A micro-end stapler based on electro-actuated polymer

Abstract

The present invention discloses a micro end suture device based on electro-actuated polymer, comprising a posture adjustment module, a suture module, a suture needle, and a control circuit module. The posture adjustment module and the suture module are both electrically connected to the control circuit module, the control circuit module is located in the posture adjustment module, the suture needle is located in the inner cavity of the suture module, and the suture module is provided with a needle outlet, the suture module is rotationally matched with the posture adjustment module; the suture module comprises a driving unit, and the output end of the driving unit is transmission-connected with the suture needle. In the present invention, the position of the suture needle can be adjusted by the posture adjustment module and the suture module, the angle of the suture module can be adjusted according to different positions of the tracheoesophageal fistula, so as to complete the suture, and the suture needle can be driven by the driving unit to rotate along a circular track to complete the suture of the internal medicine tracheoesophageal fistula.

Description

Technical Field

[0001] The present invention relates to a medical operating instrument, and more particularly to a micro end-stitching device based on an electro-actuated polymer. Background Art

[0002] Airway wall fistula patients have fistulas due to various reasons that damage the integrity of the airway wall. Tracheoesophageal fistulas are caused by various benign and malignant factors that lead to pathological communication between the airway and the adjacent esophagus. The most common site is between the middle esophagus and the left main bronchus. The hazards of tracheoesophageal fistulas are high mortality, low survival rate, and poor quality of life.

[0003] There are the following treatment methods for patients with secondary airway-digestive tract fistula: The first is the conservative treatment method of internal medicine, which includes the use of antibiotics to control lung infection and symptomatic treatment through expectoration and appropriate cough relief; however, this method only treats the symptoms and not the root cause. The second is stent interventional treatment, which is suitable for patients with secondary airway-digestive tract fistula who are not suitable for surgery. The most commonly used interventional treatments are the placement of airway and / or digestive tract stents and endoscopic drug injection, cauterization, metal clips, etc. The stent can cover the fistula through physical methods, but the positioning accuracy is poor when the stent is placed; another treatment method is to suture the fistula surgically. Although this method is easier to completely solve the problem of cavity fistula in principle, it is still developing slowly due to the limitations of technology and internal medicine operation space.

[0004] The existing patent document with patent application number 202111003066.2 discloses an electro-actuated polymer surgical suture needle exchange device, which relates to the technical field of needle exchange devices. The invention includes a rotary drive device, a linear drive device and a suture needle device located in a housing; the invention also provides a needle exchange method using the above needle exchange device. However, it is not suitable for suturing the internal cavity of the human body during surgery on patients with airway wall fistula.

[0005] To this end, the present invention proposes a micro-suturing device, which provides an automatic suturing solution for a limited cavity space. Summary of the invention

[0006] The technical problem to be solved by the present invention is how to provide a micro-suturing device suitable for surgery on patients with airway wall fistula and tracheoesophageal fistula.

[0007] The present invention solves the above-mentioned technical problems through the following technical means: a micro end suturing device based on electroactive polymer, comprising a posture adjustment module, a suturing module, a suturing needle, and a control circuit module. The posture adjustment module and the suturing module are electrically connected to the control circuit module, the control circuit module is located in the posture adjustment module, the suturing needle is located in the inner cavity of the suturing module, and the suturing module is provided with a needle outlet, and the suturing module rotates with the posture adjustment module.

[0008] The suturing module comprises a driving unit, the output end of which is drivingly connected to the suturing needle, a circular track adapted to the suturing needle is provided in the suturing module, and the driving unit drives the suturing needle to rotate along the circular track and extend out of the needle outlet.

[0009] The position of the suture needle can be adjusted through the posture adjustment module and the suturing module. The angle of the suturing module can be adjusted according to the different positions of the tracheoesophageal fistula to complete the suturing. The suture needle can be driven by the driving unit to rotate along the circular track to complete the suturing of the internal medicine tracheoesophageal fistula.

