A Lutheran knot stapler, a prefabricated Lutheran knot tying device and an automatic knot tying method thereof

Abstract

The present invention provides a Luther knot stapler, a prefabricated Luther knot tying device and an automatic knot tying method thereof. The Luther knot stapler of the present invention is used in conjunction with a prefabricated Luther knot. During surgery, it eliminates the need for doctors to tie knots during the surgical anastomosis process, achieving rapid and efficient anastomosis and greatly reducing the surgical time. The prefabricated Luther knot has a wide range of applications and can be used for suturing the renal pelvis and ureter, as well as for surgeries that must use needles and threads. The Luther knot stapler of the present invention has a simple structure, is easy to operate, and can be recycled and reused, making it economical and highly practical. The prefabricated Luther knot tying device of the present invention can automatically tie the prefabricated Luther knot on the wire winding column through a series of operating steps, thereby enabling mass industrial production of the wire winding column wound with the prefabricated Luther knot. Moreover, the winding efficiency is high, reducing a large amount of labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a Luedde knot anastomosis device, a prefabricated Luedde knot tying device and an automatic knot tying method thereof. Background Art

[0002] In the pyeloplasty and pyeloureteral reanastomosis for congenital hydronephrosis, whether it is a laparoscopic surgery or an open surgery, manual suture with a needle and thread is required for the anastomosis of the ureter and the renal pelvis. During the manual suture process, in order to prevent the suture from loosening, each knot needs to be composed of three single knots, which is the most time-consuming link in the surgical process and an important determinant of the surgical anesthesia duration. Reducing the anesthesia duration can reduce its impact on the patient's brain and nervous system.

[0003] In addition, the knot tying step during the surgical anastomosis is repetitive labor, which requires a high level of proficiency from the operating doctor. Doctors performing the same suture work for a long time will cause damage to both their bodies and spirits. Doctors can fully utilize this time to complete more important things.

[0004] Currently visible solutions using needle and thread to tie knots are all on-site knot tying methods, whose function is only to help doctors tie knots during the operation, and the operation is troublesome, and the degree of time saved by knot tying needs to be considered.

[0005] Utility model patent: CN206275714U proposes a suture automatic knot tying device. When using this device, the suture needs to be manually wound around the wire column, and the knot is formed by the up and down movement of the wire column and the like. However, during the actual surgical process, the operating space is limited, and each time it is used, the two ends of the wire need to be manually fixed on the device, and one end also needs to be wound, so it is not easy to use, and thus the feasibility is small. Invention patent: CN102626331B proposes a lasso knot tying device, which has a simple structure and is easy to operate. Each operation can form a lasso knot, but the application range of this knot tying device is narrow, and it is only applicable to occasions where a lasso knot needs to be tied, and the structure of the lasso knot itself is simple. During the surgical anastomosis process, at least three single knots are required for each suture knot, so this lasso knot tying device is not applicable. Summary of the Invention

[0006] The purpose of the present invention is to provide a Luedde knot anastomosis device, a prefabricated Luedde knot tying device and an automatic knot tying method thereof, which can realize the prefabrication of Luedde knots, thereby realizing the rapid suture of wounds and further greatly shortening the surgical time.

[0007] To achieve the above object, the present invention provides a Luther knot stapler, comprising a wire winding post, a knot pusher and a base; the base is fixedly connected to the tail end of the wire winding post, and the knot pusher is sleeved on the wire winding post; a snap ring is preset at the head end of the wire winding post; a prefabricated Luther knot is wound on the wire winding post, and the prefabricated Luther knot is located above the knot pusher.

[0008] Further, the size of the through hole on the knot pusher for inserting the wire winding post is adapted to the diameter of the wire winding post, so as to prevent the prefabricated Luther knot from passing through the gap between the wire winding post and the knot pusher.

[0009] Further, the wire winding post is made of a flexible material.

[0010] The present invention also provides a device for tying a prefabricated Luther knot, comprising a bottom plate, a wire holder, a housing, a moving ring, a fixed disk, a moving clamp, a latch-shaped clamp, a wire hook clamp and a wire pulling clamp;

[0011] The bottom plate is disposed opposite to the housing, and an operation slot is reserved between the bottom plate and the housing. The surface of the housing opposite to the bottom plate is an operation surface;

[0012] The fixed disk is disposed inside the housing. The moving ring is concentric with the fixed disk, and the moving ring rotates around its center.

