A suture needle holder for minimally invasive surgical robots

Abstract

The present invention relates to a suturing needle holder for a minimally invasive surgical robot, comprising a suturing needle and a needle holder adapted for the suturing needle, wherein the suturing needle comprises a needle tip, a needle tail, a needle holding portion and a needle body, wherein the needle body is in an arc-shaped structure, wherein one end of the needle body is a needle tip and the other end is a needle tail, and a needle holding portion is designed near the needle tail; the needle holder comprises a base, a driving disk A, a driving disk B, a support rod and a clamp head, wherein the clamp head is mounted on one end of the support rod and the other end is mounted on the base, wherein the driving disk A and the driving disk B are mounted on the base, and the driving disk A and the driving disk B respectively control the rotation of the clamp A and the clamp B of the clamp head by rotating, and when the clamp A and the clamp B are combined, the notch A thereon is aligned with the notch B, and the planes of the notch A and the notch B are in close contact with the plane of the needle holding portion to stably clamp the suturing needle; the present invention can prevent relative sliding between the suturing needle and the needle holder, shorten the suturing time, and solve the practical problem of excessive suturing time in minimally invasive robotic surgery.

Description

[Technical field]

[0001] The present invention relates to the field of medical devices, in particular to a novel suture needle holder for a minimally invasive surgical robot. [Background Technology]

[0002] Minimally invasive surgery has the advantages of small surface wounds, relatively small blood loss, and rapid postoperative recovery. It has been widely used in the fields of thoracic cavity, abdominal cavity, urology, gynecology, etc. In recent years, a number of minimally invasive surgical robots have emerged. They not only inherit the advantages of traditional minimally invasive surgery, but also have functions such as remote operation and master-slave mapping, which greatly reduce the physical exertion of the surgeon. However, there is no significant difference in the overall operation time between traditional minimally invasive surgery and robotic minimally invasive surgery. The use of robots for minimally invasive surgery has not significantly reduced the operation time or improved the efficiency of the operation. By comparing the two surgical methods, it was found that the time taken by robotic minimally invasive surgery in the suturing and knotting stage is particularly long, often exceeding 30 minutes, which is much longer than the time taken by traditional minimally invasive surgery.

[0003] Commercialized, standardized suture needles are typically elongated, arc-shaped, with a smooth outer surface and a circular cross-section. This structure hinders the stable grip of the needle holder. In particular, during suturing within the human body, the lubricating effects of blood and body fluids can cause the needle holder to misalign or slip. Currently, suturing can only be performed by frequently adjusting the needle's position.

[0004] Therefore, in order to address the practical problem that the suturing time is too long due to the relative sliding between the suture needle and the needle holder during robotic minimally invasive surgery, it would be of great significance if a new type of suture needle and needle holder for minimally invasive surgical robots could be provided to prevent the relative sliding of the suture needle and the needle holder and shorten the suturing time. [Summary of the invention]

[0005] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a suture needle holder for a minimally invasive surgical robot, which can prevent relative sliding between the suture needle and the needle holder, shorten the suturing time, and solve the practical problem of long suturing time in robot minimally invasive surgery.

[0006] In order to achieve the above-mentioned purpose, a suture needle holder for a minimally invasive surgical robot is designed, comprising a suture needle 9 and a needle holder adapted for the suture needle 9, wherein the needle holder is used to clamp the suture needle 9; the suture needle 9 comprises a needle tip 15, a needle tail 16, a needle holding portion 17 and a needle body 18, wherein the needle body 18 is an arc-shaped structure, one end of the needle body 18 is a needle tip 15, the other end of the needle body 18 is a needle tail 16, and a needle holding portion 17 is designed near the needle tail 16; the needle holder comprises a base 10, a drive disk A 11, a drive disk B 12, a support rod 13 and a clamp head 14, wherein the clamp head 14 is mounted on one end of the support rod 13, and the other end of the support rod 13 is mounted on the base 10, and the base 10 is mounted with a drive disk A 11 and a drive disk B 12, wherein the drive disk A 11 and the drive disk B 12 respectively control the rotation of the clamp A 23 and the clamp B 28 of the clamp head 14 by rotating. A notch A 24 and a notch B 27 are respectively provided on the forceps A 23 and the forceps B 28. When the forceps A 23 and the forceps B 28 are combined, the notch A 24 and the notch B 27 are aligned, and the planes of the notches A 24 and the notch B 27 are in close contact with the plane of the needle holding portion 17 of the suture needle 9 to stably clamp the suture needle 9.