[0010] As a preferred technical solution, the posture adjustment module includes a spherical shell, a pinion, and a first micromotor. The first micromotor is fixed at the tail end of the spherical shell. The output end of the first micromotor is transmission-connected with the pinion and cooperates with the suturing module. The first micromotor drives the suturing module to rotate along the arrangement direction of the pinion. Through the setting of the spherical shell, it is friendly to the trachea and esophagus and will not cause secondary damage to the trachea and esophagus.

[0011] As a preferred technical solution, the suturing module also includes a spherical bracket, a needle clamping unit, and a winding processing device. The driving unit is fixedly arranged in the spherical bracket. The spherical shell and the needle outlet of the spherical bracket are both provided with the same plane, and the spherical centers thereof coincide. The output end of the driving unit is transmission-connected with the needle clamping unit. The needle clamping unit is used to fix the suture needle. One end of the suture needle is fixedly connected to the free end of the suture thread in the winding processing device. A transmission gear meshing with a pinion is fixed on the circumferential surface of the spherical bracket. The suture needle can be fixed by the setting of the needle clamping unit, and the continuous suturing of tracheoesophageal fistula can be completed in cooperation with the driving unit.

[0012] As a preferred technical solution, the needle clamping unit includes a rotating rod, a first IPMC actuator, a spring, a conical plunger, and a needle clamping base. The rotating rod is fixedly connected to the needle clamping base and is transmission-coordinated with the output end of the driving unit. A conical groove is provided on the needle clamping base. The inner wall of the conical groove is elastically connected to a conical plunger through a spring. A first IPMC actuator interspersed with the spring is fixedly connected in the conical groove. The first IPMC actuator is electrically connected to a control circuit module. A specific driving task can be effectively completed through the first IPMC actuator. Energizing the first IPMC actuator can cause the first IPMC actuator to bend and compress the spring, thereby reducing the force of the conical plunger on the suture needle, and the suture needle is unloaded from the needle clamping unit.

[0013] As a preferred technical solution, the driving unit is a second micro motor, and the second micro motor is in transmission cooperation with the rotating rod through a reduction gear set.

[0014] As a preferred technical solution, the reduction gear group includes a first pinion, a first large gear, a second pinion, a second large gear, a first fixed plate, and a second fixed plate. The first fixed plate and the second fixed plate are fixed in the inner cavity of the spherical bracket from bottom to top in sequence. The first pinion is fixed to the output end of the second micromotor. The first fixed plate is rotatably connected with a first rotating shaft. The first rotating shaft is located at one end of the bottom of the first fixed plate and is fixed with a first large gear meshing with the first pinion. The first rotating shaft is located at one end of the top of the first fixed plate and is fixed with a second pinion. The second fixed plate is rotatably connected with a second rotating shaft. The second rotating shaft is located at one end of the bottom of the second fixed plate and is fixed with a second large gear. The second pinion is meshing with the second large gear. The second rotating shaft is located at one end of the top of the second fixed plate and is fixedly connected with the rotating rod. The transmission and deceleration functions can be completed through the reduction gear group.

[0015] As a preferred technical solution, a pushing line device is provided on the top of the rotating rod, and the pushing line device includes a fixed circular plate fixed on the top of the rotating rod. The top of the fixed circular plate is slidably connected with a movable circular plate through a second IPMC actuator. The suture thread can be pushed up by the second IPMC actuator to prevent the needle clamping unit from interfering with the suture thread when returning.

[0016] As a preferred technical solution, the winding processing device includes a winding drum, a disc, a clasp, and a limiting top plate. The spherical bracket is fixedly connected with the clasp and the limiting top plate. The bottom of the limiting top plate is fixedly connected with the disc through a pin shaft. The pin shaft is rotatably connected to the winding drum. Sutures are wound on the winding drum. The free end of the suture is fixedly connected to the suture needle. The sutures can be stored by the winding processing device.

[0017] As a preferred technical solution, two limit blocks are fixedly connected to the top of the second fixing plate, and the limit blocks are located on the inner side of the needle outlet.