[0013] The fixed end of the moving clamp is inserted into the surface of the moving ring, and the clamping end of the moving clamp extends out of the operation surface into the wire slot; moreover, the moving clamp can expand and contract along its length direction. To facilitate the moving ring to drive the moving clamp to rotate, the operation surface is provided with through holes having at least the same diameter as the moving ring;

[0014] The fixed end of the wire holder is fixedly connected to the bottom plate, and the clamping end of the wire holder is disposed in the wire slot; the center of the bottom plate is concentric with the center of the moving ring, and the distance between the wire holder and the center of the bottom plate is greater than the distance between the moving clamp and the center of the moving ring;

[0015] Jacks for inserting the wire winding post are preset at both the center of the bottom plate and the center of the fixed disk; the latch-shaped clamp is disposed on one side of the fixed disk facing the wire slot and surrounds the jack, and a clamping mechanism is disposed on the side of the fixed disk opposite to the wire slot; the wire pulling clamp is inserted into the jack, and the clamping end of the wire pulling clamp faces the wire slot and can expand and contract along its length direction;

[0016] The surface of the fixed disk is also provided with a slot hole for inserting the thread-hooking clamp. The slot hole is a long-strip through hole and extends from the jack to the top of the fixed disk. The fixing part of the thread-hooking clamp passes through the slot hole and is connected to the driving mechanism. The driving mechanism is arranged on the side of the fixed disk facing away from the wire groove. And under the drive of the driving mechanism, the thread-hooking clamp realizes displacement along the length direction of the slot hole. In addition, the thread-hooking clamp realizes telescoping along its length direction, and the clamping end of the thread-hooking clamp faces the wire groove.

[0017] Further, the latch-shaped clamp includes a fixed block and a clamping rod. An embedding groove is preset on the fixed block. The fixed block is fixed on the surface of the fixed disk. The clamping rod is embedded in the embedding groove. One end of the clamping rod is connected to the fixed block through a pin shaft. The pin shaft is connected with a servo motor. Through the drive of the servo motor, the pin shaft is realized to screw into and out of the embedding groove. One such latch-shaped clamp is arranged on each side of the jack.

[0018] Further, the moving clamp, the thread-hooking clamp and the wire-pulling clamp all realize telescoping along their own length directions by connecting the tail ends to the stepping motors.

[0019] Further, the outer ring of the moving ring is gear-shaped. At least three servo motors are arranged along the outer circumference of the moving ring in the shell. A gear is arranged on the driving shaft of each servo motor. The moving ring is arranged among a plurality of gears and realizes transmission through the meshing between the gears and the teeth on the outer ring of the moving ring.

[0020] Further, the driving mechanism includes a sleeve moving groove and a stepping motor. The groove track of the sleeve moving groove is arranged opposite to the slot hole. The stepping motor is arranged on the sleeve moving groove and is drivingly connected to the tail end of the thread-hooking clamp.

[0021] The present invention also proposes an automatic knotting method for a prefabricated luther knot, including the following steps:

[0022] Step 1: Insert the winding column into the jack, and fix the winding column by the clamping mechanism located at the rear of the fixed disk, leaving the buckle of the winding column at the jack position of the bottom plate.

[0023] Step 2: Put the sewing thread along the wire groove. One end is clamped by the thread-holding clamp, the other end is clamped by the moving clamp, and the middle position is fixed by the thread-hooking clamp. The end clamped by the thread-holding clamp is used as the free end of the prefabricated luther knot, and the end clamped by the moving clamp is used as the fixed end of the prefabricated luther knot.

[0024] Step 3: The thread-hooking clamp moves backward into the shell. At the same time, the driving mechanism drives the thread-hooking clamp to move to the position closest to the center of the fixed disk.