[0007] Furthermore, the cross section of the needle body 18 is a circular cross section 22 , the diameter of the circular cross section 22 of the needle body 18 gradually decreases from the needle tail 16 to the needle tip 15 , and the cross section of the needle holding portion 17 is a square cross section 19 .

[0008] Furthermore, the pliers head 14 is composed of pliers A 23, pliers B 28, a winding wheel A 37, a winding wheel B 36 and a pin 35. The pin 35 passes through pliers A 23, pliers B 28, a winding wheel A 37, and a winding wheel B 36. The pliers B 28 and the winding wheel B 36 rotate around the pin 35 and their relative positions remain unchanged. The pliers A 23 and the winding wheel A 37 rotate around the pin 35 and their relative positions remain unchanged. The plane C 25 and the plane D 26 of the slot A 24 are respectively tightly attached to the plane A 20 and the plane B 21 of the needle holding part 17 of the suture needle 9, and the two planes of the slot B 27 are respectively tightly attached to the other two surfaces of the needle holding part 17.

[0009] Furthermore, a boss C 34 is provided on the surface of the clamp B 28 that contacts the winding wheel B 36. The boss C 34 and the opening 40 on the winding wheel B 36 form a channel. A steel cable B 29 is embedded in a U-shaped groove 41 on the side wall of the winding wheel B 36, and a portion of the steel cable B 29 is embedded in the U-shaped groove 41, and a portion passes through the channel to form a steel cable self-contact section 43.

[0010] Furthermore, a boss A 31 and a boss B 33 are provided on the surface of the pliers B 28 that contacts the winding wheel B 36, and a cylindrical hole A 39 and a cylindrical hole B 42 are correspondingly arranged on the winding wheel B 36. The boss A 31 and the boss B 33 are respectively matched and connected with the cylindrical hole A 39 and the cylindrical hole B 42, and the plane E 32 of the pliers B 28 is in close contact with the plane F 38 of the winding wheel B 36.

[0011] Furthermore, the surfaces of the clamp A 23 in contact with the winding wheel A 37 are also provided with bosses C 34, bosses A 31 and bosses B 33, and the structures of the clamp A 23 and the winding wheel A 37 are respectively the same as those of the clamp B 28 and the winding wheel B 36. The winding wheel A 37 is embedded with a steel cable A 30, and the distribution and working mode of the steel cable A 30 are the same as those of the steel cable B 29.

[0012] Furthermore, the clamp A 23 and the clamp B 28 are driven by the steel cable A 30 and the steel cable B 29 respectively. The steel cable A 30 and the steel cable B 29 are connected to the driving disk A 11 and the driving disk B 12 respectively and are controlled by the driving disk A 11 and the driving disk B 12.

[0013] Furthermore, the steel cable B 29 is divided into a steel cable self-contact section 43, a steel cable left end 45 and a steel cable right end 44. The steel cable self-contact section 43 is used to prevent the steel cable B 29 from sliding. The steel cable left end 45 controls the clamp B 28 to rotate around the pin 35 toward the clamp A 23. The steel cable right end 44 controls the clamp B 28 to rotate around the pin 35 in the opposite direction toward the clamp A 23.

[0014] Furthermore, the needle holder includes a needle holder A5 and a needle holder B6, and the needle holder A5 and the needle holder B6 are respectively installed at the ends of the robotic arm A4 and the robotic arm B7, and the robotic arm A4 and the robotic arm B7 are respectively connected to the controllers in the control cabinet A3 and the control cabinet B8. The controllers in the control cabinet A3 and the control cabinet B8 respectively control the movements of the robotic arm A4 and the robotic arm B7, and thus control the positions and postures of the needle holder A5 and the needle holder B6.

