Pre-bending type suture surgical robot

Abstract

The invention discloses a pre-bending type suturing surgical robot, and belongs to the technical field of surgical suturing, the robot comprises a suturing needle, the front end of the suturing needle is of an arc-shaped structure, the tail end of the suturing needle is connected with a first sliding table, a clamping module is installed at the end of the suturing needle in a matched mode, and the suturing needle is of a detachable structure composed of a needle rod and a needle tip; the needle rod is connected with the first sliding table, the clamping module comprises a first mechanical arm and a second mechanical arm which are the same in structure, the first mechanical arm and the second mechanical arm are clamped at the front end of the suture needle, and a third sliding table and a second sliding table are installed at the tail end of the first mechanical arm and the tail end of the second mechanical arm respectively for driving to achieve opening and closing. The design of the suture needle of an arc-shaped structure enables the robot to be flexibly operated in a narrow and complex operation environment, the manipulator clamping module is driven by the sliding table to achieve accurate opening and closing, accurate control over the suture action is guaranteed, and the problem that a traditional suture instrument is difficult to operate in a bending space is solved through the pre-bending design.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of surgical suturing, and particularly relates to a pre-bent type suturing surgical robot. BACKGROUND

[0002] In modern laparoscopic minimally invasive surgery, tissue suturing is a key step with high technical requirements. Since laparoscopic surgery is operated through a narrow channel, the surgeon can only observe through an endoscope image and rely on long-handled surgical instruments to complete the puncture of the suture needle, the transmission and the tensioning of the suture thread in the narrow area.

[0003] In the whole suturing process, two grasping forceps often need to be repeatedly operated in cooperation, which not only increases the complexity of the operation, but also increases the operation burden of the surgeon. Especially in continuous suturing, after each puncture is completed, the pose of the suture needle needs to be manually adjusted so that it is at an angle suitable for the next puncture. This process requires high precision, takes a long time, and is prone to cause the suture needle to fall off, puncture deviation and tissue damage due to improper operation. SUMMARY

[0004] This section aims to summarize some aspects of the embodiments of the application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract and the title, and such simplifications or omissions cannot be used to limit the scope of the application.

[0005] To solve the problems raised in the background art, the application adopts the following technical solutions.

[0006] The pre-bent type suturing surgical robot comprises a suture needle, the front end of the suture needle is in an arc shape, the suture needle is connected with a first sliding table at the end, a clamping module is installed at the end of the suture needle, the suture needle is composed of a needle rod and a needle tip in a detachable structure, the needle rod is connected with the first sliding table, the clamping module comprises a first mechanical hand and a second mechanical hand which are the same in structure, the first mechanical hand and the second mechanical hand are clamped on the front end of the suture needle, the ends of the first mechanical hand and the second mechanical hand are respectively provided with a third sliding table and a second sliding table for driving to open and close, the suture needle is split by the first mechanical hand and the second mechanical hand, the suture needle and the clamping module are sleeved with a sleeve, and a wire passing hole is formed in the side of the sleeve for the suture needle to pass through.

[0007] Preferably, the end of the needle rod is provided with a plug-in hole, and the end of the corresponding needle tip is provided with a T-shaped strip, the assembly of the needle tip and the needle rod is completed through the butt joint of the T-shaped strip and the plug-in hole.

[0008] Preferably, the front end side of the needle rod is symmetrically provided with a female buckle, and the lower surface of the tip of the needle is symmetrically provided with a male buckle, the male buckle is located on both sides of the T-shaped strip, when the needle tip and the needle rod are assembled, the male buckle and the female buckle are inserted and connected, and then expand outward to complete the locking of the needle tip and the needle rod.

[0009] Preferably, the suture needle is made of super-elastic material and can restore the original shape after deformation, and the suture needle is fixedly connected with a suture line on the arc-shaped section, and the suture line passes through the sleeve.

[0010] Preferably, a guide ring is linearly arranged on the inside of the sleeve, and when the suture line is connected with the suture needle, the suture line passes through the guide ring to achieve the purpose of guidance.

[0011] Preferably, a linear seam is formed on the sleeve, and the linear seam is in communication with the wire hole.