[0025] Step 4: The latch-shaped pliers on both sides of the slot on the fixed disk are screwed out, and the suture is clamped on the winding rod. The suture can slide between the latch-shaped pliers and the winding rod, but will not slip out of the latch-shaped pliers;

[0026] Step 5: The thread-hooking clip is driven by a driving mechanism to move away from the winding post along the length direction of the slot hole. Due to the width of the thread-hooking clip itself, the suture between the thread-hooking clip and the latch-shaped pliers is pulled to form a triangular shape;

[0027] Step 6: After the moving clip retracts into the moving ring by a certain distance, the moving ring drives the moving clip to rotate counterclockwise. The moving clip uses its rotational movement to keep the suture always in a taut state. At the same time, the moving clip gradually extends, so that the suture is neatly wound around the winding post;

[0028] Step 7: The latch-shaped pliers are loosened and reset to rotate back into its control mechanism. The wire-pulling clip extends out of the housing, passes through the through hole in the middle of the triangle formed by the suture in Step 5, and displaces to the exact front of the counterclockwise rotation trajectory of the suture clamped by the moving clip;

[0029] Step 8: The moving ring continues to rotate counterclockwise for at least one full turn. The suture winds the wire-pulling clip and the winding post together. And the moving clip continues to extend outwards. When the moving ring stops rotating, the free end of the suture clamped by the moving clip blocks exactly in front of the clamping end of the wire-pulling clip;

[0030] Step 9: The clamping end of the wire-pulling clip opens and moves forward until it clamps the suture. At this time, the moving clip releases. The wire-pulling clip pulls the free end of the suture and contracts into the housing, and the thread-hooking clip releases the suture clamped in Step 2;

[0031] Step 10: The suture-holding clip retracts into the housing to tighten the prefabricated knot on the winding post. Finally, the clamping pliers release, and the winding post is taken out to complete the tying of the prefabricated Roeder knot on the winding post.

[0032] Further, in Step 6, the moving ring drives the moving clip to rotate counterclockwise. The moving ring stops rotating after rotating counterclockwise by 3*360° + 40°;

[0033] In Step 8, the moving ring continues to move counterclockwise for 1 full turn + 10°. In this one full turn, the suture winds the wire-pulling clip and the winding post together.

[0034] Compared with the prior art, the advantages of the present invention are as follows: The Roeder knot stapler of the present invention is combined with a prefabricated Roeder knot. During the operation, it saves the doctor the knot-tying operation during the surgical anastomosis process, realizes fast and efficient anastomosis, and greatly reduces the operation time.

[0035] The prefabricated Roeder knot has a wide range of applications and can be used for suturing the renal pelvis and ureter, and can also be used in surgeries that require suturing with a needle and thread.

[0036] The surgical suture speed can be further increased by connecting single knots in series to form multiple knots.

[0037] The Roeder knot stapler of the present invention has a simple structure, is easy to operate, and can be recycled, which is economical and highly practical.

[0038] Through a series of operation steps, the prefabricated Roeder knot tying device of the present invention can automatically implement the knot tying step of the prefabricated Roeder knot on the wire winding column, thereby realizing mass industrial production of the wire winding column wound with the prefabricated Roeder knot, with high winding efficiency and reducing a large amount of labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic structural diagram of a single-knot Roeder knot stapler wound with a prefabricated Roeder knot in an embodiment of the present invention;

[0040] Figure 2 It is a schematic structural diagram of a multi-section Roeder knot stapler wound with a prefabricated Roeder knot in an embodiment of the present invention;

[0041] Figure 3 It is a schematic structural diagram of a prefabricated Roeder knot tying device in an embodiment of the present invention;

[0042] Figure 4 It is a schematic back view structural diagram of a prefabricated Roeder knot tying device in an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of step 1 in the automatic knot tying method of the prefabricated Roeder knot in an embodiment of the present invention;

[0044] Figure 6 It is a schematic diagram of step 2 in the automatic knot tying method of the prefabricated Roeder knot in an embodiment of the present invention;

[0045] Figure 7 It is a schematic diagram of step 3 in the automatic knot tying method of the prefabricated Roeder knot in an embodiment of the present invention;

[0046] Figure 8 It is a schematic diagram of step 4 in the automatic knot tying method of the prefabricated Roeder knot in an embodiment of the present invention;

[0047] Figure 9 It is a schematic diagram of step 5 in the automatic knot tying method of the prefabricated Roeder knot in an embodiment of the present invention;

[0048] Figure 10 It is a schematic diagram of step 6 in the automatic knot tying method of the prefabricated Roeder knot in an embodiment of the present invention;

[0049] Figure 11 Schematic diagram of step 7 in the automatic knotting method of the prefabricated Roeder knot in the embodiment of the present invention;

[0050] Figure 12 Schematic diagram of step 8 in the automatic knotting method of the prefabricated Roeder knot in the embodiment of the present invention;

[0051] Figure 13 Schematic diagram of step 9 in the automatic knotting method of the prefabricated Roeder knot in the embodiment of the present invention. Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be further described below.