[0015] Compared with the existing technology, the present invention aims to solve the practical problem that the suturing time is too long due to the relative sliding between the suture needle and the needle holder in robotic minimally invasive surgery. The present invention provides a new type of suture needle holder for minimally invasive surgical robots. The needle holder can stably clamp the suture needle, thereby preventing relative sliding between the suture needle and the needle holder, shortening the suturing time, and solving the problem of too long suturing time in robotic minimally invasive surgery. In addition, the steel cable of the present invention can be divided into a steel cable self-contact section, a steel cable left end and a steel cable right end. The steel cable self-contact section further ensures that the steel cable does not slide, and is worthy of promotion and application. [Brief Description of the Drawings]

[0016] Figure 1 It is a schematic diagram of the application structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 3a 1 is a front structural schematic diagram of a suture needle of the present invention;

[0019] Figure 3b yes Figure 3a Middle BB cross-section;

[0020] Figure 3c yes Figure 3a Middle AA section;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the end of the needle holder of the present invention;

[0022] Figure 5 is an exploded view of the end of the needle holder of the present invention;

[0023] Figure 6 Schematic diagram of the three-dimensional structure of the winding wheel B of the present invention;

[0024] Figure 7 It is a cross-sectional view of the pliers B of the present invention;

[0025] In the figure: 1, operating table 2, patient 3, control cabinet A 4, robotic arm A 5, needle holder A 6, needle holder B 7, robotic arm B 8, control cabinet B 9, suture needle 10, base 11, drive disk A 12, drive disk B 13, support rod 14, clamp head 15, needle tip 16, needle tail 17, needle holder 18, needle body 19, square cross section 20, plane A 21, plane B 22, circular cross section 23, clamp A 24, notch A 25, plane C 26, plane D 27, notch B 28, clamp B 29, steel cable B 30, steel cable A 31, boss A 32, plane E 33, boss B 34, boss C 35, pin 36, winding wheel B 37, winding wheel A 38, plane F 39, cylindrical hole A 40, opening 41, U-shaped groove 42, cylindrical hole B 43, self-contact section 44, right end of the steel cable 45, left end of the steel cable. [Specific implementation method]

[0026] The present invention will be further described below in conjunction with the accompanying drawings:

[0027] The present invention provides a novel suture needle holder for a minimally invasive surgical robot, comprising a suture needle 9 and a needle holder adapted for the suture needle 9, the needle holder being used to clamp the suture needle 9; the suture needle 9 mainly comprises a needle tip 15, a needle tail 16, a needle holding portion 17 and a needle body 18, the needle body 18 being an arc-shaped structure, one end of the needle body 18 being the needle tip 15, the other end of the needle body 18 being the needle tail 16, and a needle holding portion 17 being designed near the needle tail 16; the needle holder mainly comprises a base 10, a drive disk A 11, a drive disk B 12, a support rod 13 and a clamp head 14, one end of the support rod 13 being mounted with the clamp head 14, the other end of the support rod 13 being mounted on the base 10, the base 10 being mounted with a drive disk A 11 and a drive disk B 12, the drive disk A 11 being rotated to control the rotation of the clamp A 23 of the clamp head 14; the drive disk B 12 being rotated to control the rotation of the clamp B 28 of the clamp head 14, 23 and forceps B 28 are respectively provided with a notch A 24 and a notch B 27. When forceps A 23 and forceps B 28 are combined, their notches A 24 and B 27 are aligned, and the planes of notches A 24 and B 27 are in close contact with the plane of the needle holding portion 17 of the suture needle 9 to stably clamp the suture needle 9; in the suture needle holder for the minimally invasive surgical robot, the suture needle and the needle holder cooperate with each other in structure, and the needle holder can stably clamp the suture needle to prevent relative sliding between the two, thereby shortening the suturing time.

[0028] As attached Figure 1 Taking robotic minimally invasive surgery as an example, the needle holder includes needle holder A5 and needle holder B6. Needle holder A5 and needle holder B6 are respectively installed at the ends of robotic arm A4 and robotic arm B7. Robotic arm A4 and robotic arm B7 are respectively connected to controllers in control cabinet A3 and control cabinet B8. The controllers in control cabinet A3 and control cabinet B8 respectively control the movements of robotic arm A4 and robotic arm B7, and then control the position and posture of needle holder A5 and needle holder B6; that is, the position and posture of needle holder A5 and needle holder B6 are controlled by the controllers in control cabinet A3 and control cabinet B8 to control the movements of robotic arm A4 and robotic arm B7. Needle holder A5 and needle holder B6 work in coordination, so that suturing of patient 2 on operating table 1 can be completed.