[0018] A method for using the micro end stapler comprises the following steps:

[0019] S1: Before the operation, a suture bundle of a specified length is wound onto a winding device, and the suture is fixed to the tail of the suture needle;

[0020] S2: Install the micro-end stapler on the end of the endoscope and position the micro-end stapler at the tracheoesophageal fistula;

[0021] S3: The driving unit drives the suture needle to rotate half a circle in the positive direction along the circular track, so that the suture needle extends from one side of the needle outlet and is inserted into the body. At the same time, the suture needle head enters the other side of the needle outlet, completing one needle insertion action;

[0022] S4: Control the needle clamping unit to release the suture needle through the control circuit module, and rotate it to the suture needle head on the other side of the needle outlet under the drive of the driving unit, and re-clamp the suture needle. The driving unit drives the needle clamping unit to perform a needle pulling action, so that the suture thread passes through the machine body, completing a suturing action;

[0023] S5: After completing one needle insertion and withdrawal action, the suture needle is completely located inside the spherical bracket. Before performing the next suturing action, the position of the needle clamping unit should be adjusted so that the needle clamping unit is located at the tail end of the suture needle and clamped.

[0024] S6: Repeat S3, S4, and S5 multiple times according to the size of the wound edge until suturing is completed.

[0025] The advantages of the present invention are:

[0026] (1) In the present invention, the position of the suture needle can be adjusted by the posture adjustment module and the suturing module, and the angle of the suturing module can be adjusted according to the different positions of the tracheoesophageal fistula to complete the suturing. The suture needle can be driven by the driving unit to rotate along the circular track to complete the suturing of the internal medicine tracheoesophageal fistula.

[0027] (2) In the present invention, the suture needle can be fixed and unloaded by the setting of the needle clamping unit, and cooperate with the driving unit to complete the continuous suturing of tracheoesophageal fistula.

[0028] (3) In the present invention, a specific driving task can be effectively completed by the first IPMC actuator. When the first IPMC actuator is energized, the first IPMC actuator can bend, compress the spring, and reduce the force of the conical plunger on the suture needle, so that the suture needle is unloaded from the needle clamping unit, and the volume and weight of the overall device can also be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the overall structure of a micro end stapler based on an electro-actuated polymer provided in an embodiment of the present invention;

[0030] Figure 2 A schematic structural diagram of a posture adjustment module of a micro end stapler based on an electro-actuated polymer provided in an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the structure of a suturing module of a micro end suturing device based on an electro-actuated polymer provided in an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of the structure of a suture needle of a micro-end suture device based on an electro-actuated polymer provided in an embodiment of the present invention;

[0033] Figure 5 A schematic diagram of the structure of a reduction gear set of a micro end stapler based on an electro-actuated polymer provided in an embodiment of the present invention;

[0034] Figure 6 A schematic diagram of the structure of a needle clamping unit of a micro end-stitching device based on an electro-actuated polymer provided in an embodiment of the present invention;

[0035] Figure 7 A schematic diagram of the structure of a rotating rod of a micro end stapler based on an electro-actuated polymer provided in an embodiment of the present invention;

[0036] Figure 8 A schematic diagram of the top line device structure of a micro end suture device based on an electro-actuated polymer provided in an embodiment of the present invention;

[0037] Fig. 9 A schematic diagram of the internal structure of a spherical shell of a micro-terminal stapler based on an electro-actuated polymer provided in an embodiment of the present invention;

