Surgical execution device and surgical robot

Abstract

A surgical performing device and a surgical robot. The surgical performing device includes a knot tying mechanism and a thread picking mechanism. The knot tying mechanism includes a knot tying track configured to allow a leading end of a suture to move along the knot tying track, the knot tying track being disposed around a knot tying region, the knot tying track lying in a knot tying plane, the thread picking mechanism including a thread picking portion and a thread picking driving mechanism. The thread picking driving mechanism is configured to drive the thread picking portion to move to pick up a leading segment of the suture adjacent to the leading end of the suture. The knot tying mechanism is configured to drive the leading end of the suture to pass under the portion of the suture picked up to perform a knot tying action. The thread picking portion of the thread picking mechanism can pick up the leading segment of the suture, and the knot tying mechanism can drive the leading end of the suture to pass under the portion of the suture picked up to perform the knot tying action. Thus, the surgical performing device can independently perform a knot tying operation.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a surgical execution device and a surgical robot. Background Technology

[0002] With the continuous development of medical and engineering technologies, surgical robots have been widely used in various surgeries due to their advantages such as high precision, minimal trauma, high efficiency, and reduced workload for medical staff.

[0003] Suturing is an important procedure in many surgeries, using sutures to close the area to be sutured. Suturing typically involves puncture and knotting. Puncture involves using a needle to guide the suture through the area to be sutured, while knotting involves tying the two ends of the suture that have passed through the area to secure it. Summary of the Invention

[0004] This disclosure provides a surgical execution device and a surgical robot. The surgical execution device includes a suture-taking mechanism, whose suture-taking section can lift the beginning of the suture, and a knotting mechanism can drive the beginning of the suture to pass under the lifted portion of the suture to perform a knotting action. Thus, the surgical execution device can perform knotting operations independently.

[0005] At least one embodiment of this disclosure provides a surgical execution apparatus, comprising: a knotting mechanism including a knotting track configured to allow the beginning of a suture to move along the knotting track, the knotting track being disposed around a knotting area and located in a knotting plane; and a suture-taking mechanism including a suture-taking portion and a suture-taking drive mechanism configured to drive the suture-taking portion to move to lift a beginning segment adjacent to the beginning of the suture, and the knotting mechanism being configured to drive the beginning of the suture to pass under the lifted portion of the suture to perform a knotting action.

[0006] For example, in a surgical execution device provided in one embodiment of this disclosure, the movement trajectory of the suture take-up portion includes a first suture take-up position and a second suture take-up position. The suture take-up portion located at the first suture take-up position and the suture take-up portion located at the second suture take-up position are on opposite sides of the knotting plane. The second suture take-up position is located above the first suture take-up position and above the knotting track. The suture take-up driving mechanism is configured to drive the suture take-up portion to move from the first suture take-up position to the second suture take-up position to pick up the beginning of the suture.

[0007] For example, in a surgical execution device provided in an embodiment of this disclosure, the knotting mechanism includes: a first knotting component including a first needle groove; and a second knotting component including a second needle groove, wherein the first knotting component and the second knotting component are arranged at a distance from each other, such that the first needle groove and the second needle groove are opposite to each other to form the knotting track. In response to the thread take-up portion moving from the first thread take-up position to the second thread take-up position, the movement trajectory of the thread take-up portion passes through an area on one side of the first knotting component or passes between the first knotting component and the second knotting component.

[0008] For example, in a surgical execution device provided in an embodiment of this disclosure, both the first needle groove and the second needle groove include an inlet and an outlet. The beginning of the suture enters the first needle groove from the inlet and exits the first needle groove from the outlet. The beginning of the suture enters the second needle groove from the inlet and exits the second needle groove from the outlet. At least a portion of the movement trajectory of the suture take-up portion is closer to the inlet of the first needle groove than the outlet of the second needle groove.

[0009] For example, in a surgical execution apparatus provided in one embodiment of this disclosure, the knotting mechanism is configured to drive the beginning of the suture from the first needle groove through the second needle groove and back to the first needle groove, so that the beginning of the suture passes under the portion of the suture that has been lifted, in order to perform a knotting action.

[0010] For example, in a surgical execution device provided in one embodiment of this disclosure, the suture-taking drive mechanism includes a suture-taking drive motor, which is configured to drive the suture-taking part to move.

[0011] For example, in a surgical execution device provided in one embodiment of this disclosure, the thread-taking drive mechanism includes a thread-taking drive motor, which is configured to drive the thread-taking part to rotate.

[0012] For example, in a surgical execution device provided in one embodiment of this disclosure, the thread-taking drive mechanism further includes a thread-taking drive rope connected between the thread-taking drive motor and the thread-taking part; the thread-taking drive rope is configured to move in response to the drive of the thread-taking drive motor to drive the thread-taking part to move or rotate.

[0013] For example, in a surgical execution device provided in one embodiment of this disclosure, the device further includes: a clamping mechanism including a suture end configured to constrain the tail end of the suture; wherein the clamping mechanism further includes a clamping drive mechanism configured to drive the suture end to move within a clamping surface intersecting the knotting plane, the movement trajectory of the suture end including a knotting position, the orthographic projection of the knotting position on the knotting plane being located within the knotting area, and the knotting mechanism and the suture take-up mechanism configured to perform the knotting action in response to the suture end moving to the knotting position, so that the beginning end of the suture surrounds the suture tail connected to the tail end of the suture to form a surgical knot.