[0053] As Figure 1 shown, the present invention provides a Roeder knot stapler, which includes a wire winding post 1, a knot pusher 2 and a base 3; the base 3 is fixedly connected to the tail end of the wire winding post 1, and the knot pusher 2 is sleeved on the wire winding post 1; a buckle is preset at the head end of the wire winding post 1; a prefabricated Roeder knot is wound on the wire winding post 1, and the prefabricated Roeder knot is located above the knot pusher 2. The size of the through hole on the knot pusher 2 for inserting the wire winding post 1 is adapted to the diameter of the wire winding post 1, so as to prevent the prefabricated Roeder knot from passing through the gap between the wire winding post 1 and the knot pusher 2.

[0054] During the actual application of the Roeder knot stapler, the doctor connects a suture needle to the free end of the prefabricated Roeder knot. After the suture needle passes through the human tissue and then passes through the buckle at the top of the wire winding post 1, the doctor holds the base 3 at the bottom of the wire winding post 1 with one hand and holds the knot pusher 2 with the other hand, and pulls out the wire winding post 1 from the through hole of the knot pusher 2. Since the prefabricated Roeder knot on the wire winding post 1 cannot pass through the gap between the through hole of the knot pusher 2 and the wire winding post 1, the Roeder knot is separated from the wire winding post 1; and because the wire winding post 1 is made of a flexible material, such as iron wire or the like, the buckle at its top can also be deformed accordingly and pulled out from the through hole of the wire winding post 1. After the buckle is also pulled out from the through hole, the free end of the prefabricated Roeder knot passing through the buckle passes through the middle of the prefabricated wire, realizing rapid knotting during the surgical anastomosis process.

[0055] In addition, as Figure 2 shown, the Roeder knot stapler of the present invention can be made into a multi-knot structure. The multi-knot Roeder knot stapler adopts an extended knot pusher 2, and two through holes or multiple through holes can be provided on the knot pusher 2. A wire winding post 1 is inserted in each through hole, and the multiple wire winding posts 1 are connected in series in the knot pusher 2 to form a multi-knot Roeder knot stapler. The usage method of the prefabricated multi-knot is similar to that of the single knot. After the doctor passes the free end suture through the human tissue and then through the buckle at the top of the wire winding post 1, the corresponding wire winding post 1 can be pulled out from the knot pusher 2.

[0056] As Figure 3 shown, the present invention also provides a prefabricated Luther knot tying device, including a bottom plate 4, a wire holding clip 5, a housing 6, a moving ring 7, a fixed disk 8, a moving clip 9, a latch-shaped clamp 10, a wire hooking clip 11 and a wire pulling clip 12;

[0057] The bottom plate 4 and the housing 6 are oppositely arranged, and an operation slot is reserved between the bottom plate 4 and the housing 6. The surface of the housing 6 facing the bottom plate 4 is an operation surface;

[0058] The fixed disk 8 is arranged inside the housing 6. The moving ring 7 is concentric with the fixed disk 8, and the moving ring 7 realizes self-rotation centered on the center of the circle;

[0059] The fixed end of the moving clip 9 is inserted into the surface of the moving ring 7, and the clamping end of the moving clip 9 extends out of the operation surface into the wire slot; moreover, the moving clip 9 realizes telescoping along its length direction; in order to facilitate the moving ring 7 to drive the moving clip 9 to realize self-rotation, the operation surface is provided with through holes at least the same diameter as the moving ring 7;

[0060] The fixed end of the wire holding clip 5 is fixedly connected to the bottom plate 4, and the clamping end of the wire holding clip 5 is arranged in the wire slot; the center of the bottom plate 4 is concentric with the center of the moving ring 7, and the distance between the wire holding clip 5 and the center of the bottom plate 4 is greater than the distance from the moving clip 9 to the center of the moving ring 7;

