the injection cavity (71). A Y-shaped spraying channel (72) is provided on the slider (73). Blocks fixedly connected to the fixed end (3) are provided on both sides of the injection cavity (71), and the shapes of the blocks match those of the two sides of the slider (73). A sliding groove (74) is provided at the center of the blocking block (7), and the sliding groove (74) is slidably engaged with the slider (73). A first spring is fixedly connected to the side of the slider (73) away from the blocking block (7), and a spray hole communicating with the injection cavity (71) is provided on the fixed end (3). The blocking block (7) is located between the spray hole and the injection cavity (71). When the blocking block (7) is in a normal state, the blocking block (7) abuts against the slider (73), the first spring is in a compressed state, the slider (73) abuts against the clamping block, and the clamping block blocks the spraying channel (72); when the blocking block (7) abuts against the clamping block (43), the slider (73) is located in the slide groove (74), the first spring is in a normal state, the slider (73) is separated from the clamping block, and the spraying channel (72) is communicated with the injection cavity (71).

7. The intelligent suturing device for gastrointestinal anastomosis according to claim 6, characterized in that: One side of the cutting groove (34) is connected to a ring-shaped movable cavity, the movable cavity is located between the edge of the cutting groove (34) and the puncture hole (30), and a reinforcement film (8) is slidably fitted in the movable cavity; A stop block (81) is slidably fitted in the movable cavity, the stop block (81) abuts against the reinforcement film (8), a second spring (82) is provided at one end of the stop block (81) away from the reinforcement film (8), the end of the reinforcement film (8) away from the stop block (81) is located in the cutting groove (34), and a slit is provided on one side of the clamping block (43) away from the movable end (4).

8. The intelligent suturing device for gastrointestinal anastomosis according to claim 5, characterized in that: The contact block (31) comprises a plurality of separate contact plates, the contact plates corresponding to the positions of the puncture holes (30), and gaps are provided between adjacent contact plates.

9. The intelligent suturing device for gastrointestinal anastomosis according to claim 2, characterized in that: The first hydraulic group (53) includes a first hydraulic rod and a second hydraulic rod arranged with the universal joint (5) in the X-axis direction as the center, a first solenoid valve is connected between the first hydraulic rod and the hydraulic pipe (55), and a second solenoid valve is connected between the second hydraulic rod and the hydraulic pipe (55); the second hydraulic group (54) includes a third hydraulic rod and a fourth hydraulic rod arranged with the universal joint (5) in the Y-axis direction as the center, a third solenoid valve is connected between the third hydraulic rod and the hydraulic pipe (55), and a fourth solenoid valve is connected between the fourth hydraulic rod and the hydraulic pipe (55), the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve are respectively connected to corresponding control buttons (15), and the control buttons (15) are electrically connected to the control panel; A plurality of indicator lights (14) are fixedly connected to the stapler body (1), and the indicator lights (14) are used to display the current rotation position of the universal joint (5). The indicator lights (14) are electrically connected to the control button (15); The control panel is used to record the association between the rotation position of the universal joint (5) and the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve, and is also used to record the front and rear position relationship of the rotation position of the universal joint (5), record and store the control timing corresponding to the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve of the front section of the rotation position of the universal joint (5), and obtain the control timing based on the front and rear position relationship of the rotation position of the universal joint (5) to send a start instruction to the corresponding first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve.

10. The intelligent suturing device for gastrointestinal anastomosis according to any one of claims 5 or 9, characterized in that: The control button (15) is also used to start the first electromagnet (9), and the control panel is also used to record the third electromagnet (64) corresponding to the current switch; The control panel is also used to record the start time of adjacent switches, and to compare the start time with the set standard time. If the start time is greater than the standard time, a delayed start instruction is sent to the first electromagnet (9), and a closing instruction is sent to the third electromagnet (64) corresponding to the current switch, and a start instruction is sent to the second electromagnet (37); if the start time is less than the standard time, a standby instruction is sent to the first electromagnet (9), and a standby instruction is sent to the third electromagnet (64) corresponding to the current switch, and a start instruction is sent to the second electromagnet (37).

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