[0014] For example, in a surgical execution device provided in one embodiment of this disclosure, the surgical execution device further includes at least one tensioner, the tensioner including a suture holding assembly configured to constrain the tensioned section of the suture and allow the suture to slide relative to the suture holding assembly; the movement trajectory of the suture holding assembly includes a tensioned position, and the orthographic projection of the tensioned position of the suture holding assembly of the tensioner on the knotting plane is located outside the knotting area; the tensioned section of the suture includes at least a first end, a starting section and a second end, the first end being the starting end of the suture, the second end exiting from the tissue to be sutured, the second end being located below the first end and below the knotting plane.

[0015] At least one embodiment of this disclosure provides a surgical robot, including: a robotic arm and any of the surgical execution devices described above, wherein the surgical execution device is mounted on the robotic arm. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0017] Figure 1 This is a schematic diagram of the structure of a surgical execution device in one state, as provided in an embodiment of the present disclosure;

[0018] Figure 2 for Figure 1 A partially enlarged schematic diagram of the surgical execution structure is shown.

[0019] Figure 3A for Figure 1 A partially enlarged schematic diagram of another state of the surgical execution structure shown;

[0020] Figure 3B This is a schematic diagram showing the positional relationship between the movement trajectory of the thread-taking part and the knotting track in a surgical execution device according to an embodiment of this disclosure;

[0021] Figure 4 for Figure 1 A partially enlarged schematic diagram of the surgical execution structure from another perspective;

[0022] Figure 5 for Figure 1 A partial structural schematic diagram of the thread-carrying mechanism is shown;

[0023] Figure 6 for Figure 1 A partially enlarged schematic diagram of another state of the surgical execution structure shown;

[0024] Figure 7 for Figure 1 A schematic diagram of another state of the surgical execution structure shown;

[0025] Figure 8 for Figure 7 A partially enlarged schematic diagram of the surgical execution structure is shown.

[0026] Figures 9A to 12 for Figure 1 The diagram shows some steps of the knot-tying operation performed by the surgical execution device; and

[0027] Figure 13 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of this disclosure. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this disclosure clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluded cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0030] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0031] The components or structures in the accompanying drawings are not drawn to scale. For clarity, the dimensions of the components or structures may be exaggerated or reduced, but this should not be used to limit the scope of this disclosure. To keep the following description of the embodiments of this disclosure clear and concise, detailed descriptions of known functions and known components may be omitted.

[0032] Unless otherwise defined, the characteristics such as "parallel," "perpendicular," and "identical" used in the embodiments of this disclosure include the strictly defined cases of "parallel," "perpendicular," and "identical," as well as cases that include a certain margin of error, such as "approximately parallel," "approximately perpendicular," and "approximately identical." For example, the aforementioned "approximately" may indicate that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. Unless otherwise specified in the following embodiments of this disclosure, the quantity of a component or element is implied to mean that the component or element may be one or more, or can be understood as at least one. "At least one" refers to one or more, and "more" refers to at least two.

[0033] During the knotting process, the sutures need to be wound and tightened in a complex manner. The ability of surgical robots to perform knotting operations independently and accurately is currently a challenge in the structural design of surgical robots.

[0034] This disclosure provides a surgical execution device and a surgical robot. The surgical execution device includes a knotting mechanism and a suture-taking mechanism. The knotting mechanism includes a knotting track configured to allow the beginning of the suture to move along the track. The knotting track is disposed around a knotting area and is located in a knotting plane. The suture-taking mechanism includes a suture-taking portion and a suture-taking drive mechanism. The suture-taking drive mechanism is configured to drive the suture-taking portion to move, thereby lifting a segment of the suture adjacent to the beginning of the suture. The knotting mechanism is configured to drive the beginning of the suture to pass under the lifted portion of the suture to perform a knotting action.

[0035] In the surgical execution device provided in this embodiment, the suture-taking mechanism can lift the beginning of the suture. Then, the knotting mechanism can drive the beginning of the suture to pass under the lifted portion of the suture, thereby performing a knotting action. The suture-taking mechanism not only automates knotting without human intervention, allowing the surgical execution device to perform knotting independently, but also improves the automation of the surgical execution device. Furthermore, the action of lifting the suture by the suture-taking mechanism is simple, only lifting the beginning of the suture, changing only the state of the lifted portion of the suture without affecting the state of other parts of the suture. It also eliminates the need for a complex structure, making the surgical execution device more compact and lightweight. In addition, the suture-taking mechanism lifts the beginning of the suture, creating a gap between the lifted suture and the knotting track, ensuring the accuracy of the action of the beginning of the suture passing under the lifted portion of the suture, avoiding empty knots, and improving knotting efficiency.

[0036] The surgical execution device and surgical robot provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0037] This disclosure provides a surgical execution device. Figure 1 This is a schematic diagram of the structure of a surgical execution device in one state, as provided in an embodiment of the present disclosure; Figure 2 for Figure 1 A partially enlarged schematic diagram of the surgical execution structure is shown. Figure 3A for Figure 1 A partially enlarged schematic diagram of another state of the surgical execution structure shown.

[0038] like Figures 1 to 3A As shown, the surgical execution device 700 includes a knotting mechanism 120 and a suture-taking mechanism 500. The knotting mechanism 120 includes a knotting track 121, which is configured to allow the beginning end T01 of the suture 710 to move along the knotting track 121. To clearly illustrate the knotting track 121, Figure 1 The structure of the knotting mechanism 120 is partially hidden to expose part of the knotting track 121, which is the movement track of the beginning T01 of the sewing thread 710, and can also be called the movement trajectory.

[0039] The knotting track 121 is set around the knotting area 123 and is located on the knotting plane 124. Figure 1 A schematic diagram of the knotting track 121 and the knotting plane 124 is shown to clearly illustrate the relationship between the three.