[0038] Reference numerals: 1, posture adjustment module; 11, spherical shell; 12, pinion; 13, first micro motor; 2, suturing module; 21, winding processing device; 211, winding drum; 212, disc; 213, snap ring; 214, limit top plate; 22, top wire device; 221, movable circular plate; 222, second IPMC actuator; 223, fixed circular plate; 23, reduction gear set; 231, first pinion; 232 , the first large gear; 233, the second small gear; 234, the second large gear; 235, the first fixed plate; 236, the second fixed plate; 24, the second micro motor; 25, the needle clamping unit; 251, the rotating rod; 252, the first IPMC actuator; 253, the spring; 254, the conical plunger; 255, the needle clamping base; 26, the spherical bracket; 27, the transmission gear; 28, the limit block; 3, the suture needle; 4, the control circuit module. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] refer to Figure 1 A micro end suture device based on electro-actuated polymer comprises a posture adjustment module 1, a suture module 2, a suture needle 3, and a control circuit module 4. The posture adjustment module 1 and the suture module 2 are both electrically connected to the control circuit module 4. Figure 2 The control circuit module 4 is fixedly arranged in the posture adjustment module 1, the suturing needle 3 is located in the inner cavity of the suturing module 2, and the suturing module 2 is provided with a needle outlet, and the suturing module 2 is rotatably matched with the posture adjustment module 1.

[0041] See also Figure 2 The posture adjustment module 1 includes a spherical shell 11, a pinion 12, and a first micro motor 13 equipped with a reducer. The first micro motor 13 is fixed at the rear end of the spherical shell 11. The output end of the first micro motor 13 is transmission-connected with the pinion 12 and is transmission-coordinated with the suturing module 2. The first micro motor 13 drives the suturing module 2 to rotate along the arrangement direction of the pinion 12.

[0042] See also Figure 3 , Figure 4 and Figure 5The suture module 2 includes a winding processing device 21, a thread pushing device 22, a reduction gear set 23, a second micro motor 24, a needle clamping unit 25, a spherical bracket 26, a transmission gear 27, and a limit block 28. The winding processing device 21, the thread pushing device 22, the reduction gear set 23, the second micro motor 24, the needle clamping unit 25, and the limit block 28 are all located in the spherical bracket 26. The transmission gear 27 is fixedly connected to the outer wall of the spherical bracket 26. The transmission gear 27 is meshed with the pinion 12 for transmission. The spherical bracket 26 is rotatably connected to the inner cavity of the spherical shell 11 through a rotating shaft. The spherical bracket 26 and the spherical shell 11 have A certain gap can facilitate the rotation of the spherical bracket 26. The spherical shell 11 and the needle outlet of the spherical bracket 26 are both provided with the same planar structure, and the centers of the spherical surfaces coincide. The second micro motor 24 is fixedly connected to the bottom inner wall of the spherical bracket 26. The output end of the second micro motor 24 is transmission-connected to the needle clamping unit 25 through the reduction gear set 23. The needle clamping unit 25 is used to fix the suture needle 3. The top thread device 22 is fixedly arranged on the top of the needle clamping unit 25. The winding processing device 21 is fixedly arranged on the top inner wall of the spherical bracket 26 and is located on the top of the top thread device 22. The limit block 28 is fixedly arranged on the top of the reduction gear set 23.

[0043] See also Figure 5 The reduction gear set 23 includes a first pinion 231, a first large gear 232, a second pinion 233, a second large gear 234, a first fixing plate 235, and a second fixing plate 236. The first fixing plate 235 and the second fixing plate 236 are fixedly arranged in the inner cavity of the spherical bracket 26 from bottom to top. The first fixing plate 235 and the second fixing plate 236 are arranged in parallel. The first pinion 231 is fixedly connected to the output end of the second micro motor 24. The first fixing plate 235 is rotatably connected to the first rotating shaft. The first rotating shaft is located at one end of the bottom of the first fixing plate 235 and is fixed with the first large gear 232 meshing with the first pinion 231. A second small gear 233 is fixed to the axis located at the top of the first fixed plate 235, and a second rotating shaft is rotatably connected to the second fixed plate 236. A second large gear 234 is fixed to one end of the second rotating shaft located at the bottom of the second fixed plate 236. The second small gear 233 is meshed with the second large gear 234. The second rotating shaft is located at one end of the top of the second fixed plate 236 and is fixedly connected to the rotating rod 251. The center lines of the first small gear 231 and the second large gear 234 are coaxial. Two limit blocks 28 are fixedly connected to the top of the second fixed plate 236. The two limit blocks 28 are symmetrically distributed on both sides of the needle outlet. The limit blocks 28 can limit the rotation range of the needle clamping unit 25.