[0061] Jacks for inserting the winding column 1 are preset at the center positions of both the bottom plate 4 and the center of the fixed disk 8; a latch-shaped clamp 10 is arranged on the side of the fixed disk 8 facing the wire slot, and the latch-shaped clamp 10 is arranged around the jack. A clamping mechanism is arranged on the side of the fixed disk 8 facing away from the wire slot; the wire pulling clip 12 is inserted into the jack, and the clamping end of the wire pulling clip 12 faces the wire slot, and the wire pulling clip 12 realizes telescoping along its length direction;

[0062] A slot hole for inserting the wire hooking clip 11 is also arranged on the surface of the fixed disk 8. The slot hole is a long strip-shaped through hole and extends from the jack to the top of the fixed disk 8; the fixed part of the wire hooking clip 11 passes through the slot hole and is connected to the driving mechanism. The driving mechanism is arranged on the side of the fixed disk 8 facing away from the wire slot. Moreover, the wire hooking clip 11 realizes displacement along the length direction of the slot hole under the drive of the driving mechanism. In addition, the wire hooking clip 11 realizes telescoping along its length direction, and the clamping end of the wire hooking clip 11 faces the wire slot;

[0063] In this embodiment, the latch-shaped clamp 10 includes a fixed block and a clamping rod. A fitting groove is preset on the fixed block. The fixed block is fixed on the surface of the fixed disk 8. The clamping rod is fitted in the fitting groove. One end of the clamping rod is connected to the fixed block through a pin shaft. The pin shaft is connected to a servo motor. Through the drive of the servo motor, the pin shaft is screwed into and out of the fitting groove; a latch-shaped clamp 10 is arranged on both sides opposite to the jack.

[0064] In this embodiment, the motion clamp 9, the thread - hooking clamp 11, and the wire - pulling clamp 12 are all connected to a stepper motor at their tail ends to achieve telescopic movement along their own lengths (not shown in the figure).

[0065] In this embodiment, the outer ring of the motion ring 7 is gear - shaped. At least three servo motors are arranged along the outer circumference of the motion ring 7 inside the housing 6. A gear is provided on the drive shaft of each servo motor. The motion ring 7 is mounted between multiple gears and is driven through the meshing between the gears and the teeth on the outer ring of the motion ring 7 (not shown in the figure).

[0066] In this embodiment, as Figure 4 shown, the driving mechanism includes a sleeve motion groove 13 and a stepper motor. The groove track and the slot hole of the sleeve motion groove 13 are arranged opposite to each other. The stepper motor is arranged on the sleeve motion groove 13 and is drivingly connected to the tail end of the thread - hooking clamp 11.

[0067] For the convenience of understanding by those skilled in the art, the specific working steps of the pre - fabricated luther knot tying device are as follows:

[0068] Step 1: As Figure 5 shown, insert the winding post 1 into the jack, and fix the winding post 1 by the clamping mechanism located at the rear of the fixed disk 8, leaving the buckle of the winding post at the jack position of the bottom plate 4;

[0069] Step 2: As Figure 6 shown, put the suture along the wire groove. One end is clamped by the wire - holding clamp 5, the other end is clamped by the motion clamp 9, and the middle part is fixed in position by the thread - hooking clamp 11; The end clamped by the wire - holding clamp 5 serves as the free end of the pre - fabricated luther knot, and the end clamped by the motion clamp 9 serves as the fixed end of the pre - fabricated luther knot;

[0070] Step 3: As Figure 7 shown, the thread - hooking clamp 11 moves backward into the housing. At the same time, the driving mechanism drives the thread - hooking clamp 11 to move to the position closest to the center of the fixed disk 8;

[0071] Step 4: As Figure 8 shown, the latch - shaped pliers 10 on both sides of the slot on the fixed disk 8 are screwed out, clamping the suture on the winding rod. The suture can slide between the latch - shaped pliers 10 and the winding rod, but will not slip out of the latch - shaped pliers 10;

[0072] Step 5: As Figure 9 shown, the thread - hooking clamp 11 is driven by the driving mechanism to move away from the winding post 1 along the length direction of the slot hole. Due to the width of the thread - hooking clamp 11 itself, the suture between the thread - hooking clamp 11 and the latch - shaped pliers 10 is pulled into a triangular shape;

[0073] Step 6: As Figure 10As shown, after the motion clip 9 retracts into the motion ring 7 by a certain distance, the motion ring 7 drives the motion clip 9 to rotate counterclockwise. The motion ring 7 drives the motion clip 9 to rotate counterclockwise. After the motion ring 7 rotates counterclockwise by 3*360° + 40°, it stops. The motion clip 9 uses its own rotational motion to keep the suture always in a taut state. At the same time, the motion clip 9 gradually extends, causing the suture to be neatly wound around the winding post 1.