[0040] like Figures 1 to 3AAs shown, the thread take-up mechanism 500 includes a thread take-up portion 510 and a thread take-up drive mechanism 520. The thread take-up drive mechanism 520 is configured to drive the thread take-up portion 510 to move, thereby lifting the initial segment T03 adjacent to the beginning end T01 of the sewing thread 710. The knotting mechanism 120 is configured to drive the beginning end T01 of the sewing thread 710 to pass under the lifted portion of the sewing thread 710 to perform a knotting action. It should be noted that the sewing thread 710 includes the beginning end T01, which moves along the knotting track 121, and the sewing thread segment within a certain length adjacent to the beginning end T01 is the initial segment T03. In this embodiment, the length of the initial segment T03 of the sewing thread 710 is not specifically limited. The thread take-up portion 510 of the thread take-up mechanism 500 is the portion that contacts the sewing thread 710 during the thread take-up process.

[0041] In the surgical execution device provided in the embodiments of this disclosure, see... Figures 1 to 3A The suture-taking mechanism 500's suture-taking section 510 can lift the initial segment T03 of the suture 710. Then, the knotting mechanism 120 drives the initial end T01 of the suture 710 to pass under the lifted portion of the suture 710, thereby performing a knotting action. The suture-taking mechanism 500 not only automates knotting without human intervention, allowing the surgical execution device to perform knotting operations independently, thus improving the automation of the surgical execution device, but also simplifies the lifting action of the suture 710. It only lifts the initial segment T03 of the suture 710, changing only the state of the lifted portion without affecting the state of other parts of the suture 710. This eliminates the need for a complex structure in the suture-taking mechanism 500, making the surgical execution device more compact and lightweight. In addition, the thread take-up mechanism 500 lifts the beginning section T03 of the thread 710, so that there is a gap between the lifted thread 710 and the knotting track 121, ensuring the accuracy of the action of the beginning section T01 of the thread 710 passing under the lifted part of the thread 710, avoiding empty knots and improving knotting efficiency.

[0042] In some examples, such as Figures 1 to 3A As shown, the beginning end T01 of the suture 710 is connected to the knotting needle 190, and the beginning end T01 of the suture 710 moves along the knotting track 121 under the drive of the knotting needle 190. The knotting track mentioned above can also be the movement track or movement trajectory of the knotting needle 190 connected to the beginning end T01 of the suture.

[0043] Figure 3B This is a schematic diagram illustrating the movement trajectory of the thread-picking section and the positional relationship of the knotting track in a surgical execution device according to an embodiment of this disclosure. Figures 1 to 3BAs shown, the movement trajectory of the thread take-up section 510 includes a first thread take-up position P51 and a second thread take-up position P52. The thread take-up section 510 located at the first thread take-up position P51 and the thread take-up section 510 located at the second thread take-up position P52 are on opposite sides of the knotting plane 124. The second thread take-up position P52 is located above the first thread take-up position P51 and above the knotting track 121. The thread take-up drive mechanism 520 is configured to drive the thread take-up section 510 to move from the first thread take-up position P51 to the second thread take-up position P52 to lift the initial segment T03 of the sewing thread 710.

[0044] In this example, by positioning the thread-taking portion 510 at the first thread-taking position P51 and the thread-taking portion 510 at the second thread-taking position P52 on opposite sides of the knotting plane 124, the second thread-taking position P52 is positioned above the first thread-taking position P51 and above the knotting track 121. Therefore, when the thread-taking portion 510 moves from the first thread-taking position P51 to the second thread-taking position P52, it can lift the initial segment T03 of the thread 710. This configuration not only simplifies the structure of the thread-taking portion 510 but also ensures that the thread 710 can be lifted from the knotting track 121, improving knotting efficiency.

[0045] In some examples, such as Figures 1 to 3A As shown, the knotting mechanism 120 includes a first knotting component 110A and a second knotting component 125. The first knotting component 110A includes a first needle groove 112A, and the second knotting component 125 includes a second needle groove 112B. The first knotting component 110A and the second knotting component 125 are arranged at a distance from each other, such that the first needle groove 112A and the second needle groove 112B are opposite each other to form a knotting track 121. For example, in response to the take-up portion 510 moving from the first take-up position P51 to the second take-up position P52, the movement trajectory of the take-up portion 510 passes between the first knotting component 110A and the second knotting component 125. For example, in response to the take-up portion 510 moving from the first take-up position P51 to the second take-up position P52, the movement trajectory of the take-up portion 510 passes through the area on one side of the first knotting component 110A. It should be noted that the relative spacing between the first knotting component 110A and the second knotting component 125 can be symmetrical or asymmetrical, and this embodiment does not limit this.

[0046] In this example, the knotting mechanism 120 includes a first knotting component 110A and a second knotting component 125 arranged at intervals relative to each other. When the thread take-up part 510 moves from the first thread take-up position P51 to the second thread take-up position P52 to take up the thread 710, by making the movement trajectory of the thread take-up part 510 pass between the first knotting component 110A and the second knotting component 125, or pass through the area on one side of the first knotting component 110A, the thread take-up part 510 can pick up the beginning segment T03 of the thread 710 between the first knotting component 110A and the second knotting component 125. The thread take-up part 510 picks up the beginning segment T03 of the thread 710 located on one side of the first knotting component 110A. This configuration not only simplifies the thread-taking action and trajectory of the thread-taking section 510, but also ensures that the movement trajectory of the thread-taking section 510 does not need to avoid other components of the surgical execution device, and that the addition of the thread-taking section 510 and its movement trajectory do not require changes to other components of the surgical execution device.