[0044] See also Figure 6 and Figure 7The needle clamping unit 25 includes a rotating rod 251, a first IPMC actuator 252, a spring 253, a conical plunger 254, and a needle clamping base 255. The rotating rod 251 is fixedly connected to the needle clamping base 255 and is in transmission cooperation with the output end of the driving unit. The needle clamping base 255 is provided with two conical grooves symmetrically distributed about the needle clamping base 255. The conical plunger 254 is elastically connected to the inner wall along the axial direction of the conical groove through the spring 253. The first IPMC actuator 252 is fixedly connected to the conical groove and interspersed with the spring 253. The first IPMC actuator 252 is electrically connected to the control circuit module 4. The needle clamping base 255 is provided with a The annular groove is adapted to the suture needle 3. In this embodiment, the suture needle 3 used is a half-circular arc needle, and the annular groove is a through groove. Under normal circumstances, due to the elastic effect of the spring 253, the suture needle 3 will be tightly fixed in the annular groove through the conical plunger 254. The first IPMC actuator 252 will bend after being energized, and the spring 253 will be compressed in the opposite direction, thereby reducing the force of the spring 253 and the conical plunger 254 on the suture needle 3, so that the suture needle 3 is released. An annular guide rail (not shown in the figure) is also provided in the spherical bracket 26. The annular guide rail is used to guide and support the suture needle 3, and the notch of the annular guide rail is opposite to the needle outlet.

[0045] See also Figure 8 The thread-pushing device 22 includes a fixed circular plate 223 fixed on the top of the rotating rod 251, two second IPMC actuators 222, and a movable circular plate 221. The top of the fixed circular plate 223 is slidably connected to the movable circular plate 221 through the second IPMC actuator 222. One end of the two second IPMC actuators 222 is slidably connected to the movable circular plate 221, and the other end is fixedly connected to the fixed circular plate 223. When the second IPMC actuator 222 is energized, the second IPMC actuator 222 bends to make the movable circular plate 221 rise, lift the suture thread, and make the suture thread higher than the needle clamping unit 25, and move out along the annular groove of the needle clamping unit 25 to avoid interference with the suture thread when the needle clamping unit 25 returns.

[0046] See also Fig. 9 The winding processing device 21 includes a winding drum 211, a disk 212, a snap ring 213, and a limiting top plate 214. The snap ring 213 and the limiting top plate 214 are fixedly connected in the spherical bracket 26. The bottom of the limiting top plate 214 is fixedly connected to the disk 212 through a pin shaft. The winding drum 211 is rotatably connected to the pin shaft. The winding drum 211 is wound with suture thread. The free end of the suture thread is fixedly connected to the tail end of the suture needle 3. Two through holes are provided on the snap ring 213 for routing (suture thread).

[0047] The method of use includes the following steps:

[0048] S1: Before the operation, a suture bundle of a specified length is wound onto the winding processing device 21, and the suture is fixed to the tail of the suture needle 3; the suture is wound onto the winding drum 211, and the other end of the suture passes through the disc 212 and the through hole on the clamp ring 213, and is fixed to the end of the suture needle 3;

[0049] S2: Install the micro-end stapler on the end of the endoscope and position the micro-end stapler at the tracheoesophageal fistula;