[0012] Preferably, the first mechanical hand comprises a connecting frame, and the connecting frame is provided with a support block at both ends for connecting with the sleeve, and a short shaft is arranged at the front end of the connecting frame, and a pair of clamping jaws are slidably connected to the short shaft, and the opening and closing of the first mechanical hand or the second mechanical hand is realized by the relative movement of the pair of clamping jaws on the short shaft.

[0013] Preferably, a connecting rod is rotatably connected to the clamping jaw by a bolt, and a sliding block is rotatably connected to the end of the connecting rod, and a threaded pull rod is connected to the third sliding table and the second sliding table, and the sliding block is threadedly connected to the threaded pull rod.

[0014] Preferably, the pre-bending type suture operation robot further comprises a wire winding shaft, and one end of the wire winding shaft is connected with a stepping motor.

[0015] Preferably, a plurality of pulleys are further arranged on one side of the wire winding shaft, and the pulleys and the wire winding shaft are on the same horizontal line.

[0016] Compared with the prior art, the beneficial effects of the present application are: (1) The suture needle with arc-shaped structure in the present application can be flexibly operated in a narrow and complex surgical environment, the mechanical hand clamping module realizes precise opening and closing through the sliding table drive to ensure precise control of the suture operation, and the pre-bending design overcomes the problem of difficult operation of traditional suture instruments in curved space; further, the suture needle is made of super-elastic material and can restore the original shape after deformation, reducing the risk of breakage, the detachable T-shaped design of the needle rod and the needle tip and the male buckle locking structure ensure firm connection, the guide ring in the sleeve ensures that the suture line runs along the correct path to avoid entanglement, and the detachable needle tip design allows quick replacement without replacing the entire suture needle, saving operation time and cost, and the mechanical hand can realize the disassembly operation of the suture needle, simplifying the complex suture steps, and the integration of the wire winding shaft and the stepping motor realizes automatic suture line control.

[0017] (2) The wire hole and linear seam on the side of the sleeve in the application facilitate the guidance and penetration of the suture, the pre-bent design reduces damage to the surrounding tissue, realizes truly minimally invasive surgery, the integrated mechanical hand and sliding table system reduces the operation steps and reduces the risk of surgery, further, the connection frame, support block, clamping jaw and other component designs are exquisite, ensuring that the overall structure is stable and reliable, the spool and pulley cooperation optimizes the tension and motion trajectory of the suture, the stepping motor provides precise control, realizes the automation and standardization of the suturing process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a pre-bent suture surgery robot working display diagram in the application.

[0019] Figure 2 It is a pre-bent suture surgery robot structure schematic diagram in the application.

[0020] Figure 3 It is a suture needle and its clamping assembly cooperation display diagram in the application.

[0021] Figure 4 It is a suture needle and its clamping assembly cooperation display diagram in the application. Figure 3 It is a local enlarged view of A in the application.

[0022] Figure 5 It is a suture needle structure diagram in the application.

[0023] Figure 6 It is a suture needle disassembly diagram in the application.

[0024] Figure 7 It is a suture needle and its clamping assembly cooperation display diagram in the application. Figure 6 It is a local enlarged view of B in the application.

[0025] Figure 8 It is a clamping assembly structure diagram in the application.

[0026] Figure 9 It is a sleeve structure diagram in the application.

[0027] Figure 10 It is a schematic diagram of the needle withdrawal and positioning stage in the use steps of the application.

[0028] Figure 11 It is a schematic diagram of the puncture and suture guidance stage in the use steps of the application.

[0029] Figure 12 It is a schematic diagram of the needle tip penetration and clamping stage in the use steps of the application.

[0030] Figure 13 It is a schematic diagram of the needle tip penetration and clamping stage in the use steps of the application.

[0031] Figure 14 It is a schematic diagram of the needle tip separation stage in the use steps of the application.

[0032] Figure 15 is a schematic diagram of the needle tip separation stage of the present application using the step.

[0033] Figure 16 is a schematic diagram of the needle rod withdrawal stage of the present application using the step.

[0034] Figure 17 is a schematic diagram of the reconnection stage of the present application using the step.

[0035] Figure 18 is a schematic diagram of the reconnection stage of the present application using the step.