[0047] It should be noted that when the first knotting component 110A and the second knotting component 125 are arranged at intervals relative to each other, the knotting track 121 is the movement track of the beginning end T01 of the suture 710 between the first needle groove 112A, the second needle groove 112B, and the interval between the first needle groove 112A and the second needle groove 112B. The beginning end T01 of the suture 710 enters the second needle groove 112B from the first needle groove 112A, through the interval between the first needle groove 112A and the second needle groove 112B, and then returns to the first needle groove 112A from the second needle groove 112B through the interval between the first needle groove 112A and the second needle groove 112B.

[0048] In this example, the knotting mechanism 120 includes a first knotting component 110A and a second knotting component 125. When the first knotting component 110A and the second knotting component 125 are arranged relatively apart from each other, the first needle groove 112A and the second needle groove 112B are opposite to each other to form a knotting track 121. Furthermore, the spatial position of the first knotting component 110A or the second knotting component 125 can be adjusted to allow the first knotting component 110A or the second knotting component 125 to perform other functions in conjunction with other structures. Therefore, the knotting mechanism 120 can also achieve more extended functions, which will not be elaborated here.

[0049] Figure 4 for Figure 1 A partially enlarged schematic diagram from another perspective of the surgical execution structure. (See diagram below.) Figure 3A and Figure 4As shown, the first needle groove 112A includes an inlet E1 and an outlet O1, and the second needle groove 112B includes an inlet E2 and an outlet O2. The beginning of the suture 710 enters the first needle groove 112A through the inlet E1 and exits through the outlet O1. The beginning of the suture 710, T01, enters the second needle groove 112B through the inlet E2 and exits through the outlet O2. At least a portion of the movement trajectory of the take-up section 510 is closer to the inlet E1 of the first needle groove 112A than the outlet O2 of the second needle groove 112B. The suture take-up section 510 is used to pick up the initial segment of the suture 710 adjacent to its starting end T01. By bringing the suture take-up section 510 closer to the entrance E1 of the first needle groove 112A, it can more accurately, stably, and reliably pick up the initial segment of the suture 710 near the entrance E2 of the first needle groove 112A, thus ensuring the accuracy of suture take-up. Furthermore, because the suture take-up section 510 can be closer to the starting end T01 of the suture 710, its size can be minimized, which not only facilitates its structural design but also improves the compactness of the surgical execution device.

[0050] In addition, such as Figure 1 As shown, to ensure the continuity of the surgical execution device's operation, the suture 710 has a certain length. During the knotting action, a portion of the suture 710 is tensioned and stored by the tensioner 320. For a description of the tensioner 320, please refer to the following text.

[0051] In some examples, such as Figures 1 to 3A As shown, the knotting mechanism 120 is configured to drive the beginning end T01 of the suture 710 from the first needle groove 112A through the second needle groove 112B and back to the first needle groove 112A, so that the beginning end T01 of the suture 710 passes under the portion of the suture 710 that is picked up by the take-up portion 510 to perform the knotting action.

[0052] In some examples, such as Figure 2 and Figure 4As shown, along the direction X from the second knotting assembly 125 to the first knotting assembly 110A, the minimum distance between the first needle groove 112A and the second needle groove is the first distance D01. Along the direction X from the second knotting assembly 125 to the first knotting assembly 110A, the distance between the suture take-up portion 510 and the entrance E1 of the first needle groove 112A is the second distance D02. The ratio of the second distance D02 to the first distance D01 is not greater than 1 / 5. Therefore, at least a portion of the movement trajectory of the suture take-up portion 510 can be made as close as possible to the entrance E1 of the first needle groove 112A, improving the suture take-up accuracy of the suture take-up portion 510. In this embodiment, the position of the suture take-up portion 510 can be set according to the size of the surgical execution device, the distance between the first knotting assembly 110A and the second knotting assembly 125, etc.

[0053] Figure 5 for Figure 1 The diagram shows a partial structural schematic of the thread-carrying mechanism. Figure 5 A schematic diagram of the structure of the thread-taking part 510 of the thread-taking mechanism 500 at the first thread-taking position P51 and the second thread-taking position P52 is shown.

[0054] In some examples, such as Figure 3B and Figure 5 As shown, the suture-taking drive mechanism 520 includes a suture-taking drive motor M1, which is configured to drive the suture-taking section 510 to rotate. By rotating the suture-taking section 510 to lift the initial segment of the suture 710, the structure of the suture-taking mechanism 500 can be made more compact, thereby making the structure of the surgical execution device more compact. Of course, the movement mode of the suture-taking section is not limited in this embodiment.

[0055] In some examples, the thread take-up drive motor is configured to drive the thread take-up section to move. For example, the thread take-up drive motor is configured to drive the thread take-up section to move in the vertical direction, thereby lifting the beginning of the thread. For example, the thread take-up drive motor is configured to drive the thread take-up section to move in other directions intersecting the vertical direction, thereby lifting the beginning of the thread.