[0050] S3: The second micro motor 24 is used to drive the suture needle 3 to rotate half a circle in the positive direction along the circular track, so that the suture needle 3 extends from one side of the needle outlet and is inserted into the machine body. At the same time, the suture needle head enters the other side of the needle outlet to perform a needle insertion action; at this time, the control circuit module 4 does not energize the first IPMC actuator 252, and the spring 253 and the conical plunger 254 are in a compressed and fixed state for the suture needle 3. The output end of the second micro motor 24 drives the rotating rod 251 of the needle clamping unit 25 to rotate forward through the reduction gear set 23. Since the needle clamping unit 25 is in a fixed state for the suture needle 3 at this time, the rotating rod 251 that rotates forward is limited by the limit block 28. Therefore, the needle clamping unit 25 drives the suture needle 3 to rotate half a circle in the positive direction, so that the suture needle 3 passes through the machine body and enters the needle outlet, completing a needle insertion action;

[0051] S4: The needle clamping unit 25 is controlled by the control circuit module 4 to release the suture needle 3, and rotates to the needle head of the suture needle 3 under the drive of the driving unit, and re-clamps the suture needle 3. The driving unit drives the needle clamping unit 25 to perform a needle pulling action, so that the suture thread passes through the body and completes a suturing action; the first IPMC actuator 252 is energized and excited by the control circuit module 4. At this time, the first IPMC actuator 252 is bent, and the spring 253 is compressed in the opposite direction, thereby reducing the force of the spring 253 and the conical plunger 254 on the suture needle 3, so that the suture needle 3 is released from the fixation. At this time, the second micro motor 24 drives the rotating rod 251 of the needle clamping unit 25 to rotate in the opposite direction through the reduction gear set 23. Under the limit of another limit block 28, the two conical grooves of the needle clamping unit 25 are aligned with the needle head of the half-arc suture needle 3. At the same time, the first IPMC actuator 252 is powered off, and the spring 253 is extended to act on the conical plunger 254, thereby clamping the tip of the suture needle 3. At this time, the output end of the second micro motor 24 drives the rotating rod 251 of the needle clamping unit 25 to rotate forward through the reduction gear set 23, so that the suture thread passes through the body, completing a whole suturing action. It should be noted that each time before the second micro motor 24 drives the rotating rod 251 of the needle clamping unit 25 to rotate in the opposite direction through the reduction gear set 23, the second IPMC actuator 222 is energized and excited by the control circuit module 4, and the second IPMC actuator 222 is bent to make the movable circular plate 221 rise, lift the suture thread, so that the suture thread is higher than the needle clamping unit 25, and moves out along the annular groove of the needle clamping unit 25, so as to avoid interference between the needle clamping unit 25 and the suture thread when returning.

[0052] S5: After completing one needle insertion and withdrawal action, the suture needle 3 is completely located inside the spherical bracket 26. Before performing the next suturing action, the position of the needle clamping unit 25 should be adjusted so that the needle clamping unit 25 is located at the tail end of the suture needle 3 and clamped.

[0053] S6: Repeat S3, S4, and S5 multiple times according to the size of the wound edge until the suturing is completed. The position of the suturing needle 3 can be adjusted by the first micro motor 13, thereby changing the position of the next suturing. The suturing operation can be completed by repeating the above actions.

[0054] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A micro end-stitching device based on an electro-active polymer, comprising a posture adjustment module (1), a suturing module (2), a suturing needle (3), and a control circuit module (4), wherein the posture adjustment module (1) and the suturing module (2) are both electrically connected to the control circuit module (4), the control circuit module (4) is located in the posture adjustment module (1), the suturing needle (3) is located in the inner cavity of the suturing module (2), and the suturing module (2) is provided with a needle outlet, characterized in that: The stitching module (2) is rotationally matched with the posture adjustment module (1); The suturing module (2) comprises a driving unit, the output end of the driving unit is in driving connection with the suturing needle (3), a circular track matched with the suturing needle (3) is provided in the suturing module (2), and the driving unit drives the suturing needle (3) to rotate along the circular track and extend out of the needle opening; the posture adjustment module (1) comprises a spherical shell (11), a pinion (12), and a first micro motor (13), the first micro motor (13) is fixedly arranged at the rear end of the spherical shell (11), the output end of the first micro motor (13) is in driving connection with the pinion (12), and is in driving cooperation with the suturing module (2), the first micro motor (13) drives the suturing module (2) to rotate along the pinion The wheel (12) is arranged to rotate in the direction of rotation; the suturing module (2) also includes a spherical bracket (26), a needle clamping unit (25), and a winding processing device (21); the driving unit is fixedly arranged in the spherical bracket (26); the spherical shell (11) and the spherical bracket (26) are both provided with the same plane at the needle outlet, and the centers of their spherical surfaces coincide; the output end of the driving unit is transmission-connected with the needle clamping unit (25); the needle clamping unit (25) is used to fix the suturing needle (3); one end of the suturing needle (3) is fixedly connected to the free end of the suturing thread in the winding processing device (21); and the circumferential surface of the spherical bracket (26) is fixed with a transmission gear (27) meshing with the pinion (12).