[0036] The correspondence between the reference signs of the figures and the component names is as follows: 100, suture needle; 101, needle rod; 101a, insertion hole; 101b, female buckle; 102, needle tip; 102a, male buckle; 102b, T-shaped bar; 103, first sliding table; 200a, connecting frame; 200b, support block; 200c, clamping jaw; 200d, connecting rod; 200e, sliding block; 200f, threaded pull rod; 201, first mechanical hand; 202, second mechanical hand; 203, second sliding table; 204, third sliding table; 300, sleeve; 301, guide ring; 302, wire passing hole; 400, stepper motor; 401, wire winding shaft; 500, pulley. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below in combination with the drawings of the specification.

[0038] In the following description, a lot of specific details are set forth in order to give a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0039] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. The present application provides the following embodiments.

[0040] As Figures 1-2As shown, a pre-bent type suturing surgical robot comprises a suturing needle 100, which is composed of a detachable structure of a needle rod 101 and a needle tip 102, a clamping module is installed at the end of the needle rod 101, the front end of the needle rod 101 is an arc structure, specifically, the needle rod 101 is composed of a straight line segment and a 3 / 4 circular arc segment, the straight line segment and the 3 / 4 circular arc segment are tangent, the cross sections of the straight line segment and the 3 / 4 circular arc segment are equal, a first sliding table 103 is connected to the end of the needle rod 101, and the linear motion of the suturing needle 100 is realized through the first sliding table 103, further, the needle tip 102 is transitioned from a constant-diameter cylindrical segment to an arc-shaped contraction segment, and finally extended to a sharp needle end, the design of the constant-diameter cylindrical segment facilitates the clamping of the clamping module on the sharp end of the suturing needle 100, the needle rod 101 is connected with the first sliding table 103 to realize the linear motion of the suturing needle 100; In Figure 3 and Figure 4 , the clamping module comprises a first manipulator 201 and a second manipulator 202 with the same structure, the first manipulator 201 and the second manipulator 202 are clamped on the front end of the suturing needle 100, the ends of the first manipulator 201 and the second manipulator 202 are respectively provided with a third sliding table 204 and a second sliding table 203 for driving to realize opening and closing, the suturing needle 100 is split through the first manipulator 201 and the second manipulator 202, the suturing needle 100 and the clamping module are sleeved with a sleeve 300, the sleeve 300 is provided with a wire hole 302 on the side surface, the wire hole 302 is used for inserting the suturing needle 100 from the outside to the inside of the sleeve 300, a linear slot is provided on the sleeve 300 and communicates with the wire hole 302, to avoid the suturing needle module 120 from being entangled with the tail of the suture 303 during the movement, further in Figure 9 , a guide ring 301 is linearly arranged inside the sleeve 300, when the suture is connected with the suturing needle 100, the suture passes through the guide ring 301 to achieve the purpose of guiding, to avoid the suture from being entangled with the suturing needle 100 and the clamping module in the sleeve 300.

[0041] In Figures 5-7In the embodiment, the end of the needle rod 101 is provided with a plug-in hole 101a, and the end of the corresponding needle tip 102 is provided with a T-shaped strip 102b. The T-shaped strip 102b is connected to the plug-in hole 101a to complete the assembly of the needle tip 102 and the needle rod 101. In the embodiment, the needle rod 101 is the main part of the whole device, and the plug-in hole 101a at the end thereof is used as a connecting interface to receive the T-shaped strip of the needle tip, thereby providing a preliminary positioning and connecting function. The front end side of the needle rod 101 is symmetrically provided with a female buckle 101b, and the lower surface of the end of the needle tip 102 is symmetrically provided with a male buckle 102a. The male buckle 102a is located on both sides of the T-shaped strip 102b. When the needle tip 102 is assembled with the needle rod 101, the male buckle 102a is inserted into the female buckle 101b and then expanded outward to complete the locking of the needle tip 102 and the needle rod 101. In the embodiment, the symmetric female buckle 101b on the side of the needle rod 101 is used as a matching component of the locking mechanism and is the key to stable connection. The needle tip 102 is a working end component, and the T-shaped strip 102b at the end thereof is designed in a special T shape to form a precise fit with the plug-in hole 101a, thereby ensuring the axial alignment of the needle tip 102 and the needle rod 101. The male buckle 102a on the lower surface of the end of the needle tip 102 is the core component of the locking mechanism and can realize the automatic locking function. First, the T-shaped strip 102b and the plug-in hole 101a can ensure precise alignment to avoid assembly errors. Second, the self-locking function is realized by the design of the male buckle, and the firm connection can be completed without additional tools. In addition, the symmetric arrangement of the male buckle 102a and the female buckle 101b improves the connection strength and prevents the needle tip 102 from loosening or falling off during use. The overall design facilitates quick disassembly and assembly, thereby improving the maintenance and replacement efficiency.