[0056] like Figure 1 , Figure 2 , Figure 3B and Figure 5As shown, the thread take-up section 510 includes an arc segment 511. When the thread take-up section 510 is in the first thread take-up position P51, the arc center O1 of the arc segment 511 is located on the side of the arc segment 511 closest to the knotting plane 124. That is, when the thread take-up section 510 is in the first thread take-up position P51, the arc segment 511 of the thread take-up section 510 bends towards the knotting plane 124. Therefore, when the thread take-up section 510 lifts the thread 710, the lifted portion of the thread 710 can fall into or slide into the middle position of the thread take-up section 510 from the end 512 along the arc segment 511, allowing the thread take-up section 510 to lift the thread 710 more quickly, stably, and reliably. Furthermore, after the thread take-up portion 510 lifts up the thread 710, the arc segment 511 of the thread take-up portion 510 can also ensure that the lifted part of the thread 710 is stably located within the arc segment 511, preventing the lifted part of the thread 710 from falling off the thread take-up portion 510 due to movement of the thread take-up portion 510 or other external factors.

[0057] In some examples, such as Figure 1 , Figure 2 , Figure 3B and Figure 5 As shown, when the thread take-up portion 510 is at the first thread take-up position P51, the orthographic projection of the arc segment 511 on the knotting plane 124 overlaps with the knotting track 121. Therefore, the arc segment 511 can better enable the thread take-up portion 510 to pick up the thread.

[0058] In some examples, such as Figure 2 , Figure 3A , Figure 3B and Figure 5 As shown, the suture-taking drive mechanism 520 includes a suture-taking drive shaft 521, and a suture-taking part 510 is disposed on the suture-taking drive shaft 521. The suture-taking drive mechanism 520 is configured to drive the suture-taking part 510 to rotate around the axis of the suture-taking drive shaft 521 to form a motion trajectory of the suture-taking part 510. For example, the suture-taking drive mechanism 520 drives the suture-taking drive shaft 521 to rotate, causing the suture-taking shaft 521 to drive the suture-taking part 510 to rotate. By driving the movement of the suture-taking part 510 through the rotation of the suture-taking drive shaft 521, the structure of the suture-taking mechanism 500 can be made more compact, thereby making the structure of the surgical execution device more compact.

[0059] In some examples, such as Figure 2 and Figure 3A As shown, the thread take-up drive shaft 521 is located outside the knotting track 121. For example, the thread take-up drive shaft 521 is close to the first knotting assembly 110A. This facilitates the arrangement of the thread take-up mechanism 500 without affecting the knotting mechanism 120.

[0060] In some examples, such as Figure 2 and Figure 3AAs shown, the axial direction of the thread-taking drive shaft 521 of the thread-taking drive mechanism 520 is X, which points from the second knotting assembly 125 to the first knotting assembly 110A. The plane containing the center line of the thread-taking part 510 is perpendicular to the axial direction of the thread-taking drive shaft 521. When the thread take-up part 510 moves from the first thread take-up position P51 to the second thread take-up position P52, it picks up the beginning of the thread 710 between the first knotting assembly 110A and the second knotting assembly 125. By making the axial direction of the thread take-up drive shaft 521 along the direction X and the plane containing the center line of the thread take-up part 510 perpendicular to the axial direction of the thread take-up drive shaft 521, the plane containing the movement trajectory of the thread take-up part 510 is perpendicular to the direction X under the rotation of the thread take-up drive shaft 521. This makes the movement trajectory of the thread take-up part 510 as small as possible in the direction X, minimizing the space occupied between the first knotting assembly 110A and the second knotting assembly 125, and avoiding the influence of the first knotting assembly 110A and the second knotting assembly 125 on the movement of the thread take-up part 510.

[0061] In some examples, such as Figure 3B As shown, the centerline of the thread-taking drive shaft 521 can be located on the knotting plane 124. This improves the compactness of the knotting mechanism and the thread-taking mechanism.

[0062] In some examples, such as Figure 5 As shown, the thread-carrying drive mechanism 520 also includes a thread-carrying drive rope 522, which is connected between the thread-carrying drive motor M1 and the thread-carrying part 510. The thread-carrying drive rope 522 is configured to move in response to the drive of the thread-carrying drive motor M1, thereby driving the thread-carrying part 510 to move or rotate. By using the thread-carrying drive rope 522 to realize the movement or rotation of the thread-carrying drive shaft 521, the thread-carrying drive mechanism 520 can be made more compact and lighter.

[0063] In some examples, such as Figure 5 As shown, the thread-picking drive mechanism 520 also includes a winding section 523, on which a thread-picking drive rope 522 is wound. The winding section 523 is coaxially connected to the thread-picking drive shaft 521. The thread-picking drive rope 522 is configured to drive the thread-picking drive shaft 521 to rotate, thereby causing the thread-picking section 510 to rotate. By using the thread-picking drive rope 522 to achieve the rotation of the thread-picking drive shaft 521, the thread-picking drive mechanism 520 can be made more compact and lighter.

[0064] In some examples, such as Figure 5As shown, the line-taking drive rope 522 includes a first line-taking drive rope portion 522a and a second line-taking drive rope portion 522b. The first line-taking drive rope portion 522a is configured to drive the line-taking drive shaft 521 to rotate, thereby moving the line-taking part 510 from the first line-taking position P51 to the second line-taking position P52. The second line-taking drive rope portion 522b is configured to drive the line-taking drive shaft 521 to rotate, thereby moving the line-taking part 510 from the second line-taking position P52 to the first line-taking position P51. By controlling different portions of the line-taking drive rope 522, different rotational directions of the line-taking part 510 can be achieved. This not only makes the line-taking of the line-taking part 510 more stable but also allows the line-taking part 510 to return from the second line-taking position P52 to the first line-taking position P51, preventing the line-taking part 510 from affecting subsequent actions.