[0029] Among them, the suture needle 9 is generally in an arc-shaped structure, with a needle tip 15 at one end and a needle tail 16 at the other end, and a needle holding portion 17 is designed near the needle tail 16; the cross section BB of the needle body 18 of the suture needle 9 is a circular cross section 22, and the diameter of the circular cross section 22 of the needle body 18 gradually decreases from the needle tail 16 to the needle tip 15, except for the needle holding portion 17; the cross section AA of the needle holding portion 17 is a square cross section 19, as shown Figure 3a 、 Figure 3b and Figure 3c shown.

[0030] The pliers head 14 is composed of pliers A 23, pliers B 28, winding wheel A 37, winding wheel B 36 and a pin 35. The pin 35 passes through pliers A 23, pliers B 28, winding wheel A 37 and winding wheel B 36. The surfaces of pliers B 28 in contact with winding wheel B 36 are provided with bosses A 31 and bosses B 33. Cylindrical holes A 39 and cylindrical holes B 42 are correspondingly arranged on winding wheel B 36. Bosses A 31 and bosses B 33 respectively cooperate with cylindrical holes A 39 and cylindrical holes B 42 on winding wheel B 36. Plane E 32 of pliers B 28 is in close contact with plane F 38 of winding wheel B 36. Pliers B 28 and winding wheel B 36 can rotate around the pin 35 without changing their relative positions. Pliers A 23 and winding wheel A 37 rotates around the pin 35 in the same manner, and their relative positions remain unchanged. Slot A 24 is designed on forceps A 23, and slot B 27 is designed on forceps B 28. When forceps A 23 and forceps B 28 are combined, slot A 24 and slot B 27 are aligned; plane C 25 and plane D 26 of slot A 24 are respectively in close contact with plane A 20 and plane B 21 of the needle holding portion 17 of the suture needle 9, and the two planes of slot B 27 are respectively in close contact with the other two surfaces of the needle holding portion 17. In this way, the forceps head 14 can stably clamp the suture needle 9.

[0031] In the present invention, a boss C 34 is provided on the surface of jaws B 28 that contacts winding wheel B 36. Boss C 34 and opening 40 in winding wheel B 36 form a channel. Steel cable B 29 is partially embedded in a U-shaped groove 41 on the sidewall of winding wheel B 36, while another portion passes through this channel, forming a self-contacting section 43. Specifically, steel cable B 29 can be divided into the self-contacting section 43, a left cable end 45, and a right cable end 44. The self-contacting section 43 prevents steel cable B 29 from slipping. The left cable end 45 controls jaws B 28 to rotate about the pin 35 toward jaws A 23, while the right cable end 44 controls jaws B 28 to rotate about the pin 35 in the opposite direction toward jaws A 23.

[0032] The surfaces of jaws A23 that contact winding wheel A37 are also equipped with bosses C34, A31, and B33. The structures of jaws A23 and winding wheel A37 are identical to those of jaws B28 and winding wheel B36, respectively. Steel cable A30 is embedded in winding wheel A37, and its layout and operation are similar to those of cable B29. Jaws A23 and jaws B28 are driven by cables A30 and B29, respectively. These cables are connected to and controlled by drive disks A11 and B12, respectively. In other words, the rotation of jaws A23 and jaws B28 is independent and non-interfering, driven by cables A30 and B29, respectively.