[0042] It is worth noting that the suture needle 100 is made of a super-elastic material and can restore the original shape after deformation. The curved part of the suture needle module is deformed after entering the sleeve under the action of the driving module. The curved part is straightened by the constraint of the sleeve. After extending out of the sleeve, it can restore to the original curved structure due to its super-elasticity. The suture line is fixedly connected to the arc segment of the suture needle 100, and the suture line passes through the sleeve 300. The suture line is fixed on the arc segment of the suture needle 100 by adhesion, welding, riveting, and compression, etc. The suture line can be selected according to the need.

[0043] In Figure 8In the embodiment, the first mechanical arm 201 comprises a connecting frame 200a, and the connecting frame 200a is provided with support blocks 200b at both ends for connecting with the sleeve 300, and the front end of the connecting frame 200a is provided with a short shaft, and a pair of clamping jaws 200c are slidingly connected to the short shaft. In the embodiment, the connecting frame 200a is the main structure of the whole mechanical arm, and bears the support and connection functions and is the installation basis of various components. The support blocks 200b at both ends are interface components of the connecting frame 200a and the sleeve 300, which improve the overall stability. The short shaft at the front end of the connecting frame 200a is a key component for realizing the opening and closing action as a movement guide rail of the clamping jaws. The clamping jaws 200c are rotatably connected with connecting rods 200d by means of pins. The connecting rods 200d are rotatably connected with sliding blocks 200e at the ends. The third sliding table 204 and the second sliding table 203 are connected with threaded pull rods 200f, and the sliding blocks 200e are threadedly connected to the threaded pull rods 200f. In the embodiment, the pair of clamping jaws 200c are working end execution components, and the clamping action is realized by sliding on the short shaft. The connecting rods 200d are movement transmission mechanisms, one end of which is rotatably connected with the clamping jaws 200c by means of pins, and the other end is rotatably connected with the sliding blocks 200e to form a movement chain. The sliding blocks 200e are movement conversion components, which convert the linear motion of the threaded pull rods 200f into the opening and closing motion of the clamping jaws 200c. The relative motion of the pair of clamping jaws 200c on the short shaft realizes the opening and closing of the first mechanical arm 201 or the second mechanical arm 202. Further, in the above technical solution, the second sliding table 203 and the third sliding table 204 are support and driving components for bearing the threaded pull rods 200f, and the threaded pull rods 200f are the driving source of the whole mechanism. The linear motion of the threaded pull rods 200f drives the synchronous motion of the sliding blocks 200e, and then the force is transmitted to the clamping jaws 200c through the connecting rods 200d. The above structure has the characteristics of compact structure and efficient transmission. Firstly, the short shaft guide and sliding connection mode ensures the stable and reliable opening and closing of the clamping jaws 200c. Secondly, the rotatingly connected connecting rod mechanism realizes the simple transmission of complex motion, reduces the wear of components, and improves the work stability. The combination of rotating connection and sliding connection in the overall design not only ensures the flexibility of movement, but also improves the rigidity of the structure.

[0044] In Figure 1 In the embodiment, in order to ensure the stability of the suture line and prevent the suture line from being wound and knotted during suturing, the pre-bending type suturing robot further comprises a thread winding shaft 401, one end of the thread winding shaft 401 is connected with a stepping motor 400, and a plurality of pulleys 500 are arranged on one side of the thread winding shaft 401, and the pulleys 500 are on the same horizontal line as the thread winding shaft 401. The suture line is wound on the thread winding shaft 401 and is released at a constant speed by the stepping motor 400. The suture line is constrained by the pulleys 500 during movement to ensure the stability of the suture line.