[0074] Step 7: As Figure 11 shown, the latch-shaped clamp 10 releases and rotates back to its control mechanism in a reset manner. The wire pulling clip 12 extends out of the housing, passes through the through hole in the middle of the triangle formed by the suture in Step 5, and displaces to the front of the counterclockwise rotation trajectory of the suture clamped by the motion clip 9.

[0075] Step 8: As Figure 12 shown, the motion ring 7 continues to move counterclockwise for 1 circle + 10°. During this circle, the suture winds the wire pulling clip 12 and the winding post 1 together. The suture winds the wire pulling clip 12 and the winding post 1 together. And the motion clip 9 continues to extend outwards. When the motion ring 7 stops rotating, the free end of the suture clamped by the motion clip 9 blocks in front of the clamping end of the wire pulling clip 12.

[0076] Step 9: As Figure 13 shown, the clamping end of the wire pulling clip 12 opens and moves forward until it clamps the suture. At this time, the motion clip 9 releases. The wire pulling clip 12 pulls the free end of the suture and contracts into the housing, and the wire hooking clip 11 releases the suture clamped in Step 2.

[0077] Step 10: The wire holding clip 5 retracts into the housing to tighten the preformed knot on the winding post 1. Finally, the clamping pliers release, and the winding post 1 is taken out to complete the tying of the preformed Luther knot on the winding post 1.

[0078] The above is only the preferred embodiment of the present invention and does not impose any limitation on the present invention. Any person skilled in the art within the technical field, without departing from the technical solution of the present invention, makes any form of equivalent replacement or modification and other changes to the technical solution and technical content disclosed by the present invention, all of which belong to the content that does not depart from the technical solution of the present invention and still fall within the protection scope of the present invention.

Claims

1. A prefabricated reef knot tying device, characterized in that, It includes a bottom plate, a wire holding clip, a housing, a moving ring, a fixed plate, a moving clip, a latch-shaped clamp, a wire hooking clip and a wire pulling clip; The bottom plate is disposed opposite to the housing, an operation slot is reserved between the bottom plate and the housing, and the surface of the housing opposite to the bottom plate is an operation surface; The fixed plate is disposed inside the housing, the moving ring is concentric with the fixed plate, and the moving ring realizes self-rotation centered on the center of the circle; The fixed end of the moving clip is inserted into the surface of the moving ring, and the clamping end of the moving clip extends out of the operation surface into the wire slot; and the moving clip realizes telescoping along its length direction; in order to facilitate the moving ring to drive the moving clip to realize self-rotation, the operation surface is provided with a through hole at least the same diameter as the moving ring; The fixed end of the wire holding clip is fixedly connected to the bottom plate, and the clamping end of the wire holding clip is disposed in the wire slot; the center of the bottom plate is concentric with the center of the circle of the moving ring, and the distance between the wire holding clip and the center of the bottom plate is greater than the distance from the moving clip to the center of the circle of the moving ring; Holes for inserting winding posts are preset at the center of the bottom plate and the center position of the fixed plate; the latch-shaped clamp is disposed on one side of the fixed plate facing the wire slot, and the latch-shaped clamp surrounds the hole; a clamping mechanism is disposed on the side of the fixed plate opposite to the wire slot; the wire pulling clip is inserted into the hole, and the clamping end of the wire pulling clip faces the wire slot, and the wire pulling clip realizes telescoping along its length direction; A slot hole for inserting the wire hooking clip is further provided on the surface of the fixed plate, the slot hole is a long strip through hole and extends from the hole to the top of the fixed plate; the fixed part of the wire hooking clip passes through the slot hole and is connected to a driving mechanism, the driving mechanism is disposed on the side of the fixed plate opposite to the wire slot, and the wire hooking clip realizes displacement along the length direction of the slot hole under the drive of the driving mechanism. In addition, the wire hooking clip realizes telescoping along its length direction, and the clamping end of the wire hooking clip faces the wire slot; The latch-shaped clamp includes a fixed block and a clamping rod, a fitting groove is preset on the fixed block, the fixed block is fixed on the surface of the fixed plate, the clamping rod is fitted in the fitting groove, one end of the clamping rod is connected to the fixed block through a pin shaft, the pin shaft is connected to a servo motor, and through the drive of the servo motor, the pin shaft is screwed into and out of the fitting groove; one latch-shaped clamp is disposed on each of the two sides opposite to the hole; The moving clip, the wire hooking clip and the wire pulling clip all realize telescoping along their own length directions by connecting the tail ends to stepping motors.