[0033] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A suture needle holder for a minimally invasive surgical robot, characterized by: The invention comprises a suture needle (9) and a needle holder adapted for the suture needle (9), wherein the needle holder is used for clamping the suture needle (9); the suture needle (9) comprises a needle tip (15), a needle tail (16), a needle holder (17) and a needle body (18); the needle body (18) is in an arc-shaped structure, one end of the needle body (18) is the needle tip (15), the other end of the needle body (18) is the needle tail (16), and a needle holder (17) is designed near the needle tail (16); the needle holder comprises a base (10), a drive disk A (11), a drive disk B (12), a support rod (13) and a clamp head (14), a pliers head (14) is mounted on one end of the support rod (13), and the other end of the support rod (13) is mounted on the base (10), and a driving disk A (11) and a driving disk B (12) are mounted on the base (10), and the driving disk A (11) and the driving disk B (12) respectively control the rotation of the pliers A (23) and the pliers B (28) of the pliers head (14) by rotating, and the pliers A (23) and the pliers B (28) are respectively provided with a notch A (24) and a notch B (27), and when the pliers A (23) and the pliers B (28) are combined, the notch A (24) and the notch B (27), and the planes of the notches A (24) and B (27) are in close contact with the plane of the needle holding portion (17) of the suture needle (9) to stably clamp the suture needle (9); the cross section of the needle body (18) is a circular cross section (22), the diameter of the circular cross section (22) of the needle body (18) gradually decreases from the needle tail (16) to the needle tip (15), and the cross section of the needle holding portion (17) is a square cross section (19); the pliers head (14) is composed of pliers A (23), pliers B (28), a wire winding wheel A (37), a wire winding wheel B (36) and a pin (35), and the pin (3 5) The pliers A (23), pliers B (28), winding wheel A (37), and winding wheel B (36) are passed through. The pliers B (28) and winding wheel B (36) rotate around the pin shaft (35) and their relative positions remain unchanged. The pliers A (23) and winding wheel A (37) rotate around the pin shaft (35) and their relative positions remain unchanged. The plane C (25) and plane D (26) of the notch A (24) are respectively in close contact with the plane A (20) and plane B (21) of the needle holding part (17) of the suture needle (9). The two planes of the notch B (27) are respectively in close contact with the other two surfaces of the needle holding part (17).

2. The suture needle holder for a minimally invasive surgical robot according to claim 1, wherein: A boss C (34) is provided on the surface of the clamp B (28) in contact with the winding wheel B (36), and the boss C (34) and the opening (40) on the winding wheel B (36) form a channel. A steel cable B (29) is embedded in the U-shaped groove (41) on the side wall of the winding wheel B (36), and a part of the steel cable B (29) is embedded in the U-shaped groove (41), and a part passes through the channel to form a steel cable self-contact section (43).

3. The suture needle holder for a minimally invasive surgical robot according to claim 2, wherein: The surfaces of the pliers B (28) in contact with the winding wheel B (36) are provided with bosses A (31) and bosses B (33), and the winding wheel B (36) is provided with cylindrical holes A (39) and cylindrical holes B (42) respectively. The bosses A (31) and bosses B (33) are respectively connected with the cylindrical holes A (39) and the cylindrical holes B (42), and the plane E (32) of the pliers B (28) is in close contact with the plane F (38) of the winding wheel B (36).

4. The suture needle holder for a minimally invasive surgical robot according to claim 3, wherein: The contact surfaces of the clamp A (23) and the winding wheel A (37) are also provided with a boss C (34), a boss A (31) and a boss B (33), and the structures of the clamp A (23) and the winding wheel A (37) are respectively the same as those of the clamp B (28) and the winding wheel B (36). The winding wheel A (37) is embedded with a steel cable A (30), and the distribution and working mode of the steel cable A (30) are the same as those of the steel cable B (29).

5. The suture needle holder for a minimally invasive surgical robot according to claim 1, wherein: The clamp A (23) and the clamp B (28) are driven by a steel cable A (30) and a steel cable B (29), respectively. The steel cable A (30) and the steel cable B (29) are connected to a drive disc A (11) and a drive disc B (12), respectively, and are controlled by the drive disc A (11) and the drive disc B (12).

6. The suture needle holder for a minimally invasive surgical robot according to claim 5, characterized in that: The steel cable B (29) is divided into a steel cable self-contact section (43), a steel cable left end (45) and a steel cable right end (44). The steel cable self-contact section (43) is used to prevent the steel cable B (29) from sliding. The steel cable left end (45) controls the clamp B (28) to rotate around the pin (35) toward the clamp A (23). The steel cable right end (44) controls the clamp B (28) to rotate around the pin (35) in the opposite direction toward the clamp A (23).

7. The suture needle holder for a minimally invasive surgical robot according to any one of claims 1 to 6, characterized in that: The needle holder comprises a needle holder A (5) and a needle holder B (6). The needle holder A (5) and the needle holder B (6) are respectively mounted at the ends of a robotic arm A (4) and a robotic arm B (7). The robotic arm A (4) and the robotic arm B (7) are respectively connected to the controllers in a control cabinet A (3) and a control cabinet B (8). The controllers in the control cabinet A (3) and the control cabinet B (8) respectively control the movements of the robotic arm A (4) and the robotic arm B (7), thereby controlling the positions and postures of the needle holder A (5) and the needle holder B (6).

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