2. The electro-actuated polymer-based micro-end stapler according to claim 1, characterized in that: The needle clamping unit (25) comprises a rotating rod (251), a first IPMC actuator (252), a spring (253), a conical plunger (254), and a needle clamping base (255); the rotating rod (251) is fixedly connected to the needle clamping base (255) and is transmission-coordinated with the output end of the driving unit; a conical groove is provided on the needle clamping base (255); the inner wall of the conical groove is elastically connected to the conical plunger (254) via a spring (253); a first IPMC actuator (252) interlaced with the spring (253) is fixedly connected in the conical groove; the first IPMC actuator (252) is electrically connected to the control circuit module (4).

3. The electro-actuated polymer-based micro-end stapler according to claim 2, characterized in that: The driving unit is a second micro motor (24), and the second micro motor (24) is in transmission cooperation with the rotating rod (251) via a reduction gear set (23).

4. The electro-actuated polymer-based micro-end stapler according to claim 3, characterized in that: The reduction gear set (23) comprises a first pinion (231), a first large gear (232), a second pinion (233), a second large gear (234), a first fixing plate (235), and a second fixing plate (236). The first fixing plate (235) and the second fixing plate (236) are fixedly arranged in sequence from bottom to top in the inner cavity of the spherical bracket (26). The first pinion (231) is fixed to the output end of the second micro motor (24). The first fixing plate (235) is rotatably connected to a first rotating shaft. The first rotating shaft is located on the first fixing plate (23 5) A first large gear (232) meshing with a first small gear (231) is fixed at one end of the bottom; a second small gear (233) is fixed at the top of the first fixed plate (235) on the first rotating shaft; a second rotating shaft is rotatably connected to the second fixed plate (236); a second large gear (234) is fixed at one end of the second rotating shaft located at the bottom of the second fixed plate (236); the second small gear (233) meshes with the second large gear (234); and one end of the second rotating shaft located at the top of the second fixed plate (236) is fixedly connected to the rotating rod (251).

5. The electro-actuated polymer-based micro-end stapler according to claim 3, characterized in that: A top line device (22) is provided at the top of the rotating rod (251), and the top line device (22) comprises a fixed circular plate (223) fixed at the top of the rotating rod (251), and a movable circular plate (221) is slidably connected to the top of the fixed circular plate (223) via a second IPMC actuator (222).

6. The electro-actuated polymer-based micro-end stapler according to claim 1, characterized in that: The wire winding processing device (21) comprises a wire winding drum (211), a disc (212), a snap ring (213), and a limiting top plate (214); the snap ring (213) and the limiting top plate (214) are fixedly connected inside the spherical bracket (26); the bottom of the limiting top plate (214) is fixedly connected to the disk (212) via a pin shaft; the pin shaft is rotatably connected to the wire winding drum (211); a wire bundle is wound around the wire winding drum (211); and the free end of the wire bundle is fixedly connected to a suture needle (3).

7. The electro-actuated polymer-based micro-end stapler according to claim 4, characterized in that: Two limit blocks (28) are fixedly connected to the top of the second fixing plate (236), and the limit blocks (28) are located on the inner side of the needle outlet.

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