[0065] Both the first thread-picking drive rope portion 522a and the second thread-picking drive rope portion 522b are tractably connected to the output shaft of the thread-picking drive motor M1. When the output shaft of the thread-picking drive motor M1 rotates in the forward direction, the first thread-picking drive rope portion 522a is retracted, while the second thread-picking drive rope portion 522b is released. This causes the first thread-picking drive rope portion 522a to drive the thread-picking drive shaft 521 to rotate, thereby moving the thread-picking part 510 from the first thread-picking position P51 to the second thread-picking position P52. When the output shaft of the thread-picking drive motor M1 rotates in the reverse direction, the first thread-picking drive rope portion 522a is released, while the second thread-picking drive rope portion 522b is retracted. This causes the second thread-picking drive rope portion 522b to drive the thread-picking drive shaft 521 to rotate, thereby moving the thread-picking part 510 from the second thread-picking position P52 to the first thread-picking position P51.

[0066] In some examples, such as Figure 5 As shown, the first thread-picking drive rope portion 522a and the second thread-picking drive rope portion 522b are not connected to each other on the winding portion 523. For example, one end of the first thread-picking drive rope portion 522a is fixed to and wound around the winding portion 523; one end of the second thread-picking rope portion is fixed to and wound around the winding portion 523. Therefore, the first thread-picking drive rope portion 522a and the second thread-picking drive rope portion 522b can independently drive the thread-picking drive shaft 521, avoiding mutual interference and improving the reliability and stability of the thread-picking function of the thread-picking portion 510.

[0067] In some examples, such as Figure 2 , Figure 3A and Figure 5As shown, the thread-taking drive mechanism 520 also includes a reversing wheel 524, which is located on the side of the thread-taking drive shaft 521 near the knotting track 121. A portion of the thread-taking drive rope 522 extending from the winding portion 523 is wound around the reversing wheel 524 so that this portion is turned at the steering wheel to be parallel to the axial direction of the thread-taking drive shaft 521. Thus, a portion of the thread-taking drive rope 522 can be reversed to the side closer to the knotting mechanism 120, improving the compactness of the structure of the knotting mechanism 120 and the thread-taking mechanism 500.

[0068] Figure 6 for Figure 1 A partially enlarged schematic diagram of another state of the surgical execution structure shown. (See attached image.) Figure 6 As shown, the movement trajectory of the thread take-up portion 510 also includes a third thread take-up position P53, at which the thread take-up portion 510 is spaced apart from the knotting mechanism 120. This prevents the thread take-up portion 510 from affecting the movement of the knotting mechanism 120. For example, the knotting mechanism 120 may include a first knotting component 110A and a second knotting component 125 arranged relatively apart from each other. By making the movement trajectory of the thread take-up portion 510 include the third thread take-up position P53, the thread take-up portion 510 can be prevented from affecting the spatial adjustment of the first knotting component 110A or the second knotting component 125.

[0069] In some examples, such as Figures 1 to 3A As shown, the surgical execution device also includes a clamping mechanism 200. The clamping mechanism 200 includes a suture end 210 configured to constrain the tail end of the suture 710. A knotting track 121 of the knotting mechanism 120 allows the beginning end T01 of the suture 710 to move along the knotting track 121, and the suture end 210 of the clamping mechanism 200 constrains the tail end of the suture 710. The clamping mechanism 200 also includes a clamping drive mechanism 220 configured to drive the suture end 210 to move within a clamping surface 211 intersecting the knotting plane 124. For example, Figure 1 The diagram schematically shows that the clamping surface 211 is a plane, perpendicular to the knotting plane 124; however, this is not a limitation of the embodiments disclosed herein.

[0070] like Figure 1 and Figure 3A As shown, the movement trajectory of the suture end 210 includes a knotting position P11, and the orthographic projection of the knotting position P11 on the knotting plane 124 lies within the knotting area 123. The knotting mechanism 120 and the thread take-up mechanism 500 are configured to perform a knotting action in response to the movement of the suture end 210 to the knotting position P11, so that the beginning end T01 of the suture 710 surrounds the suture tail connected to the tail end of the suture 710 to form a surgical knot.

[0071] In this example, such as Figure 1 and Figure 3AAs shown, in response to the suture end 210 moving to the knotting position P11, the suture take-up mechanism 500 lifts the beginning of the suture 710, and the knotting mechanism 120 drives the beginning of the suture 710 T01 to pass under the lifted portion of the suture 710, performing a knotting action. Thus, the cooperation of the clamping mechanism 200, the knotting mechanism 120, and the suture take-up mechanism 500 can form a surgical knot.

[0072] Figure 7 for Figure 1 A schematic diagram of another state of the surgical execution structure shown; Figure 8 for Figure 7 A partially enlarged schematic diagram of the surgical execution structure is shown. Figure 1 , Figure 7 and Figure 8 As shown, the movement trajectory of the suture end 210 also includes a tightening position P21A. The orthographic projection of the tightening position P21A onto the knotting plane 124 is located outside the knotting area 123, and the tightening position P21A is located on the knotting plane 124 or on the side of the knotting plane 124 away from the knotting position P11. When the suture end 210 is in the tightening position P21A, the surgical knot can be tightened, thereby improving the automation level of the surgical execution device.

[0073] In some examples, such as Figure 1 , Figure 7 and Figure 8 As shown, the surgical execution device also includes at least one tensioner 320. The tensioner 320 includes a suture holding assembly 321 configured to restrain the suture 710 and allow the suture 710 to slide relative to the suture holding assembly 321. The movement trajectory of the suture holding assembly 321 includes a tension position P31, the orthographic projection of which onto the knotting plane 124 is outside the knotting area. At least one tensioner 320 includes a first tensioner 320A, located on either side of the knotting track 121, along with a tightening position P21A of the suture end 210. The surgical knot can be tightened by the tension position P31 of the suture holding assembly 321 of the first tensioner 320A and the tightening position P21A of the suture end 210.