2. The prefabricated Luther knot tying device according to claim 1, wherein The outer ring of the moving ring is gear-shaped, at least three servo motors are arranged along the outer circumference of the moving ring inside the housing, gears are provided on the drive shafts of each servo motor, the moving ring is mounted between multiple gears, and transmission is realized through the meshing between the gears and the teeth on the outer ring of the moving ring; 3. The prefabricated Luther knot tying device according to claim 1, characterized in that, The driving mechanism includes a sleeve moving slot and a stepping motor, the slot track of the sleeve moving slot is arranged opposite to the slot hole, the stepping motor is disposed on the sleeve moving slot and is drivingly connected to the tail end of the wire hooking clip.

4. An automatic knotting method for a prefabricated luther knot, using the prefabricated luther knot tying device described in any one of claims 1-3, characterized in that, It includes the following steps: Step 1: Insert the winding post into the jack, and clamp the winding post by the clamping mechanism located at the rear of the fixed disk, leaving the buckle of the winding post at the jack position of the bottom plate; Step 2: Place the suture along the wire groove, clamp one end by the wire holding clip, clamp the other end by the moving clip, and fix the position in the middle by the wire hooking clip; The end clamped by the wire holding clip serves as the free end of the prefabricated luther knot, and the end clamped by the moving clip serves as the fixed end of the prefabricated luther knot; Step 3: The wire hooking clip moves backward into the housing. At the same time, the driving mechanism drives the wire hooking clip to move to the position closest to the center of the fixed disk; Step 4: The latch-shaped pliers on both sides of the slot on the fixed disk are screwed out, clamp the suture on the winding rod, and the suture slides between the latch-shaped pliers and the winding rod but will not slip out of the latch-shaped pliers; Step 5: Driven by the driving mechanism, the wire hooking clip moves away from the winding post along the length direction of the slot hole. Due to the width of the wire hooking clip itself, the suture between the wire hooking clip and the latch-shaped pliers is pulled to form a triangular shape; Step 6: After the moving clip retracts into the moving ring by a certain distance, the moving ring drives the moving clip to rotate counterclockwise. The moving clip uses its own rotational movement to keep the suture always in a taut state. At the same time, the moving clip gradually extends, so that the suture is neatly wound around the winding post; Step 7: The latch-shaped pliers are loosened and reset and rotated back into its control mechanism. The wire pulling clip extends out of the housing, passes through the through hole in the middle of the triangle formed by the suture in Step 5, and moves to the front of the counterclockwise rotation trajectory of the suture clamped by the moving clip; Step 8: The moving ring continues to rotate counterclockwise for at least one full turn. The suture winds the wire pulling clip and the winding post together, and the moving clip continues to extend outwards. When the moving ring stops rotating, the free end of the suture clamped by the moving clip blocks in front of the clamping end of the wire pulling clip; Step 9: The clamping end of the wire pulling clip opens and moves forward until it clamps the suture. At this time, the moving clip is released, the wire pulling clip pulls the free end of the suture and contracts into the housing, and the wire hooking clip releases the suture clamped in Step 2; Step 10: The wire holding clip retracts into the housing to tighten the prefabricated knot on the winding post. Finally, the clamping pliers are loosened, and the winding post is taken out to complete the tying of the prefabricated luther knot on the winding post.

5. The automatic knotting method of the prefabricated Luer knot according to claim 4, characterized in that, In Step 6, the moving ring drives the moving clip to rotate counterclockwise, and the moving ring stops rotating after rotating counterclockwise by 3*360° + 40°; In Step 8, the moving ring continues to move counterclockwise for 1 turn + 10°. In this one turn, the suture winds the wire pulling clip and the winding post together.

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