[0045] In summary, as Figures 10-18As shown, the working process of the device in this embodiment is as follows: Work preparation stage: The initial state of the device is that the suture needle 100 is fully assembled, the needle bar 101 and the needle tip 102 are inserted into the insertion hole 101a through the T-shaped strip 102b and locked by the male buckle 102a and the female buckle 101b, the suture is fixed on the arc-shaped section of the suture needle 100 and passes through the guide ring 301 inside the sleeve 300, the clamping module (first manipulator 201 and second manipulator 202) is in the released state, and the suture needle 100 is located inside the sleeve 300.

[0046] Continuous suture workflow: 1. Needle withdrawal and positioning stage like Figure 10 As shown, the first slide 103 pulls the suture needle 100 backward, so that the needle tip 102 exits the cannula 300 through the suture hole 302 on the side of the cannula 300. The doctor selects a suitable needle entry point and locates the tissue position. At this time, the cannula 300 plays a protective and guiding role to prevent the needle tip 102 from accidentally contacting the surrounding tissue. 2. Puncture and suture guidance stage like Figure 11 As shown, the first slide 103 pushes the suture needle 100 forward. Utilizing the characteristics of the arc-shaped needle body made of super-elastic material, the suture needle 100 moves along a preset arc trajectory and pierces the tissue insertion point. The needle tip 102 carries the connected suture thread through the tissue, achieving a precise puncture trajectory. At this time, the guide ring 301 inside the cannula 300 ensures that the suture thread moves smoothly and will not get tangled. 3. Needle tip penetration and clamping stage like Figures 12-13 As shown, the suture needle 100 continues to advance to the predetermined position, and the needle tip 102 passes through the tissue from the needle exit point. After the needle tip 102 passes through, it enters the suture hole 302 of the cannula 300. The second robotic arm 202 precisely clamps the cylindrical section of the needle tip. The second robotic arm 202 is driven by the second slide 203 to achieve precise clamping. 4. Needle tip separation stage like Figures 14-15 As shown, the second robotic arm 202 presses the female buckle 101b of the needle tip 102 and squeezes the male buckle 102a. At the same time, the first slide 193 controls the suture needle 100 to pull backward, and the needle bar 101 and the needle tip 102 partially separate. At this time, the T-shaped strip 102b begins to detach from the insertion hole 101a. The second robotic arm 202 opens, the suture needle 100 continues to pull backward, and the male buckle 102a and the female buckle 101b are completely separated. The needle tip 102 is completely separated from the needle bar 101, and the needle tip 102 is left on the side of the needle exit point. During this process, the first robotic arm 201 always holds the needle tip 102. 5. Needle bar withdrawal stage like Figure 16As shown, the needle bar 101 of the suture needle 100 continues to be pulled back until it is completely withdrawn from the needle entry point. At this time, the suture has passed through the tissue, connecting the needle entry point and the needle exit point. After the needle bar 101 is withdrawn, the super-elastic material restores its original shape for easy use next time. 6. Reconnection Phase like Figures 17-18 As shown, the position of the cannula 300 is appropriately raised to prevent the suture needle 100 from touching the sutured tissue when it moves. The first slide 103 controls the needle bar 101 to move forward until the female buckle 101b at the end of the needle bar 101 is locked with the male buckle 102a at the end of the needle tip 102 left at the needle exit point. The needle bar 101 and the needle tip 102 are reconnected, and the male buckle 102a and the female buckle 101b are locked again. The first robot arm 201 releases the needle tip 102 to complete one suturing cycle. 7. Continuous suture stage Repeating the above steps enables continuous suturing operations. The spool 401 and stepper motor 400 work together to adjust the tension and length of the suture thread, while the pulley system 500 ensures the smooth movement of the suture thread.

[0047] The entire working process described above fully utilizes the innovative design of the device: the detachable needle tip 102 structure enables continuous suturing; the ultra-elastic material ensures the elasticity and durability of the suture needle; the cannula 300 and guide ring 301 ensure smooth guidance of the suture; and the clamping module and slide system provide precise control. This design enables the robot to perform precise, efficient, and safe continuous suturing operations in a minimally invasive surgical environment.