[0074] It should be noted that the tension position mentioned above refers to the position where the suture holding component can tighten the surgical knot; the tension position mentioned above is not a specific position, and it will change as the suture length changes.

[0075] In some examples, such as Figure 1 and Figure 7As shown, the surgical execution device 700 also includes a main frame 900, and at least one tensioner 320 further includes a second tensioner 320B. The second tensioner 320B and the first tensioner 320A are located on opposite sides of the main frame 900 in the transverse X direction. The first tensioner 320A and the second tensioner 320B alternately constrain the suture 710 via two suture holding assemblies 321 to allow the suture 710 to pass between the first tensioner 320A and the second tensioner 320B. For example, as Figure 3A As shown, during the knotting action, the second tensioner 320B can constrain and tension the sewing thread 710 to ensure the knotting action can proceed. For example, as... Figure 8 As shown, when tightening the surgical knot, the first tensioner 320A can constrain and tension the suture 710, and together with the suture end 210, tighten the surgical knot.

[0076] Figures 9A to 12 for Figure 1 The diagram shows some steps of the knot-tying operation performed by the surgical execution device. Below, with reference to the foregoing accompanying drawings, a detailed description will be provided of an exemplary process for knot-tying operations using the surgical execution device provided in this disclosure. It should be noted that the specific process or method for knot-tying operations based on the surgical execution device provided in this disclosure includes, but is not limited to, the above.

[0077] Figure 9B for Figure 9A A partially enlarged schematic diagram of the surgical execution device shown. Figure 1 , Figure 9A and Figure 9B As shown, the surgical execution device also includes at least one tensioner 320. The tensioner 320 includes a suture holding assembly 321 configured to constrain the tensioned segment 710T of the suture 710 and allow the suture 710 to slide relative to the suture holding assembly 321. The movement trajectory of the suture holding assembly 321 includes a tensioned position P31, the orthographic projection of which onto the knotting plane 124 is outside the knotting area 123. The tensioned segment 710T of the suture 710 includes at least a first end, a starting segment T03, and a second end T02. The first end is the starting end T01 of the suture 710, and the second end T02 extends from the tissue T to be sutured, is located below the first end, and is also located below the knotting plane 124. Driven by the thread take-up drive mechanism, the thread take-up part 510 picks up the initial segment T03 adjacent to the first end, i.e. the beginning end T01, of the suture 710. The beginning end T01 of the suture 710 passes under the picked-up portion of the suture 710 to perform a knotting action. This knotting action is performed above the second end T02, so that the knotting action can be performed above the tissue T to be sutured.

[0078] like Figure 1, Figure 2 , Figure 9A and Figure 9B As shown, the thread-holding assembly 321 of the second tensioner 320B holds the thread 710 and tensions it; the thread-bundling end 210 of the clamping mechanism 200 is located in the initial position P21B. For example, the initial position P21B and the tightened position P21A of the thread-bundling end 210 are located on opposite sides of the knotting track 121 in the transverse X direction. The thread take-up section 510 is located in the first thread take-up position P51 in preparation for thread take-up.

[0079] like Figure 1 , Figure 3A and Figure 10 As shown, under the drive of the clamping drive mechanism 220, the thread end 210 of the clamping mechanism 200 moves to the knotting position P11, and the thread take-up part 510 moves from the first thread take-up position P51 to the second thread take-up position P52, and the thread take-up part 510 picks up the beginning of the sewing thread 710.

[0080] like Figure 1 and Figure 11A As shown, the beginning of the suture 710 moves along the knotting track 121, causing the beginning of the suture 710 to move around the tail of the suture connected to the end of the suture 710.

[0081] like Figure 3A and Figure 11B As shown, the beginning of the thread 710 continues to move along the knotting track 121 and passes under the portion of the thread 710 that has been lifted, in order to perform the knotting action. For example, as Figure 11B As shown, after the knotting action is performed, the thread take-up unit 510 returns to the first thread take-up position P51. To clearly illustrate the movement of the thread 710, Figure 11A and Figure 11B Only a portion of the surgical execution device is shown.

[0082] like Figure 1 and Figure 12 As shown, the wire holding assembly 321 of the first tensioner 320A is driven so that the wire holding assembly 321 of the first tensioner 320A is located between the first knotting assembly 110A and the second knotting assembly 125, so that the wire holding assembly 321 of the first tensioner 320A can hold the wire.

[0083] like Figure 7 and Figure 8As shown, the thread-holding assembly 321 of the first tensioner 320A is driven to move towards the tensioned position P31 to tension the suture 710. Simultaneously, the thread-holding assembly 321 of the second tensioner 320B is driven to release the suture 710, which is then transferred from the second tensioner 320B to the first tensioner 320A. Driven by the clamping drive mechanism 220, the suture end 210 of the clamping mechanism 200 is located in the tightened position P21A. Meanwhile, the thread-holding assembly 321 of the first tensioner 320A continues to move away from the knotted area 123 to tighten the surgical knot at the suture tail.

[0084] This disclosure also provides a surgical robot. Figure 13 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of this disclosure. Figure 13 As shown, the surgical robot SR10 includes a robotic arm 800 and a surgical execution device 700 provided in any of the above examples, which is mounted on the robotic arm 800. Thus, the surgical robot possesses the technical effects corresponding to the beneficial technical effects of its included surgical execution device.