[0048] It should be noted that the first slide 103, the second slide 203 and the third slide 204 in this application are all prior art, and are usually composed of a base, a lead screw, a slider and its limiting rod. Since the prior art is relatively mature, this application uses them as standard parts, and will not introduce their specific structure and working principle in detail.

[0049] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. A pre-bending suturing surgical robot, comprising a suture needle (100), the front end of the suture needle (100) having an arc-shaped structure, the end of the suture needle (100) being connected to a first slide (103), and a clamping module being fitted to the end of the suture needle (100). Its features are: The suture needle (100) is composed of a detachable structure consisting of a needle bar (101) and a needle tip (102). The needle bar (101) is connected to the first slide (103). The clamping module includes a first robotic arm (201) and a second robotic arm (202) with the same structure. The first robotic arm (201) and the second robotic arm (202) are both clamped on the front end of the suture needle (100). The ends of the first robotic arm (201) and the second robotic arm (202) are respectively equipped with a third slide (204) and a second slide (203) for driving to open and close. The suture needle (100) is disassembled through the first robotic arm (201) and the second robotic arm (202). The suture needle (100) and its clamping module are covered with a sleeve (300). The sleeve (300) has a thread hole (302) on its side for the suture needle (100) to pass through.

2. The pre-bending suture surgical robot according to claim 1, characterized in that: The end of the needle bar (101) is provided with a plug hole (101a), and the end of the corresponding needle tip (102) is provided with a T-shaped strip (102b). The assembly of the needle tip (102) and the needle bar (101) is completed by the docking of the T-shaped strip (102b) with the plug hole (101a).

3. The pre-bending suture surgical robot according to claim 2, characterized in that: The needle bar (101) has a female buckle (101b) symmetrically provided on the front side, and the lower end of the needle tip (102) has a male buckle (102a) symmetrically provided on the lower surface. The male buckle (102a) is located on both sides of the T-shaped strip (102b). When the needle tip (102) is assembled with the needle bar (101), the male buckle (102a) and the female buckle (101b) are inserted and then unfolded outward to complete the locking of the needle tip (102) and the needle bar (101).

4. The pre-bending suture surgical robot according to claim 1, characterized in that: The suture needle (100) is made of a super-elastic material that can recover its original shape after deformation, and a suture thread is fixedly connected to the arc-shaped section of the suture needle (100), and the suture thread passes through the sleeve (300).

5. The pre-bending suture surgical robot according to claim 4, characterized in that: Inside the cannula (300), guide rings (301) are arranged linearly. When the suture is connected to the suture needle (100), the suture passes through the guide rings (301) to achieve the purpose of guidance.

6. The pre-bending suture surgical robot according to claim 5, characterized in that: The sleeve (300) has a linear slit, and the linear slit is connected to the wire hole (302).

7. The pre-bending suture surgical robot according to claim 1, characterized in that: The first robotic arm (201) includes a connecting frame (200a), and the connecting frame (200a) has support blocks (200b) at both ends that are connected to the sleeve (300). The front end of the connecting frame (200a) is provided with a short shaft, and a pair of grippers (200c) are slidably connected on the short shaft. The opening and closing of the first robotic arm (201) or the second robotic arm (202) is realized by the relative movement of the pair of grippers (200c) on the short shaft.

8. The pre-bending suture surgical robot according to claim 7, characterized in that: The gripper (200c) is rotatably connected to a connecting rod (200d) by a pin, and the end of the connecting rod (200d) is rotatably connected to a slider (200e). The third slide (204) and the second slide (203) are connected to threaded pull rods (200f), and the slider (200e) is threadedly connected to the threaded pull rods (200f).

9. The pre-bending suture surgical robot according to claim 6, characterized in that: The pre-bent suture surgical robot also includes a spool (401), and one end of the spool (401) is connected to a stepper motor (400).

10. The pre-bending suture surgical robot according to claim 9, characterized in that: The winding spool (401) is also provided with a plurality of pulleys (500) on one side, and the pulleys (500) and the winding spool (401) are on the same horizontal line.

Images