[0085] This disclosure also provides a driving method for the surgical execution device described above. The driving method includes:

[0086] The control thread take-up drive mechanism drives the thread take-up section to lift the initial segment adjacent to the beginning of the thread; and

[0087] The control knotting mechanism drives the beginning of the sewing thread to pass under the part of the sewing thread that has been lifted in order to perform the knotting action.

[0088] For example, the driving method further includes: controlling the suture end to move to the knotting position, such that the beginning of the suture wraps around the suture tail connected to the end of the suture to form a surgical knot.

[0089] For example, controlling the take-up drive mechanism to drive the take-up section to lift the initial segment adjacent to the beginning of the suture, including:

[0090] The control thread take-up drive mechanism drives the thread take-up part from the first thread take-up position to the second thread take-up position to connect the beginning segment adjacent to the beginning of the sewing thread.

[0091] For example, controlling the take-up drive mechanism to drive the take-up section to lift the initial segment adjacent to the beginning of the suture, including:

[0092] The control thread take-up drive mechanism drives the thread take-up section to pick up the initial segment adjacent to the beginning of the suture from the area on one side of the first knot assembly or from between the first knot assembly and the second knot assembly.

[0093] The following points need to be explained:

[0094] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0095] (2) Where there is no conflict, features of the same embodiment and different embodiments of this disclosure can be combined with each other.

[0096] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A surgical execution device, comprising: A knotting mechanism includes a knotting track configured to allow the beginning of the thread to move along the knotting track, the knotting track being disposed around a knotting area and located in a knotting plane; as well as The thread-taking mechanism includes a thread-taking section and a thread-taking drive mechanism. The thread-taking drive mechanism is configured to drive the thread-taking part to move so as to lift up the initial segment adjacent to the beginning of the thread, and the knotting mechanism is configured to drive the beginning of the thread to pass under the lifted portion of the thread to perform a knotting action.

2. The surgical execution device according to claim 1, wherein, The movement trajectory of the thread take-up part includes a first thread take-up position and a second thread take-up position. The thread take-up part located at the first thread take-up position and the thread take-up part located at the second thread take-up position are on opposite sides of the knotting plane. The second thread take-up position is located above the first thread take-up position and above the knotting track. The thread take-up drive mechanism is configured to drive the thread take-up part to move from the first thread take-up position to the second thread take-up position in order to pick up the beginning of the thread.

3. The surgical execution device according to claim 2, wherein, The knotting mechanism includes: The first knotting assembly includes a first needle groove; and The second knotting assembly includes a second needle groove. The first knotting component and the second knotting component are arranged at a distance from each other, such that the first needle groove and the second needle groove are opposite to each other to form the knotting track. In response to the thread take-up portion moving from the first thread take-up position to the second thread take-up position, the movement trajectory of the thread take-up portion passes through the area on one side of the first knotting component or passes between the first knotting component and the second knotting component.

4. The surgical execution device according to claim 3, wherein, Both the first needle groove and the second needle groove include an inlet and an outlet. The beginning of the suture enters the first needle groove from the inlet and exits the first needle groove from the outlet. The beginning of the suture enters the second needle groove from the inlet and exits the second needle groove from the outlet. At least a portion of the movement trajectory of the thread take-up portion is closer to the inlet of the first needle groove than the outlet of the second needle groove.

5. The surgical execution apparatus of claim 4, wherein the knotting mechanism is configured to drive the beginning of the suture from the first needle groove, through the second needle groove, and back to the first needle groove, such that the beginning of the suture passes under the portion of the suture that has been lifted, to perform a knotting action.

6. The surgical execution device according to any one of claims 2-5, wherein, The thread-picking drive mechanism includes a thread-picking drive motor, which is configured to drive the thread-picking part to move.

7. The surgical execution device according to any one of claims 2-5, wherein, The thread-taking drive mechanism includes a thread-taking drive motor, which is configured to drive the thread-taking part to rotate.

8. The surgical execution device according to claim 6 or 7, wherein, The line-carrying drive mechanism further includes a line-carrying drive rope, which is connected between the line-carrying drive motor and the line-carrying part; the line-carrying drive rope is configured to move in response to the drive of the line-carrying drive motor, so as to drive the line-carrying part to move or rotate.

9. The surgical execution device according to any one of claims 1-4, further comprising: A clamping mechanism includes a suture end configured to constrain the tail end of the suture; The clamping mechanism further includes a clamping drive mechanism configured to drive the wire bundle end to move within a clamping surface intersecting the knotting plane. The movement trajectory of the wire bundle end includes a knotting position, and the orthographic projection of the knotting position onto the knotting plane lies within the knotting area. The knotting mechanism and the thread-taking mechanism are configured to perform the knotting action in response to the movement of the suture end to the knotting position, such that the beginning of the suture wraps around the suture tail connected to the end of the suture to form a surgical knot.

10. The surgical execution device according to any one of claims 1-4, wherein, The surgical execution device further includes at least one tensioner, the tensioner including a suture holding assembly configured to constrain the tensioned portion of the suture and allow the suture to slide relative to the suture holding assembly; The movement trajectory of the thread holding assembly includes a tensioned position, and the orthographic projection of the tensioned position of the thread holding assembly of the tensioner on the knotting plane is outside the knotting area; The tension section of the suture includes at least a first end, a starting section, and a second end. The first end is the starting end of the suture, and the second end protrudes from the tissue to be sutured. The second end is located below the first end and below the knotting plane.

11. A surgical robot, comprising: A robotic arm and a surgical execution device according to any one of claims 1-10, wherein the surgical execution device is mounted on the robotic arm.

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